Sensorless force sensing method and system of incision continuum operation arm

Abstract

The invention relates to the technical field of surgical operation arms, and particularly discloses a sensorless force sensing method and system for an incision continuum operation arm, and the method comprises the steps: analyzing a cable tension transmission relation, and obtaining the cable tension distribution in each deformation unit; statics analysis is conducted on the notched continuum operation arm, and a static model of the notched continuum operation arm is built through a beam constraint model; the relation between the cable variation and the deformation parameter of the notch continuum operation arm is introduced into the static model to serve as a constraint equation; and the cable variation and the cable tension in the motion process of the notch continuum operation arm are obtained, and the interaction force of the tail end of the continuum operation arm is obtained through iterative calculation based on the cable tension distribution, the static model and the constraint equation. According to the invention, the interaction force between the continuum operation arm and the external environment can be accurately sensed, and the interaction force between the cut continuum operation arm and the external environment can be accurately sensed.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical operating arms, and in particular to a sensorless force sensing method and system for an incision continuum operating arm. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The incision continuum manipulator is manufactured by machining a series of notches in a hollow nickel-titanium alloy cylindrical tube. The incision continuum manipulator is driven by cables. Generally, a wire hole is formed by axially punching a hole in the wall of the hollow nickel-titanium alloy cylindrical tube. The cable passes through the wire hole and is fixed in the incision continuum manipulator. The incision continuum manipulator is deformed by pulling multiple cables, thereby realizing the movement of the incision continuum manipulator. The incision continuum manipulator is widely used in the design of minimally invasive surgical manipulators due to its compact size and excellent mechanical properties. In the application of surgical manipulators, it is very important to accurately sense the interaction force between the continuum manipulator and the external environment. For example: when the continuum manipulator and the clamp peel off the soft tissue in the diseased area, excessive interaction force may tear the soft tissue in the non-diseased area, causing unnecessary damage to the patient. The perception force can provide effective feedback to limit the size of the interaction force and improve the safety of the operation.

[0004] Traditional force sensing methods usually require sensors integrated into the continuum manipulator to obtain relevant data. However, in a limited surgical environment, integrating sensors into the incision continuum manipulator not only increases the cost and complexity of the continuum manipulator, but may also be affected by sensor performance, resulting in reduced accuracy of force sensing. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a sensorless force sensing method and system for a notch continuum manipulator, establishes an accurate static model of the notch continuum manipulator, introduces the cable variation as a constraint into the static model, thereby realizing sensorless force sensing.

[0006] In some embodiments, the following technical solutions are adopted: A sensorless force sensing method for a cut-out continuum manipulator, comprising: Analyze the cable tension transmission relationship and obtain the cable tension distribution inside each deformation unit; The static analysis of the notch continuum manipulator is carried out, and the static model of the notch continuum manipulator is established using the beam constraint model; The relationship between the cable variation and the deformation parameters of the cut continuum manipulator is introduced into the static model as a constraint equation. The cable variation and cable tension during the movement of the incision continuum manipulator are obtained, and the interaction force at the end of the continuum manipulator is obtained through iterative calculation based on the cable tension distribution, static model and constraint equation.

[0007] As an optional solution, the tension transmission relationship of the cables inside each deformation unit is specifically as follows: ; in, represents the tension on the i-th cable in the a-th section of the n+1-th segment of the cut continuum, represents the tension on the i-th cable in the b-th section of the n-th segment of the cut continuum, represents the tension on the i-th cable in the a-th section of the n-th segment of the cut continuum; , , are the tension transfer coefficients, is the deflection angle of the beam of the nth section b of the notched continuum manipulator, is the deflection angle of the beam of the nth section a of the notched continuum operating arm, It is the deflection angle of the beam of section a of the n+1th section of the notched continuum operating arm.

[0008] As an optional solution, a static analysis is performed on the notch continuum operating arm, and a force analysis model of the ends of each beam of the notch continuum operating arm is established. Specifically: ; ; ; ; in, and are the force and moment applied to the end of the beam in part a, and represents the forces and moments applied to the ends of the beam in part b; In the local coordinate system The tension on the cable in section a of the nth segment of the lower cut continuum, In the local coordinate system The tension on the cable in part b of the nth segment of the lower cut continuum; Indicates the load force at the end of the cut continuum operating arm In the local coordinate system The following expression, Indicates the load force at the end of the cut continuum operating arm In the local coordinate system The following expression; In the local coordinate system The position vector from the end of the beam of the nth segment a of the lower cut continuum manipulator to the wire hole of the i-th cable, In the local coordinate system The position vector from the end of the beam of the nth section b of the lower cut continuum manipulator to the wire hole of the i-th cable.

[0009] As an optional solution, the constraint model of the nth compliant mechanism beam is: ; ; ; ; in, In the local coordinate system The x-axis component of the dimensionless coordinate of the end of the beam of the nth segment a of the lower cut continuum manipulator, In the local coordinate system The y-axis component of the dimensionless coordinate of the end of the beam of the nth segment a of the lower cut continuum manipulator; In the local coordinate system The x-axis component of the dimensionless coordinate of the end of the beam of the nth section b of the lower cut continuum manipulator, In the local coordinate system The z-axis component of the dimensionless coordinate of the end of the beam of the nth segment b of the lower cut continuum manipulator; is the deflection angle of the beam of the nth section b of the notched continuum manipulator, is the deflection angle of the beam of the nth segment a of the notch continuum manipulator; L is the length of the beam, t is the thickness of the beam, A, B, C and D are coefficient matrices; , , are the components of force in the x and y directions and the moment in the z direction on the bending of part a; They are the components of force in the x and y directions and the moment in the z direction acting on the bending of part b.

[0010] As an optional solution, the tension transmission relationship of the cables inside each deformation unit, the force analysis model at the end of each beam of the incision continuum operating arm, and the constraint model of each compliant mechanism beam are combined to form a static model of the incision continuum operating arm.

[0011] As an optional solution, the relationship between the cable variation and the deformation parameter of the cut continuum manipulator is as follows: ; in, is the cable variation, In the local coordinate system The position vector of the guide hole in part a is represented by is the position vector of the guide hole on the plane of the guide plate where the end of the beam is located; In the local coordinate system The position vector of the guide hole in part b is represented by is the position vector of the guide hole on the guide plate plane where the end of the beam is located, Indicates the number of deformation units.

[0012] As an optional solution, it also includes: considering the interaction force information between the end of the incision continuum manipulator and the environment, adding the equation of the distribution plane of the end of the incision continuum manipulator, specifically: ; in, is the direction vector of the load at the end of the cut continuum manipulator, is the magnitude of the interaction force, The load at the end of the notched continuum operating arm.

[0013] In other embodiments, the following technical solutions are adopted: A sensorless force sensing system for an incision continuum manipulator, comprising: Cable tension analysis module, used to analyze the cable tension transmission relationship and obtain the cable tension distribution inside each deformation unit; Static model building module, used to perform static analysis on the notch continuum manipulator, and to establish a static model of the notch continuum manipulator using a beam constraint model; A constraint equation building module is used to introduce the relationship between the cable variation and the deformation parameters of the cut continuum manipulator into the static model as a constraint equation; The end interaction force calculation module is used to obtain the cable variation and cable tension during the movement of the incision continuum manipulator, and obtain the interaction force at the end of the continuum manipulator through iterative calculation based on the cable tension distribution, static model and constraint equation.

[0014] In other embodiments, the following technical solutions are adopted: A terminal device comprises a processor and a memory, wherein the processor is used to implement instructions; and the memory is used to store a plurality of instructions, wherein the instructions are suitable for being loaded by the processor and executing the above-mentioned sensorless force sensing method of the incision continuum manipulator.

[0015] In other embodiments, the following technical solutions are adopted: A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor of a terminal device and executing the above-mentioned sensorless force sensing method of a cut continuum manipulator.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention establishes an accurate static model of the incision continuum manipulator arm, and then introduces the constraint equations of the cable change amount and the deformation parameters of the incision continuum manipulator arm into the static model; based on the cable tension distribution, the static model and the constraint equation, the interaction force at the end of the continuum manipulator arm can be obtained through iterative calculation; there is no need to integrate sensors on the body of the incision continuum manipulator arm, and only the cable change amount and cable tension need to be input to achieve accurate perception of the interaction force between the continuum manipulator arm and the external environment, thereby achieving accurate perception of the interaction force between the incision continuum manipulator arm and the external environment.

[0017] (2) The present invention considers the friction model between the wire and the guide hole and the influence of the external load. The beam constraint model is used to describe the actual deformation of the flexible beam. The real deformation of the beam of the cut continuum operating arm is described based on the beam constraint model. Compared with the traditional constant curvature assumption, that is, assuming that the beam of the cut continuum operating arm is bent into a standard arc, the model of the present invention is more realistic, which improves the accuracy of the model and thus improves the accuracy of force perception.

[0018] Other features and advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the incision continuum operating arm in an embodiment of the present invention; Figure 2 Schematic diagram of the deformation unit of the incision continuum operating arm in an embodiment of the present invention; FIG3 (a) is a schematic diagram of a cable passing through a wire hole in an embodiment of the present invention; FIG3 (b) is a schematic diagram of force analysis of tension transmission of a single cable in an embodiment of the present invention; Figure 4 This is the force analysis of the whole operating arm of the incision continuum in the embodiment of the present invention; Figure 5 The force analysis of the deformation unit of the cut continuum operating arm in the embodiment of the present invention; Figure 6 It is a dimension diagram of the deformation unit of the incision continuum operating arm in an embodiment of the present invention; Figure 7 It is a schematic diagram of the dimensionless beam force in an embodiment of the present invention; Figure 8 It is a flow chart of sensorless force sensing calculation in an embodiment of the present invention; Among them, 1-1. cable, 1-2. wire reel, 1-3. beam, 2-1. wire hole, 2-2. z-axis bending unit, 2-3. y-axis bending unit. DETAILED DESCRIPTION

[0020] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0021] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0022] Embodiment 1 In one or more embodiments, a sensorless force sensing method for a cut continuum manipulator is disclosed, and a static model that can accurately predict the cut continuum manipulator is established. This static model can take into account the deformation of the manipulator in all directions; the deformed shape of the continuum manipulator can be inferred by calculating the cable tension. The cable variation is introduced into the static model as a constraint equation, thereby obtaining a sensorless force sensing method; this method can infer the force on the cut continuum manipulator, that is, the end interaction force, by calculating the cable variation and the cable tension.

[0023] First, a typical incision continuum manipulator is described. Figure 1 The incision continuum operating arm includes a cable 1-1, a wire reel 1-2 and a beam unit 1-3. The incision of the incision continuum operating arm forms a beam unit, and the beam unit is staggered 90 degrees along the axial direction of the incision continuum operating arm. The wire reel is fixedly connected to the end of the beam unit and to the beginning of the next beam unit. The cable is set in the wire hole of the incision continuum operating arm, and each cable corresponds to a wire hole.

[0024] Figure 2 It is a schematic diagram of the deformation unit of the incision continuum operating arm, including the wire hole 2-1; in this embodiment, the z-axis bending unit 2-2 of the incision continuum operating arm is part a, and the y-axis bending unit 2-3 of the incision continuum operating arm is part b.

[0025] Combination Figure 8 The method of this embodiment specifically includes the following process: S101: Analyze the cable tension transmission relationship to obtain the cable tension distribution inside each deformation unit.

[0026] This embodiment analyzes the friction between the cable and the wire reel. For example, Figure 3 (a)-Figure 3 (b) shows the tension transmission when the cable passes through the wire hole. Figure 3 (a) shows a schematic diagram of the cable passing through the wire hole, and Figure 3 (b) shows the force analysis of the tension transmission of a single cable. is the position of the i-th cable conductor hole on the lower surface of the conductor tray of the n-th segment a of the operating arm of the incision continuum; is the position of the i-th cable conductor hole on the upper surface of the conductor tray of the n-th segment b of the incision continuum operating arm; is the position of the i-th cable conductor hole on the lower surface of the conductor tray of the n-th segment b of the incision continuum operating arm; is the position of the i-th cable conductor hole on the upper surface of the conductor reel of the n+1-th segment a of the incision continuum operating arm; is the support force of the i-th cable wire hole on the lower surface of the wire tray of the n-th segment a of the incision continuum operating arm on the cable; is the support force of the i-th cable wire hole on the upper surface of the wire tray of the n-th segment b of the incision continuum operating arm on the cable; is the support force of the i-th cable wire hole on the lower surface of the wire tray of the n-th segment b of the incision continuum operating arm on the cable; is the support force of the i-th cable wire hole on the upper surface of the wire reel of the n+1th segment a of the incision continuum operating arm on the cable; is the friction force of the i-th cable conductor hole on the upper surface of the conductor tray of the n-th segment b of the incision continuum operating arm on the cable; is the support force of the i-th cable wire hole on the lower surface of the wire tray of the n-th segment b of the incision continuum operating arm on the cable; is the friction force of the i-th cable conductor hole on the upper surface of the conductor reel of the n+1th segment a of the incision continuum operating arm on the cable; is the tension of the cable outside the i-th cable lead hole of the lead reel in the n-th segment a of the incision continuum operating arm; is the tension of the cable inside the i-th cable wire hole of the wire reel in the n-th section a of the incision continuum operating arm; is the tension of the cable outside the i-th cable lead hole of the lead tray of the n-th segment b of the incision continuum operating arm; is the tension of the cable inside the i-th cable wire hole of the wire reel of the n-th segment b of the incision continuum operating arm; It is the tension of the cable outside the i-th cable wire hole of the wire reel in the n+1-th section a of the incision continuum operating arm.

[0027] In this embodiment, the tension of each part of the cable can be calculated by the following formula: (1) Combined with formula (1), the tension transfer coefficient k is defined as: (2) By performing the same analysis on other contact points, we can obtain the cable tension transmission relationship, as shown in formula (3): (3) in, is the friction coefficient between the cable and the conductor hole. When calculating the tension, and is a known quantity. It can be sensed by the tension sensor on the driving device of the incision continuum operating arm. It needs to be measured in advance and is an inherent property of the material. The tension on each cable section of the cut continuum operating arm can be recursively obtained through formula (3).

[0028] S102: Perform static analysis on the notch continuum operating arm, and establish a static model of the notch continuum operating arm using a beam constraint model.

[0029] In this embodiment, for a clearer modeling, this embodiment makes certain assumptions: (1) The cutout of the notched continuum manipulator is bent only within the symmetry plane of the two beams; (2) Compression and elongation along the axial direction are neglected because the stiffness in this direction is much greater than that in the bending direction; (3) The gravity of the cable and the wire reel is ignored in the incision continuum manipulator, and these forces are much smaller than the tension on the upper cable.

[0030] First, we need to analyze the force distribution in the beam element. Take the beam element in section a of the nth segment as an example. Figure 4 As shown, is the tension of the cable outside the i-th cable lead hole of the lead reel in the n-th segment a of the cut continuum operating arm; is the local coordinate system of the nth segment a of the incision continuum manipulator, The origin of the coordinates Located at the center of the upper surface of the disk of the nth section a of the incision continuum manipulator, the x-axis of the coordinate system is along the axial direction of the incision continuum manipulator, the y-axis is perpendicular to the symmetry plane of the flexible beam of the a-section, and the z-axis conforms to the direction of the right-hand coordinate system; is the center of the lower surface of the disk of the nth segment a of the incision continuum manipulator; is the local coordinate system of the nth segment b of the incision continuum manipulator, The origin of the coordinates Located at the center of the upper surface of the disk of the nth segment b of the incision continuum manipulator, the x-axis of the coordinate system is along the axial direction of the incision continuum manipulator, the z-axis is perpendicular to the symmetry plane of the flexible beam of the b-part, and the y-axis conforms to the direction of the right-hand coordinate system; In the local coordinate system The position vector from the end of the beam of the nth section a of the lower cut continuum operating arm to the load application point at the end of the cut continuum operating arm; is the tension on the ith cable of the nth segment a of the manipulator arm of the incision continuum; is the load at the end of the notched continuum manipulator arm.

[0031] The notched continuum operating arm reaches a state of equilibrium under the action of the cable tension and the load at the end of the notched continuum operating arm. In this state of equilibrium, the notched continuum operating arm behind the end of the beam is regarded as an isolated body. In this state of equilibrium, the isolated body is under the tension of the cable. End load The forces at the ends of the beam are therefore balanced by the forces acting on them. The equilibrium equations involving these three forces can therefore be solved for the forces at the ends of the beam.

[0032] Several basic coordinate transformation matrices are predefined. The translation matrix is ​​expressed as The two rotation transformation matrices are and ;in, For rotation around the Z axis, Used to rotate around the Y axis.

[0033] (4) (5) (6) in, is a position vector with 3 rows and 1 column, The deflection angle of the beam of the cut continuum operating arm a, The deflection angle of the beam in part b of the notched continuum operating arm.

[0034] like Figure 5 As shown, The superscript φ represents the position vector of the end of the beam. Part a can only bend in the xy plane, so Can be written as = .

[0035] In local coordinate system The expressed cable tension is calculated as follows: (7) in, is the position vector of the guide hole of part a expressed in the local coordinate system and it is located in the plane of the lower wire tray of part a; (8) Represents the position vector of the guide hole of part a on the plane of the guide plate where the end of the beam is located. Represents the deflection angle of the beam in part a.

[0036] Similarly, in the local coordinate system The tension of the cable in part b can be expressed as follows: (9) (10) Part b can only bend in the xz plane, so Can be written as = .

[0037] is the position vector of the guide hole in part b expressed in the local coordinate system, Represents the position vector of the guide hole in part b on the plane of the guide plate where the end of the beam is located.

[0038] To transfer the tension in each cable to the end of the beam, we need to calculate the position vector from the end of the beam to the wire hole as follows: (11) (12) in, In the local coordinate system The position vector from the end of the beam of the nth segment a of the lower cut continuum manipulator to the wire hole of the i-th cable, In the local coordinate system The position vector from the end of the beam of the nth section b of the lower cut continuum manipulator to the wire hole of the i-th cable.

[0039] In this implementation, we focus on the force load acting on the end of the notched continuum manipulator and ignore the end torque. Defined in the global coordinate system. A transformation to a local coordinate system is necessary. To illustrate this, consider part a of segment n.

[0040] force In the local coordinate system The expression is as follows: (13) The deformation units of the cut continuum manipulator are numbered starting from 1. and Because the global framework Defined as Consistent, therefore The expressions for the end loads in are the same as those in the global frame. Therefore, the definition and is the identity matrix.

[0041] Following the same principle, Local Coordinate System The expression in is as follows: (14) like Figure 4 As shown, Continuum from beam end to cutout end load of manipulator arm The position vector of the application point is as follows: (15) in Indicates the number of deformation units.

[0042] like Figure 6 As shown, represents the vector in the thickness direction of the wire coil, which can be expressed as , is the wire coil thickness, L is the length of the beam, t is the thickness of the beam, and w is the width of the beam; is the inner diameter of the incision continuum manipulator arm, is the outer diameter of the cutting continuum manipulator. , is the coordinate origin.

[0043] Similarly, the position vector from the end of the beam in part b to the end load application point can be expressed as: (16) From this, the forces and moments applied at the ends of the beam can be calculated as follows: (17) (18) (19) (20) in, and are the forces and moments applied to the ends of the beam in section a. Similarly, and denote the forces and moments applied to the end of the beam in section b. The superscripts on these vectors indicate that the vectors are in their respective local coordinate systems.

[0044] The coordination equation is established below based on the elastic deformation of the beam: First, the force and moment are dimensionless, such as Figure 7 As shown: (twenty one) The bending of part a is caused by the force components in the x and y directions and , and the moment component in the z direction In the above equation, Represents the force vector in the local coordinate system The lower x-direction component. Similarly, The force vector is in the local coordinate system Lower y direction component, express The moment component in the z direction of the cross section. E is the Young's modulus of the material and I represents the second moment of inertia of the cross section.

[0045] Part B The bending is about the y-axis. Again, the dimensionless forces and moments are as follows: (twenty two) They are the components of force in the x and y directions and the moment in the z direction acting on the bending of part b.

[0046] Then, the constraint model of the nth compliant mechanism beam can be written as: (twenty three) (twenty four) (25) (26) in, In the local coordinate system The x-axis component of the dimensionless coordinate of the end of the beam of the nth segment a of the lower cut continuum manipulator, In the local coordinate system The y-axis component of the dimensionless coordinate at the end of the beam of the nth segment a of the lower cut continuum manipulator. In the local coordinate system The x-axis component of the dimensionless coordinate of the end of the beam of the nth section b of the lower cut continuum manipulator, In the local coordinate system The z-axis component of the dimensionless coordinate of the end of the beam of the nth segment b of the lower cut continuum manipulator. is the deflection angle of the beam of the nth segment a of the notched continuum manipulator, is the deflection angle of the beam of the nth segment b of the notch continuum manipulator. L is the length of the beam.

[0047] The thickness of the beam is denoted by t. A, B, C, and D are coefficient matrices, specified as follows: (27) Expanding the calculated equations for the forces applied to the ends of the beam and combining them with the above equations leads to a system of static equilibrium equations.

[0048] S103: Introduce the relationship between the cable change amount and the deformation parameter of the cut continuum manipulator into the static model as a constraint equation, and realize the perception of the three-dimensional interactive force through the constraint equation.

[0049] Based on the established static model of the notched continuum manipulator, the static model can be solved to determine the deformation parameters of the notched continuum manipulator under given cable tension and external end load.

[0050] The cable variation is expressed as , and its relationship with the deformation parameters is as follows: (28) Consider the interaction force information between the end of the incision continuum manipulator and the environment; add the equation of the distribution plane of the end of the incision continuum manipulator, as follows: (29) in is the direction vector of the load at the end of the notched continuum manipulator. is the magnitude of the interaction force.

[0051] S104: Obtain the cable variation and cable tension during the movement of the incision continuum operating arm, and obtain the force exerted on the continuum operating arm through iterative calculation based on the cable tension distribution, static model and constraint equation.

[0052] Specifically, the cable displacement can be obtained by reading the motor encoder of the driving cable, and the cable tension can be obtained by recursion using formula (3).

[0053] By combining the above 29 equations, the magnitude of the interaction force at the end of the incision continuum manipulator can be calculated using the numerical iteration method.

[0054] Embodiment 2 In one or more embodiments, a sensorless force sensing system for a cut continuum manipulator is disclosed, comprising: Cable tension analysis module, used to analyze the cable tension transmission relationship and obtain the cable tension distribution inside each deformation unit; Static model building module, used to perform static analysis on the notch continuum manipulator, and to establish a static model of the notch continuum manipulator using a beam constraint model; A constraint equation building module is used to introduce the relationship between the cable variation and the deformation parameters of the cut continuum manipulator into the static model as a constraint equation; The end interaction force calculation module is used to obtain the cable variation and cable tension during the movement of the incision continuum manipulator, and obtain the interaction force at the end of the continuum manipulator through iterative calculation based on the cable tension distribution, static model and constraint equation.

[0055] The specific implementation of the above modules is the same as that in Example 1 and will not be described in detail.

[0056] Embodiment 3 In one or more embodiments, a terminal device is disclosed, including a server, the server including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the sensorless force sensing method of the incision continuum manipulator in Example 1 when executing the program. For the sake of brevity, it will not be described here.

[0057] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0058] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0059] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.

[0060] Embodiment 4 In one or more embodiments, a computer-readable storage medium is disclosed, in which a plurality of instructions are stored, wherein the instructions are suitable for being loaded by a processor of a terminal device and executing the sensorless force sensing method of the incision continuum manipulator in the first embodiment.

[0061] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A sensorless force sensing method for a cut continuum manipulator, characterized in that: include: Analyze the cable tension transmission relationship and obtain the cable tension distribution inside each deformation unit; The static analysis of the notch continuum manipulator is carried out, and the static model of the notch continuum manipulator is established using the beam constraint model; The relationship between the cable variation and the deformation parameters of the cut continuum manipulator is introduced into the static model as a constraint equation. The cable variation and cable tension during the movement of the incision continuum manipulator are obtained, and the interaction force at the end of the continuum manipulator is obtained through iterative calculation based on the cable tension distribution, static model and constraint equation.

2. A sensorless force sensing method for a continuous incision manipulator according to claim 1, characterized in that: The specific tension transmission relationship of the cables inside each deformation unit is: ； in, represents the tension on the i-th cable in the a-th section of the n+1-th segment of the cut continuum, represents the tension on the i-th cable in the b-th section of the n-th segment of the cut continuum, represents the tension on the i-th cable in the a-th section of the n-th segment of the cut continuum; , , are the tension transfer coefficients, is the deflection angle of the beam of the nth section b of the notched continuum manipulator, is the deflection angle of the beam of the nth section a of the notched continuum operating arm, It is the deflection angle of the beam of section a of the n+1th section of the notched continuum operating arm.

3. The sensorless force sensing method of the incision continuum manipulator according to claim 1, characterized in that: The static analysis of the notch continuum operating arm is carried out, and the force analysis model of the ends of each beam of the notch continuum operating arm is established, specifically: ； ； ； ； in, and are the force and moment applied to the end of the beam in part a, and represents the forces and moments applied to the ends of the beam in part b; In the local coordinate system The tension on the cable in section a of the nth segment of the lower cut continuum, In the local coordinate system The tension on the cable in part b of the nth segment of the lower cut continuum; Indicates the load force at the end of the cut continuum operating arm In the local coordinate system The following expression, Indicates the load force at the end of the cut continuum operating arm In the local coordinate system The following expression; In the local coordinate system The position vector from the end of the beam of the nth segment a of the lower cut continuum manipulator to the wire hole of the i-th cable, In the local coordinate system The position vector from the end of the beam of the nth section b of the lower cut continuum manipulator to the wire hole of the i-th cable.

4. A sensorless force sensing method for a continuous incision manipulator according to claim 3, characterized in that: The constraint model of the nth compliant mechanism beam is: ； ； ； ； in, In the local coordinate system The x-axis component of the dimensionless coordinate of the end of the beam of the nth segment a of the lower cut continuum manipulator, In the local coordinate system The y-axis component of the dimensionless coordinate of the end of the beam of the nth segment a of the lower cut continuum manipulator; In the local coordinate system The x-axis component of the dimensionless coordinate of the end of the beam of the nth section b of the lower cut continuum manipulator, In the local coordinate system The z-axis component of the dimensionless coordinate of the end of the beam of the nth segment b of the lower cut continuum manipulator; is the deflection angle of the beam of the nth section b of the notched continuum manipulator, is the deflection angle of the beam of the nth segment a of the notch continuum manipulator; L is the length of the beam, t is the thickness of the beam, A, B, C and D are coefficient matrices; , , are the components of force in the x and y directions and the moment in the z direction on the bending of part a; They are the components of force in the x and y directions and the moment in the z direction acting on the bending of part b.

5. The sensorless force sensing method of the incision continuum manipulator according to claim 4, characterized in that: The static model of the notch continuum manipulator is constructed by combining the tension transmission relationship of the cables inside each deformation unit, the force analysis model at the end of each beam of the notch continuum manipulator, and the constraint model of each compliant mechanism beam.

6. The sensorless force sensing method of the incision continuum manipulator according to claim 1, characterized in that: The relationship between the cable variation and the deformation parameters of the cut continuum manipulator is as follows: ； in, is the cable variation, In the local coordinate system The position vector of the guide hole in part a is represented by is the position vector of the guide hole on the plane of the guide plate where the end of the beam is located; In the local coordinate system The position vector of the guide hole in part b is represented by is the position vector of the guide hole on the guide plate plane where the end of the beam is located, Indicates the number of deformation units.

7. A sensorless force sensing method for a continuous incision manipulator according to claim 6, characterized in that: Also includes: Considering the interaction force information between the end of the incision continuum manipulator and the environment, the equation of the distribution plane of the end of the incision continuum manipulator is added, specifically: ； in, is the direction vector of the load at the end of the cut continuum manipulator, is the magnitude of the interaction force, The load at the end of the notched continuum operating arm.

8. A sensorless force sensing system for a cut continuum manipulator, characterized in that: include: Cable tension analysis module, used to analyze the cable tension transmission relationship and obtain the cable tension distribution inside each deformation unit; Static model building module, used to perform static analysis on the notch continuum manipulator, and to establish a static model of the notch continuum manipulator using a beam constraint model; A constraint equation building module is used to introduce the relationship between the cable variation and the deformation parameters of the cut continuum manipulator into the static model as a constraint equation; The end interaction force calculation module is used to obtain the cable variation and cable tension during the movement of the incision continuum manipulator, and obtain the interaction force at the end of the continuum manipulator through iterative calculation based on the cable tension distribution, static model and constraint equation.

9. A terminal device, comprising a processor and a memory, wherein the processor is used to implement instructions; and the memory is used to store multiple instructions, characterized in that: The instructions are suitable for being loaded by a processor and executing the sensorless force sensing method of the incision continuum manipulator arm as described in any one of claims 1-7.

10. A computer-readable storage medium storing a plurality of instructions, characterized in that: The instructions are suitable for being loaded by a processor of a terminal device and executing the sensorless force sensing method of an incision continuum manipulator arm as described in any one of claims 1-7.

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