Motion control device, control method and control system for wire-controlled snake bone assembly

Abstract

The invention relates to a motion control device, a control method and a control system for a wire-controlled snake bone assembly, the motion control device is used for controlling the wire-controlled snake bone assembly to swing, the motion control device comprises a driving mechanism, the driving mechanism is connected with the wire-controlled snake bone assembly and comprises a driving assembly and a first sensor, a driving wire in the wire-controlled snake bone assembly is connected with the driving assembly, and the first sensor is connected with the driving assembly; the driving assembly is used for controlling folding and unfolding, the wire-controlled snake bone assembly is driven to swing, and the first sensor is used for detecting the posture change of the driving assembly; the input mechanism serves as an interface for externally controlling the driving assembly and comprises an operation assembly and a second sensor, the operation assembly is electrically connected with the driving assembly, the operation assembly sends a driving signal to the driving assembly, and the second sensor detects the posture change of the operation assembly. According to the invention, an active driving structure is used for compensating a nonlinear region when the wire-controlled snake bone assembly moves, so that a better driving effect can be achieved, and the complexity of the driving structure is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wire-controlled snake-bone assembly control, and in particular to a motion control device, a control method and a control system for a wire-controlled snake-bone assembly. Background Art

[0002] Laparoscopic surgery is a surgery under laparoscope, where surgical instruments enter the human body through a small hole in the puncture to treat the lesion. The end close to the abdominal cavity is called the distal end of the instrument, and the other end is called the proximal end of the instrument. Most existing laparoscopic instruments lack independent motion freedom at the end, but some laparoscopic surgeries require great precision and flexibility in surgical operations. For example: The Chinese invention patent with the publication number: 202410488698X, the invention name: Laparoscopic surgical instrument based on gear control, discloses a method that relies on hand-rotating dials to control the yaw drive assembly, driving the forceps head to have a yaw degree of freedom, and then controlling the self-rotating dial to realize the overall rotation of the forceps head and the conduction mechanism to realize the operation of the forceps head in any direction in two degrees of freedom. The two dials cannot be operated by one hand at the same time, which is inconvenient for the operator to operate, and the mapping during operation is not direct, and the learning cycle is long.

[0003] In order to achieve the two-degree-of-freedom swing of the distal end of minimally invasive medical devices similar to the two-degree-of-freedom of the human wrist, or directly map the movement of the human wrist to many products in the current medical device field, an innovative two-degree-of-freedom structure is added to the distal end of the minimally invasive medical device to increase the flexibility of the distal end. There are mainly two forms: tandem pulley joints and continuum snake bones. The two-degree-of-freedom joint in the form of tandem pulley joints has only a single degree of freedom in a single joint, and the driving difficulty is low, while the single joint in the continuum snake bone has two degrees of freedom, but the driving difficulty is high. If it is driven by a pure mechanical structure, the driving structure will be complex. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the problems of high difficulty and complex driving structure of mechanically controlled continuum snake-bone driving in the prior art, and to provide a motion control device, control method and control system for a wire-controlled snake-bone component. An active driving structure is used to compensate for the nonlinear area during the movement of the wire-controlled snake-bone component, which can achieve better driving effect and reduce the complexity of the driving structure.

[0005] In order to solve the above technical problems, the present invention provides a motion control device for a wire-controlled snake assembly, which is used to control the swing of the wire-controlled snake assembly, and is characterized in that it includes:

[0006] A driving mechanism is connected to the wire-controlled snake assembly, comprising a driving assembly and a first sensor. The driving wire in the wire-controlled snake assembly is connected to the driving assembly and is controlled by the driving assembly to retract and release the wire-controlled snake assembly, thereby driving the swing of the wire-controlled snake assembly. The first sensor detects changes in the posture of the driving assembly.

[0007] The input mechanism, as an interface for externally controlling the driving component, includes: an operating component and a second sensor, wherein the operating component is electrically connected to the driving component, the operating component sends a driving signal to the driving component, and the second sensor detects a posture change of the operating component.

[0008] In one embodiment of the present invention, the drive assembly comprises:

[0009] Driving source;

[0010] A wire winding pulley is connected to the driving source, the wire winding pulley is driven by the driving source, the driving wire is wound around the wire winding pulley, and the first sensor detects the rotation angle of the wire winding pulley as the actual output posture of the driving component.

[0011] In one embodiment of the present invention, the drive assembly further comprises:

[0012] A connecting rod is used to connect the driving assembly and the wire-controlled snake assembly, and a through hole is provided in the connecting rod for the driving wire to pass through.

[0013] In one embodiment of the present invention, the drive assembly further comprises:

[0014] A guide pulley cooperates with the wire winding pulley to change the transmission direction of the driving wire.

[0015] In one embodiment of the present invention, the wire winding pulley is provided with: a wire threading hole and a groove, and the driving wire passes through the groove and then passes through and is fixed on the wire threading hole.

[0016] In one embodiment of the present invention, the operating component includes:

[0017] Pedestal;

[0018] A rotating seat, disposed on the base, and capable of rotating relative to the base along a first axial direction;

[0019] A rotating shaft, disposed on the rotating seat, and capable of rotating relative to the rotating seat along a second axial direction;

[0020] A handle, disposed on the rotating shaft, through which a control force can be provided to the rotating shaft and the rotating seat;

[0021] Second sensors are arranged on both the rotating seat and the rotating shaft, and two second sensors detect the rotation angles of the rotating seat and the rotating shaft respectively.

[0022] Wherein: the operating component can be used in conjunction with one or two sets of driving components, independently sending driving signals to the driving components, and can control the swing of a one-degree-of-freedom or two-degree-of-freedom wire-controlled snake bone component.

[0023] In one embodiment of the present invention, when the wire-controlled snake assembly is a multi-degree-of-freedom structure, the number of multiple groups of driving assemblies and operating assemblies is set correspondingly according to the number of degrees of freedom of the wire-controlled snake assembly.

[0024] In one embodiment of the present invention, both the first sensor and the second sensor are magnetically encoded angle sensors, and both the driving component and the operating component are provided with detection magnets that cooperate with the magnetically encoded angle sensors.

[0025] In order to solve the above technical problems, the present invention further provides a motion control method of a wire-controlled snake assembly, which is implemented by using the above-mentioned motion control device of the wire-controlled snake assembly, and comprises the following steps:

[0026] Collect the control posture changes of the operating component as the target posture input of the wire-controlled snake component and provide driving signals for the driving component;

[0027] Collect the actual posture changes of the driving component as the actual posture output of the wire-controlled snake bone component;

[0028] A position closed-loop calculation is performed on the target posture input of the wire-controlled snake-bone component and the actual posture output of the wire-controlled snake-bone component to control the wire-controlled snake-bone component to move to the target posture position.

[0029] In order to solve the above technical problems, the present invention also provides a motion control system of a wire-controlled snake-bone assembly, which can realize the motion control method of the wire-controlled snake-bone assembly, and the motion control system can realize the electrical connection between the operating assembly and the driving assembly;

[0030] The motion control system is capable of receiving a target posture input signal of the operating component and outputting a drive signal to the drive component;

[0031] The motion control system can also receive the actual posture output of the driving component, and perform position closed-loop calculation with the target posture input, and control the wire-controlled snake bone component to move to the target posture position.

[0032] The above technical solution of the present invention has the following advantages compared with the prior art:

[0033] The present invention discloses a motion control device for a wire-controlled snake-bone component. Compared with the mechanical control in the prior art, an input mechanism is provided as an interface for an external control driving component, an operating component is electrically connected to the driving component, and a driving signal is sent to the driving component. A posture change of the operating component is detected by a second sensor as an input signal of a target posture change of the driving component, and an actual posture change of the driving component is detected by a first sensor as feedback to form a closed-loop control, thereby realizing active driving of the wire-controlled snake-bone component, reducing the application difficulty and mechanical complexity of similar wire-controlled snake-bone components, and promoting the application of wire-controlled snake-bone components in the field of minimally invasive surgery.

[0034] Moreover, based on the above-mentioned motion control device, the present invention also provides a motion control method of a wire-controlled snake-bone component using the above-mentioned motion control device, and a motion control system of a wire-controlled snake-bone component capable of implementing the motion control method. It further discloses how to use the above-mentioned motion control device to realize active control of the wire-controlled snake-bone component, so as to realize flexible, precise and fast control of any wire-controlled snake-bone component. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0036] Figure 1 It is a schematic diagram of the structure of the wire-controlled snake bone assembly controlled by the present invention;

[0037] Figure 2 It is a schematic diagram of the structure of the cross joint controlled by the present invention;

[0038] Figure 3 It is a structural schematic diagram of the driving mechanism of the present invention used in conjunction with the wire-controlled snake bone assembly;

[0039] Figure 4 It is a structural schematic diagram of the driving mechanism of the present invention;

[0040] Figure 5 It is a structural schematic diagram of the input mechanism of the present invention;

[0041] Figure 6 It is an algorithm flow chart of the wire-controlled snake bone component motion control method of the present invention;

[0042] Figure 7 It is a control flow chart of a closed-loop control algorithm of the wire-controlled snake bone component motion control method of the present invention;

[0043] Description of the Figures in the Specification:

[0044] 10. Wire-controlled snake bone assembly; 12. Cross joint; 13. Driving wire; 14. End effector assembly;

[0045] 20. driving assembly; 21. driving source; 22. winding pulley; 23. first sensor; 24. first detection magnet; 25. connecting rod; 26. guide pulley; 27. pulley frame; 28. mounting plate; 29. ​​first sensor bracket;

[0046] 30. Input mechanism; 31. Base; 32. Rotating seat; 33. Rotating axis; 34. Handle; 35. Second sensor; 36. Second detection magnet; 37. Second sensor bracket. DETAILED DESCRIPTION

[0047] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0048] As mentioned above, the wire-controlled snake-bone assembly is now widely used in medical devices. The wire-controlled snake-bone assembly can realize the distal two-degree-of-freedom swing. However, when the wire-controlled technology is used to control the snake-bone assembly to swing in one direction, at least one driving wire needs to be set. Therefore, in order to realize the two-degree-of-freedom swing of the snake-bone assembly in space, at least four driving wires need to be used. Moreover, with the continuous research and development of the wire-controlled snake-bone assembly, a segmented multi-degree-of-freedom wire-controlled snake-bone assembly has been developed, which can perform two-degree-of-freedom swing in space at multiple positions along the longitudinal extension direction of the wire-controlled snake-bone assembly, thus forming a multi-degree-of-freedom swing similar to that of a snake body. It is conceivable that the number of driving wires that need to be set will increase exponentially. If a purely mechanical drive control mechanism is still used, the complexity of mechanical control will inevitably increase, and misoperation will inevitably occur. Such mistakes are absolutely not allowed in the medical field. Therefore, at this stage, multi-degree-of-freedom wire-controlled snake-bone assemblies have not been widely used, and there is an urgent need to provide a simpler and easier-to-implement motion control device for wire-controlled snake-bone assemblies.

[0049] Based on the above requirements, the present invention provides a motion control device for a wire-controlled snake-bone component, which is used to control the swing of the wire-controlled snake-bone component, including: a driving mechanism and an input mechanism, wherein: the driving mechanism is connected to the wire-controlled snake-bone component, the driving mechanism includes a driving component and a first sensor, the driving component is connected to the driving wire in the wire-controlled snake-bone component, the driving component controls the retraction and extension of the driving wire, and can drive the swing of the wire-controlled snake-bone component, and the first sensor detects the posture change of the driving component; the input mechanism serves as an interface for externally controlling the driving component, and the input mechanism includes: an operating component and a second sensor, the operating component is electrically connected to the driving component, and the first sensor detects the posture change of the driving component. The operating component sends a driving signal to the driving component, and the second sensor detects the posture change of the operating component. Compared with the mechanical control in the prior art, an input mechanism is set as an interface for externally controlling the driving component, and the operating component is electrically connected to the driving component, and sends a driving signal to the driving component. The posture change of the operating component is detected by the second sensor as an input signal for the target posture change of the driving component, and the actual posture change of the driving component is detected by the first sensor as feedback to form a closed-loop control, thereby realizing active driving of the wire-controlled snake-bone component, reducing the application difficulty and mechanical complexity of similar wire-controlled snake-bone components, and promoting the application of wire-controlled snake-bone components in the field of minimally invasive surgery.

[0050] The present invention uses an active driving structure to compensate for the nonlinear region of the movement of the wire-controlled snake bone component, which can achieve better driving effect and reduce the complexity of the driving structure. The motion control device, control method and control system of the present invention are further described below in conjunction with specific embodiments.

[0051] Example 1

[0052] Reference Figure 1 and Figure 2 As shown, in this embodiment, a wire-controlled snake-bone assembly for controlling two degrees of freedom is taken as an example, wherein: the wire-controlled snake-bone assembly 10 includes a continuum snake skeleton, a driving wire 13, and an end-actuator assembly 14. The continuum snake skeleton is a bionic snake-bone structure, similar to the serial arrangement of the vertebrae of vertebrates. The continuum snake skeleton is composed of more than two snake-bone segments connected in series, and each snake-bone segment can also be composed of one or more parts; each snake-bone segment can be exactly the same, or have different structural features, and can be connected end to end in series to form the entire snake skeleton; the driving wire 13 itself is bendable, and it is in the form of a steel wire, a flexible rod, a multi-joint chain, etc., and can transmit tension or thrust. For the driving wire 13 in the form of a flexible rod and a multi-joint chain, it can withstand thrust and tension at the same time, and the driving wire 13 in the form of a steel rope can only withstand tension; the end-actuator assembly 14 is connected to the distal end of the continuum snake skeleton.

[0053] Specifically, each of the snake bone joints is composed of two parts: a cross joint 12 and a cross axis. Each snake bone joint can rotate relative to two degrees of freedom. Four circular holes are evenly distributed on the circumference of the cross joint 12 of the snake bone joint for the driving wire 13 to pass through. Four driving wires 13 are arranged in two groups and cross-distributed, respectively passing through the four circular holes. The corresponding two driving wires 13 can control the continuum snake skeleton to swing in two directions on one degree of freedom.

[0054] Specifically, an actuator movement channel is left in the middle of the snake bone joint for the actuator to pass through and connect with the power transmission component of the end execution component 14. The actuator can be a steel wire rope or a flexible part with the same properties as other materials. The tension is transmitted axially in the actuator channel, pulling the power transmission component of the end execution component 14 to realize the function of the instrument.

[0055] Specifically, the actuator of the middle channel can be a chain-like structure connected end to end, which can transmit both pulling force and thrust, and drive the end actuator assembly 14 to perform functions. Specifically, the form and structure of the actuator can refer to the publication number: CN114209370A, the invention name: A Chinese invention patent of a flexible connector and an end actuator assembly, which will not be described in detail here.

[0056] In order to realize the motion control of the above-mentioned two-degree-of-freedom wire-controlled snake bone assembly 10, it is necessary to control the four (two groups) driving wires 13. Figure 3 and Figure 4 As shown, in this embodiment, the driving mechanism is connected to the wire-controlled snake-bone component 10, and the driving wire 13 in the wire-controlled snake-bone component 10 is controlled. The driving mechanism includes a driving component 20 and a first sensor 23. The driving wire 13 in the wire-controlled snake-bone component 10 is connected to the driving component 20, and is controlled by the driving component 20 to control the retraction and extension, thereby driving the swing of the wire-controlled snake-bone component 10. The first sensor 23 detects the posture change of the driving component 20.

[0057] Specifically, the driving assembly 20 includes: a driving source 21 and a winding pulley 22, wherein the driving source 21 is a kinematic input device with a rotational motion component, such as a driving member with a rotational function such as a DC motor and a hydraulic motor, and the driving source 21 is connected to the winding pulley 22 through a transmission shaft, and the driving source 21 drives the winding pulley 22 to rotate, and the driving wire 13 is wound around the winding pulley 22, and when the winding pulley 22 rotates, the driving wire 13 can be driven to rotate;

[0058] In the present embodiment, since the two driving wires 13 form a group and jointly control the wire-controlled snake-bone assembly 10 to swing in two directions with one degree of freedom, the two driving wires 13 can be wound around the same wire winding pulley 22, and the two driving wires 13 are wound around the wire winding pulley 22 in opposite directions. When the wire winding pulley 22 rotates, one driving wire 13 is wound around the wire winding pulley 22, and one driving wire 13 is unwound from the wire winding pulley 22. In this way, the control of the two driving wires 13 by one wire winding pulley 22 is achieved. The rotation direction of the wire winding pulley 22 can be changed by the forward and reverse rotation of the same driving source 21, so that the swinging direction of the wire-controlled snake-bone assembly 10 can be changed, thereby achieving the swinging of the wire-controlled snake-bone assembly 10 with one degree of freedom. In order to control the four driving wires 13, in the present embodiment, two driving sources 21 and two wire winding pulleys 22 are provided.

[0059] In order to detect the posture change of the driving component 20, a first sensor 23 is set to detect the rotation angle of the winding pulley 22 as the actual output posture of the driving component 20. In this embodiment, a magnetic detection method is provided:

[0060] Specifically, the first sensor 23 is set as a magnetic encoding angle sensor. When the transmission shaft drives the wire winding pulley 22 to rotate, one end of the transmission shaft is set to protrude from the wire winding pulley 22, and a first detection magnet 24 is arranged outside the transmission shaft. The first detection magnet 24 is a circular magnet. The first sensor 23 is arranged on the outside of the circular magnet, and the chip of the first sensor 23 is arranged to be perpendicular to the center of the circular magnet. In this way, the transmission shaft can drive the circular magnet to rotate, and the first sensor 23 can detect the rotation angle, which is the rotation angle of the wire winding pulley 22.

[0061] In other embodiments, other detection methods may also be provided, such as photoelectric detection, visual detection, etc., as long as the rotation angle of the winding pulley 22 can be detected.

[0062] Specifically, in order to achieve the connection between the driving component 20 and the wire-controlled snake-bone component 10, the driving component 20 is further provided with: a connecting rod 25, the two ends of which are respectively connected to the driving component 20 and the wire-controlled snake-bone component 10, and a through hole is opened in the connecting rod 25 for the driving wire 13 to pass through.

[0063] It should be noted that, in the present embodiment, four driving wires 13 are provided, and therefore four connecting through holes are opened in the connecting rod 25 for the four driving wires 13 to pass through separately, and a positioning groove is provided at one end of the connecting rod 25 connected to the wire-controlled snake-bone assembly 10, and the connecting rod 25 is inserted into the positioning groove to achieve corresponding feature matching between the connecting rod 25 and the wire-controlled snake-bone assembly 10, thereby ensuring that the connecting through hole is aligned with the driving wire 13 hole in the wire-controlled snake-bone assembly 10.

[0064] Furthermore, a through hole is provided in the connecting rod 25 for the actuator to pass through, and a separator is provided in the connecting rod 25 to separate the actuator and the driving wire 13 to prevent them from being entangled with each other.

[0065] Specifically, the driving component 20 also includes: a guide pulley 26, which cooperates with the wire winding pulley 22 to change the transmission direction of the driving wire 13. According to actual steering requirements, multiple guide pulleys 26 are provided. One end of the driving wire 13 is fixed to the end execution component 14 or the distal end of the wire-controlled snake bone component 10, and the other end is changed in direction through the connecting rod 25 and multiple guide pulleys 26 in turn, and then wound on the wire winding pulley 22 along the rotation direction of the wire winding pulley 22.

[0066] It should be noted that the wire winding pulley 22 is provided with: a wire threading hole and a groove. The driving wire 13 passes through the groove and is fixed on the wire threading hole. In this embodiment, two driving wires 13 need to be passed through the same wire winding pulley 22. Therefore, a groove and two wire threading holes are set on the wire winding pulley 22. The two driving wires 13 are wound in opposite directions along the grooves and pass through the two wire threading holes of the wire winding pulley 22 respectively. The wire winding pulley 22 has a vertical threaded hole at the wire threading hole, and the driving wire 13 can be fixed by screws.

[0067] It should be noted that the profile of the winding pulley 22 can be formulated according to the nonlinear requirements of the driving wire 13, such as an involute, a vortex line, etc.:

[0068] When the winding section of the winding pulley 22 is a continuous circular arc, during operation, the rotation arc is linearly related to the stroke of the driving wire 13 pulled thereon, and the larger the radius of the circular arc, the larger the slope of the line.

[0069] When the winding segment of the winding pulley 22 is an involute, during operation, the rotation arc and the stroke of the driving wire 13 pulled thereon are in a quadratic function or other nonlinear relationship; in actual use, different driving wires 13 are rotated according to the actual driving end, thereby setting different winding pulley 22 structures.

[0070] Specifically, the driving assembly 20 described in this embodiment also includes: a pulley frame 27, a mounting plate 28 and a first sensor bracket 29, wherein: the driving source 21 is fixed on the mounting plate 28, the output shaft of the driving source 21 passes through the corresponding motor hole on the mounting plate 28, on the other side of the mounting plate 28, the wire winding pulley 22 is mounted on the motor shaft through a transmission shaft adapter, the wire winding pulley 22 is axially fixed on the transmission shaft by a top screw installed thereon, one end of the pulley frame 27 is fixed to the mounting plate 28 by screws, the guide pulley 26 is arranged in the pulley frame 27, one end of the first sensor bracket 29 is fixedly connected to the mounting plate 28 by screws, and the other end extends to the top of the first detection magnet 24, the first sensor 23 is placed on the first sensor bracket 29, the first sensor bracket 29 is provided with a through hole above the first detection magnet 24, and the chip of the first sensor 23 is placed perpendicular to the center of the first detection magnet 24 through the through hole and senses it.

[0071] Reference Figure 5 As shown, in order to realize active control of the driving component 20, in this embodiment, the operating component 30 is set to adopt a structural form of two orthogonal axes parallel input as an operating interface to provide input information for the entire control system. Specifically, the operating component 30 includes: a base 31, a rotating base 32, a rotating shaft 33, and a handle 34, wherein: the base 31 is a U-shaped frame structure, and circular holes are provided on the two side arms of the U-shaped frame. The rotating base 32 passes through the circular holes on the left and right sides along the Y-axis direction and is embedded in the base 31. The rotating base 32 can rotate relative to the Y-axis of the base 31. The rotating base 32 is provided with circular holes on both sides along the X-axis direction. The rotating shaft 33 passes through the circular holes of the rotating base 32. The rotating shaft 33 can rotate relative to the X-axis of the rotating base 32. The handle 34 is installed on the rotating shaft 33. When the handle 34 is toggled by any action, the handle 34 drives the rotating shaft 33 The rotation is centered on the X-axis, and the force along the X-axis direction causes the rotating shaft 33 to drive the rotating seat 32 to rotate centered on the Y-axis. When the two axes are connected at the same time, two data paths can be output. Since the two axes are linked and orthogonal, the operating component 30 is electrically connected to the driving component 20, so that the operating component 30 can be used in conjunction with one or two groups of driving components 20, and a driving signal is independently sent to the driving component 20, so that the one-degree-of-freedom or two-degree-of-freedom wire-controlled snake-bone component 10 can be controlled to swing. In this embodiment, the operating component 30 is used in conjunction with two groups of driving components 20 to control the two-degree-of-freedom swing of the wire-controlled snake-bone component 10, and the virtual data coordinate system of the operating component 30 is consistent with the virtual coordinate system of the wire-controlled snake-bone component 10, so the movement direction and amplitude of the hand input action are consistent with the movement direction and amplitude of the wire-controlled snake-bone component 10.

[0072] In order to detect the posture change of the operating component 30, a second sensor 35 is provided to detect the angle between the rotating seat 32 and the rotating shaft 33 as the target input posture of the operating component 30. In this embodiment, a magnetic detection method is provided:

[0073] Specifically, the second sensor 35 is set as a magnetic encoding angle sensor, and the second detection magnet 36 is respectively sleeved on the extension rod of the rotating seat 32 and the extension rod of the rotating shaft 33. The second detection magnet 36 is set as a circular magnet, and two second sensors 35 are respectively fixed on the two side surfaces of the base 31 through the second sensor bracket 37. The second sensor 35 is set on the outside of the circular magnet, and the chip of the second sensor 35 is placed perpendicular to the center of the circular magnet. In this way, when the rotating seat 32 and the rotating shaft 33 are driven to rotate by the handle 34, the second sensor 35 can detect the rotation angle of the rotating seat 32 and the rotating shaft 33.

[0074] In other embodiments, other detection methods may also be provided, such as photoelectric detection, visual detection, etc., as long as the rotation angles of the rotating seat 32 and the rotating shaft 33 can be detected.

[0075] In the above-mentioned embodiment 1, taking the wire-controlled snake-bone component 10 that controls two degrees of freedom as an example, a device that can realize a driving component 20 and an operating component 30 is provided. In actual use, the wire-controlled snake-bone component 10 also has a four-degree-of-freedom structure and a six-degree-of-freedom structure, that is, along the longitudinal extension direction of the wire-controlled snake-bone component 10, it not only has one swing point with two degrees of freedom and along four directions in space, but also can be provided with multiple two-degree-of-freedom swing points, thereby forming more degrees of freedom. When the wire-controlled snake-bone component 10 is a multi-degree-of-freedom structure, it is only necessary to increase the number of driving sources 21 and winding pulleys 22 in the driving component 20 according to the number of degrees of freedom. A group of operating components 30 is used for the corresponding two degrees of freedom. When the wire-controlled snake-bone component 10 is a multi-degree-of-freedom structure, it is only necessary to increase the number of operating components 30. Examples are not given one by one here. Therefore, the motion control device described in the present invention can realize flexible, precise and fast control of any wire-controlled snake-bone component 10.

[0076] Example 2

[0077] Based on the above embodiment 1, the present invention further provides a motion control method of the wire-controlled snake bone assembly 10, which is implemented by using the motion control device described in the above embodiment 1. Figure 6 and Figure 7 As shown, the following steps are included:

[0078] S101, collecting the control posture change of the operating component 30 as the target posture input of the wire-controlled snake bone component 10, and providing a driving signal for the driving component 20;

[0079] In this embodiment, according to the structure of the handle 34, it has a pitch degree of freedom and a yaw degree of freedom. The movement dimension of the handle 34 can be mapped into a rectangular coordinate system. The second sensor 35 fixed on the base 31 and the rotating base 32 will produce data changes when the handle 34 moves. When the handle 34 moves, the values ​​of the two second sensors 35 will change, which are recorded as target_x and target_y.

[0080] S102, collecting the actual posture change of the driving component 20 as the actual posture output of the wire-controlled snake bone component 10;

[0081] In this embodiment, the winding pulley 22 serves as the driving component 20, and the driving wire 13 is pulled to drive the snake bone to deflect. The deflection amount of the snake bone is equal to the rotation amount of the winding pulley 22. Therefore, the actual posture of the snake bone can be obtained by collecting the rotation angle of the winding pulley 22.

[0082] Furthermore, the snake skeleton is controlled by two groups of cross-distributed drive wires 13. The two cross-distributed drive wires 13 can be mapped into a rectangular coordinate system, and the snake bone movement is mapped into the rectangular coordinate system. The rotation angle values ​​of the two winding pulleys 22 are the horizontal and vertical coordinate values ​​for controlling the snake bone posture, which are recorded as real_x and real_y.

[0083] S103, performing position closed-loop calculation on the target posture input of the wire-controlled snake-bone assembly 10 and the actual posture output of the wire-controlled snake-bone assembly 10, and controlling the wire-controlled snake-bone assembly 10 to move to the target posture position;

[0084] In this embodiment, the snake bone target posture input data and the snake bone actual posture output data are mapped into the coordinate system, which are two sets of target values ​​and feedback values. The control algorithm is used to perform closed-loop calculations on the horizontal coordinate data and the vertical coordinate data respectively to control the snake bone posture.

[0085] Example 3

[0086] On the basis of the above-mentioned embodiment 2, the present invention also provides a motion control system of a wire-controlled snake bone component 10, which can implement the method described in embodiment 2, and the motion control system can realize the electrical connection between the operating component 30 and the driving component 20; the motion control system includes: a hardware circuit, the hardware circuit includes a power circuit part and a logic circuit part, each part of the circuit can be composed of basic components or integrated circuit chips, the motion control system can receive the target posture input signal of the operating component 30, and output the driving signal to the driving component 20; the motion control system can also receive the actual posture output of the driving component 20, and perform a position closed-loop calculation with the target posture input, so as to control the wire-controlled snake bone component 10 to move to the target posture position.

[0087] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A motion control device for a wire-controlled snake assembly, used to control the swing of the wire-controlled snake assembly, characterized in that: include: A driving mechanism is connected to the wire-controlled snake assembly, comprising a driving assembly and a first sensor. The driving wire in the wire-controlled snake assembly is connected to the driving assembly and is controlled by the driving assembly to retract and release the wire-controlled snake assembly, thereby driving the swing of the wire-controlled snake assembly. The first sensor detects changes in the posture of the driving assembly. The input mechanism, as an interface for externally controlling the driving component, includes: an operating component and a second sensor, wherein the operating component is electrically connected to the driving component, the operating component sends a driving signal to the driving component, and the second sensor detects a posture change of the operating component.

2. The motion control device of the wire-controlled snake assembly according to claim 1, characterized in that: The drive assembly comprises: Driving source; A wire winding pulley is connected to the driving source, the wire winding pulley is driven by the driving source, the driving wire is wound around the wire winding pulley, and the first sensor detects the rotation angle of the wire winding pulley as the actual output posture of the driving component.

3. The motion control device of the wire-controlled snake assembly according to claim 2, characterized in that: The drive assembly also includes: A connecting rod is used to connect the driving assembly and the wire-controlled snake assembly, and a through hole is provided in the connecting rod for the driving wire to pass through.

4. The motion control device of the wire-controlled snake assembly according to claim 2, characterized in that: The drive assembly also includes: A guide pulley cooperates with the wire winding pulley to change the direction of transmission of the drive wire.

5. The motion control device of the wire-controlled snake assembly according to claim 2, characterized in that: The wire winding pulley is provided with: a wire threading hole and a groove, and the driving wire passes through the groove and then passes through and is fixed on the wire threading hole.

6. The motion control device of the wire-controlled snake assembly according to claim 1, characterized in that: The operating components include: Pedestal; A rotating seat, disposed on the base, and capable of rotating relative to the base along a first axial direction; A rotating shaft, disposed on the rotating seat, and capable of rotating relative to the rotating seat along a second axial direction; A handle, disposed on the rotating shaft, through which a control force can be provided to the rotating shaft and the rotating seat; Second sensors are arranged on both the rotating seat and the rotating shaft, and two second sensors detect the rotation angles of the rotating seat and the rotating shaft respectively. Wherein: the operating component can be used in conjunction with one or two sets of driving components, independently sending driving signals to the driving components, and can control the swing of a one-degree-of-freedom or two-degree-of-freedom wire-controlled snake bone component.

7. The motion control device of the wire-controlled snake assembly according to claim 6, characterized in that: When the wire-controlled snake assembly is a multi-degree-of-freedom structure, the number of multiple groups of driving assemblies and operating assemblies is set correspondingly according to the number of degrees of freedom of the wire-controlled snake assembly.

8. The motion control device of the wire-controlled snake assembly according to claim 1, characterized in that: The first sensor and the second sensor are both magnetic encoding angle sensors, and the driving component and the operating component are both provided with detection magnets that cooperate with the magnetic encoding angle sensors.

9. A motion control method for a wire-controlled snake assembly, characterized in that: The motion control device according to any one of claims 1 to 8 is used to implement the method, comprising the following steps: Collect the control posture changes of the operating component as the target posture input of the wire-controlled snake component and provide driving signals for the driving component; Collect the actual posture changes of the driving component as the actual posture output of the wire-controlled snake bone component; A position closed-loop calculation is performed on the target posture input of the wire-controlled snake-bone component and the actual posture output of the wire-controlled snake-bone component to control the wire-controlled snake-bone component to move to the target posture position.

10. A motion control system for a wire-controlled snake assembly, capable of implementing the method described in claim 9, wherein the motion control system can realize electrical connection between the operating assembly and the driving assembly; The motion control system is capable of receiving a target posture input signal of the operating component and outputting a drive signal to the drive component; The motion control system can also receive the actual posture output of the driving component, and perform position closed-loop calculation with the target posture input, and control the wire-controlled snake bone component to move to the target posture position.

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