Motion control method of robot system and surgical robot

Abstract

The invention relates to the field of medical instruments, and discloses a motion control method of a robot system and a surgical robot. The robotic system includes a mobile station, at least one moving arm disposed on the mobile station, and a handle disposed on the moving arm for controlling movement of the moving arm and the mobile station and including at least one force sensor. The control method includes receiving force sensor information corresponding to a force and / or a torque applied to the handle from at least one force sensor, and controlling the motion arm or the mobile station to move based on the force sensor information. On the basis of the force sensor, the operation intention of an operator can be sensed to provide assistance for the operator, so that the moving arm or the moving station is easily dragged, the preoperative positioning operation is convenient and easy, and the preoperative preparation time is shortened.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a motion control method of a robot system and a surgical robot. Background Art

[0002] Compared with traditional open surgery, laparoscopic minimally invasive surgery has the advantages of less surgical trauma, faster postoperative recovery, and lower postoperative infection and complications, and has been widely used. The existing laparoscopic surgical robot system has a motion arm carrying surgical instruments. Depending on the different patients and surgical procedures, the motion arm needs to be adjusted and positioned before or during the operation so that the surgical instruments can be adjusted to the specified position for the operation. During the operation, the surgeon uses the remote control mode to control the surgical actuator at the end of the surgical instrument to perform surgical operations on different parts of the body.

[0003] At present, the use of surgical robots to implement surgical procedures mainly includes three processes: preoperative positioning, surgical preparation, and postoperative preparation. In the preoperative positioning and preparation process, the surgical assistant (such as a nurse or doctor) needs to first move the surgical robot to the patient's side, and then move at least one moving arm to a suitable position and posture according to the type of surgery and the surgical location, so that at least one moving arm can be connected to the sheath, so that the surgical instruments on the moving arm can enter the corresponding position in the human body where surgery is required through the sheath. During the operation, the surgical instruments are controlled by teleoperation to follow the input terminal command to reach various positions and angles within the range to achieve various operating actions.

[0004] The existing surgical robot system is moved by human dragging, which is inconvenient and time-consuming. The position adjustment of the motion arm is usually adjusted automatically by the system, and it takes a long time to adjust some specific positions. The mobility of the surgical robot system, as well as the position adjustment and positioning capabilities of the external motion arm in space, are directly related to the preoperative preparation time and operation experience. Summary of the invention

[0005] In some embodiments, the present disclosure provides a motion control method for a robot system, the robot system comprising a mobile station, at least one motion arm disposed on the mobile station, and a handle disposed on the motion arm, the handle being used to control the motion of the motion arm and the mobile station and comprising at least one force sensor, the control method comprising:

[0006] receiving force sensor information corresponding to the force and / or torque applied to the handle from the at least one force sensor; and

[0007] Based on the force sensor information, the motion arm or the mobile station is controlled to move.

[0008] In some embodiments, the present disclosure further provides a surgical robot, comprising:

[0009] Mobile station;

[0010] a moving arm, the moving arm being movably disposed on the mobile station;

[0011] a handle disposed on the motion arm and used to control the motion of the motion arm and the mobile station, the handle comprising at least one force sensor, the force sensor being used to detect a force or torque applied externally to the handle; and

[0012] A controller is configured to execute the control method as described in any embodiment of the present disclosure.

[0013] In some embodiments, the present disclosure further provides a computer storage medium, wherein the storage medium includes at least one instruction, and the at least one instruction is executed by a processor to configure the processor to execute the control method as described in any embodiment of the present disclosure.

[0014] In some embodiments, the present disclosure further provides a computer system, including:

[0015] a storage medium comprising at least one instruction; and

[0016] A processor is configured to execute the at least one instruction to configure the processor to perform the control method as described in any embodiment of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0018] Figure 1 A flowchart showing a motion control method for a robot system according to some embodiments of the present disclosure;

[0019] Figure 2 A schematic block diagram showing a robot system according to some embodiments of the present disclosure;

[0020] Figure 3 A schematic diagram showing the structure of a motion arm of a robot system according to some embodiments of the present disclosure;

[0021] Figure 4 A schematic diagram showing coordinates of a motion arm of a robot system according to some embodiments of the present disclosure;

[0022] Figure 5A flow chart showing a motion control method for a motion arm of a robot system according to some embodiments of the present disclosure;

[0023] Figure 6 A flowchart showing a motion control method of a mobile station of a robot system according to some embodiments of the present disclosure;

[0024] Figure 7 A simplified schematic diagram showing control points of a mobile station of a robotic system according to some embodiments of the present disclosure;

[0025] Figure 8 A schematic diagram showing the coordinates of control points of a mobile station of a robot system according to some embodiments of the present disclosure;

[0026] Fig. 9 A schematic diagram of the structure of a surgical robot according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0027] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0028] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, or rear end, and the end close to the surgical patient is defined as the distal end, far end, or front end, or front part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0029] In the present disclosure, the term "position" refers to the positioning of an object or a part of an object in three-dimensional space (for example, three translational degrees of freedom can be described using changes in Cartesian X, Y and Z coordinates, such as three translational degrees of freedom along Cartesian X, Y and Z axes, respectively). In the present disclosure, the term "posture" refers to the rotation setting of an object or a part of an object (for example, three rotational degrees of freedom, which can be described using roll, pitch and yaw). In the present disclosure, the term "pose" refers to a combination of the position and pose of an object or a part of an object, for example, it can be described using six parameters of the six degrees of freedom mentioned above. In the present disclosure, the configuration or posture of a moving arm or a part thereof can be represented by a set of joint values ​​of the joints of the moving arm (for example, a one-dimensional matrix composed of these joint values). In the present disclosure, the joint values ​​of the joints can include the angles rotated by the corresponding joints relative to the corresponding joint axes or the distances moved relative to the initial positions. In the present disclosure, a reference coordinate system can be understood as a coordinate system capable of describing the pose of an object. According to the actual positioning requirements, the reference coordinate system can choose to use the origin of the virtual reference object or the origin of the physical reference object as the origin of the coordinate system. In the present disclosure, the position and posture of the motion arm or a part thereof (such as the end) may refer to the position and posture of the coordinate system defined by the motion arm or a part thereof relative to the reference coordinate system. In the present disclosure, unless otherwise specified, the position and posture of the motion arm refer to the position and posture of the motion arm control point coordinate system, and the position and posture of the mobile station refer to the position and posture of the mobile station coordinate system.

[0030] Figure 1 A flowchart of a motion control method 1000 of a robot system 100 according to some embodiments of the present disclosure is shown. Figure 2 FIG. 1 is a schematic block diagram of a robot system 100 according to some embodiments of the present disclosure. Figure 3 1 shows a schematic diagram of the structure of the motion arm 120 of the robot system 100 according to some embodiments of the present disclosure. The method 1000 may be implemented or executed by hardware, software, or firmware. In some embodiments, the method 1000 may be implemented or executed by a robot system (e.g., Figure 2 The method 1000 may be implemented as computer-readable instructions. These instructions may be read and executed by a general-purpose processor or a dedicated processor. For example, a processor of the controller 140 of the robot system 100 is configured to execute the method 1000. In some embodiments, these instructions may be stored on a computer-readable medium.

[0031] In some embodiments, Figure 2As shown, the robot system 100 includes a mobile station 110, at least one motion arm 120 disposed on the mobile station 110, and a handle 130 disposed on at least one motion arm 120 (for example, at the distal end of the motion arm 120). The handle 130 can be used to control the movement of the motion arm 120 and the mobile station 110. The handle 130 includes at least one force sensor 131, such as a six-axis force sensor or multiple force sensors and multiple torque sensors. It should be understood that the robot system 100 may include a motion arm 120. The motion arm 120 may include one or more arm bodies, one or more joints connecting the one or more arm bodies, and one or more joint motors driving the one or more joints. Figure 3 As shown, the motion arm 120 may include a plurality of arm bodies (e.g., arm bodies 121-125) and a plurality of joints (e.g., joints 1211-1215) connecting the plurality of arm bodies, and a plurality of joint motors (not shown) may be provided at the plurality of joints. The plurality of joint motors may be used to drive the plurality of arm bodies to move. Specifically, Figure 3 As shown, the motion arm 120 may include a first cross arm 121, a second cross arm 122, a first arc arm 123, a second arc arm 124 and a third arc arm 125. The motion arm 120 may also include a first cross arm rotation joint 1211, a second cross arm rotation joint 1212, a first arc arm rotation joint 1213, a second arc arm rotation joint 1214 and a third arc arm rotation joint 1215.

[0032] In some embodiments, the mobile station 110 may be a surgical trolley. Figure 4 As shown, the mobile station 110 may include a base 111, a column 112 disposed on the base 111, a lifting joint J1 connected to the column 112, a column lifting motor driving the column lifting joint J1, and a crossbeam 113 disposed on the column 112. The base 111 includes one or more active casters (not shown) and one or more active caster motors driving the active casters. The active caster motor can drive the active casters to move, so as to realize the forward, backward or turning movement of the mobile station 110, and the column lifting motor can drive the column 112 to rise and fall, so as to realize the lifting and falling of the crossbeam 113 of the mobile station 110.

[0033] During operation, the operator drags the handle 130, and the operator's operation intention can be sensed based on the force sensor data. The robot system 100 provides assistance to the operator to easily drag the motion arm 120 or move or lift the mobile station 110. By dragging the motion arm 120 to move the motion arm 120 (such as the end of the arm body 125 of the motion arm 120, or the motion arm control point) to an appropriate position and posture, the configuration adjustment of the motion arm 120 is achieved. By dragging the mobile station 110, the mobile station 110 is adjusted in position, posture or height. In this way, preoperative positioning operations can be conveniently and easily implemented, reducing preoperative preparation time.

[0034] In some embodiments, the robot system 100 may receive a selection from the operator on an adjustment mode of the motion arm 120 or an adjustment mode of the mobile station 110, thereby entering an adjustment mode (e.g., a posture adjustment mode, a position adjustment mode, or a posture adjustment mode) of the motion arm 120, or entering an adjustment mode of the mobile station 110. For example, a motion arm position adjustment button, a motion arm posture adjustment button, or a mobile station adjustment button may be provided on the motion arm 120, and the operator may select an adjustment mode by selecting and pressing different buttons. The above is only an example, and the operator may also select an adjustment mode by using a toggle button, or by inputting a command on a system input device (e.g., a keyboard or a mouse) to select an adjustment mode.

[0035] Figure 4 Schematic diagram of coordinates of the motion arm 120 of the robot system 100 according to some embodiments of the present disclosure. Figure 4 As shown, the motion arm 120 can be arranged on the cross beam 113 of the mobile station 110, and a joint (e.g., joint J1) can be arranged on the mobile station 110, and the joint J1 is a lifting joint for adjusting the height of the cross beam 113, thereby adjusting the height of the motion arm 120. It should be understood that the position adjustment mode of the motion arm 120 is mainly used to adjust the position joint, for example, Figure 4 The joints J1-J3 or the joints J1-J4 shown are used to adjust the position of the motion arm 120. It should be understood that Figure 3 The joints 1211-1215 shown correspond to Figure 4The joints J2-J6 shown. In the position adjustment mode, the joints J4-J5 of the motion arm 120 can remain unchanged. Alternatively, the joints J5 and J6 of the motion arm 120 can remain unchanged, and the changes in the joints J2 and J3 of the motion arm 120 can be compensated and adjusted by the joint J4 to keep the posture of the end of the motion arm 120 unchanged. The posture adjustment mode of the motion arm 120 is mainly used to adjust the posture joints of the motion arm 120, such as joints J4-J6, to adjust the posture of the motion arm 120. It should be understood that in some embodiments, the adjustment mode of the motion arm 120 can adjust the position and posture at the same time, for example, it can be used to adjust J1-J6. In some embodiments, the motion arm 120 may include a moving joint, such as a lifting joint or a telescopic joint, for adjusting the position of the motion arm 120, and the joint J1 may be omitted or the joint J1 may not be adjusted during the process of adjusting the posture of the motion arm 120. For example, the motion arm 120 may include a first horizontal arm 121, a second horizontal arm 122, a vertical arm (not shown), a first arc arm 123, a second arc arm 124, and a third arc arm 125. The vertical arm may be disposed between the second horizontal arm 122 and the first arc arm 123. In addition, the motion arm 120 may include a first horizontal arm rotation joint 1211, a second horizontal arm rotation joint 1212, a lifting joint, a first arc arm rotation joint 1213, a second arc arm rotation joint 1214, and a third arc arm rotation joint 1215. The lifting joint may be disposed on the vertical arm, and the first arc arm rotation joint 1213 may be disposed between the vertical arm and the first arc arm 123.

[0036] In some embodiments, Figure 3 As shown, the arm bodies 123-125 of the motion arm can be arc-shaped arms, and the proximal ends and distal ends of the multiple arc-shaped arms are respectively and sequentially rotatably connected to form joints 1213-1215 (such as Figure 4 The rotation axes of the multiple arc-shaped arms intersect at the remote motion center. Figure 3 and Figure 4 As shown, the proximal end of the arcuate arm 123 is rotationally connected with the distal end of the arm body 122 around the rotation axis of the joint 1213 (joint J4), the proximal end of the arcuate arm 124 is rotationally connected with the distal end of the arcuate arm 123 around the rotation axis of the joint 1214 (joint J5), the proximal end of the arcuate arm 125 is rotationally connected with the distal end of the arcuate arm 124 around the rotation axis of the joint 1215 (joint J6), and the rotation axes of the joint J4, the joint J5 and the joint J6 intersect at the remote center of motion (RCM) point, as shown in FIG. Figure 4The origin of the coordinate system {7} shown. While keeping the RCM point stationary, the arc arm 123, the arc arm 124 and the arc arm 125 can move arbitrarily in the motion space, for example, they can be switched between fully folded, fully unfolded and intermediate positions. It should be understood that the connecting rod curvature, connecting rod thickness and connecting rod arc length of the multiple arc arms can be designed according to actual needs, so that the multiple arc arms can move around the RCM point in both the unfolded position and the folded position during the rotational movement, and meet the arm body working space to the greatest extent, avoid interference between the multiple arm bodies, so as to realize one moving arm carrying multiple surgical instruments, and avoid interference between the multiple moving arms when the multiple moving arms are respectively carrying multiple surgical instruments. It should be understood that during surgery, the remote motion center can be the entry point or the incision position, and the moving arm carries the surgical instrument so that the surgical instrument moves around the RCM point to adjust the position or perform surgical operations.

[0037] like Figure 1 As shown, in step 1001, force sensor information corresponding to the force and / or torque applied to the handle is received from at least one force sensor. It should be understood that when the operator drags the handle 130, for example, when the handle 130 is dragged along the translational degree of freedom, an external force is applied to the handle 130. Or when the handle 130 is rotated along the rotational degree of freedom, a torque is applied to the handle 130. In this way, the force sensor 131 disposed in the handle 130 can measure the force and / or torque acting on the handle 130, and generate force sensor information containing corresponding force and / or torque information. In some embodiments, the force sensor information may include force vector information and / or torque vector information. For example, the force sensor may include a six-axis force sensor, wherein three axes may be used to measure force information, which is converted into force vector information by conversion (e.g., protocol output), and another three axes may measure torque information, which is converted into torque vector information by conversion. The robot system, such as the controller 140 of the robot system 100, may receive force sensor information from the force sensor. It should be understood that the above is only an example, and the force sensor 131 may also include a sensor for measuring force and a sensor for measuring torque.

[0038] like Figure 1As shown, in step 1003, based on the force sensor information, the motion arm or the mobile station is controlled to move. It should be understood that the controller 140 of the robot system 100 can receive force sensor information, such as force vector information and / or torque vector information, from the force sensor to control the joints of the motion arm 120, such as at least a portion of the joints J1-J6 to move, so as to adjust the position or posture of the motion arm 120. In some embodiments, the controller 140 of the robot system 100 can receive force sensor information, such as force vector information, from the force sensor to control the motion of the mobile station 110, for example, to control the motion of the lifting joint J1 of the mobile station 110 to lift the mobile station 110, or to control the motion of the active casters of the mobile station 110 to move the mobile station 110 forward, backward or turn.

[0039] Figure 5 1 is a flowchart showing a motion control method 2000 of a motion arm of a robot system 100 according to some embodiments of the present disclosure. The method 2000 may be implemented or executed by hardware, software, or firmware. In some embodiments, the method 2000 may be implemented or executed by a robot system (e.g., Figure 2 The method 2000 is executed by the controller 140 of the robot system 100 shown in the figure. In some embodiments, the method 2000 can be implemented as computer-readable instructions. These instructions can be read and executed by a general-purpose processor or a special-purpose processor. For example, the processor of the controller 140 of the robot system 100 is configured to execute the method 2000. In some embodiments, these instructions can be stored on a computer-readable medium.

[0040] like Figure 5 As shown, in step 2001, based on the force sensor information, the target speed and / or target angular speed of the control point of the motion arm relative to the reference coordinate system is determined. In some embodiments, the control point of the motion arm may include the sheath entry point, such as the remote center of motion (RCM point), and the RCM point may be as follows: Figure 4 The origin of the {7} coordinate system shown in FIG. Alternatively, the control point of the motion arm may include a sheath fixing point. For example, the sheath is fixedly connected to the end of the motion arm through a sheath fixing clamp to form a sheath fixing point. In this way, the sheath fixing point may be the center of the end of the sheath fixing clamp. For example, the sheath fixing point may be as follows: Figure 4 In some embodiments, the origin of the reference coordinate system, such as Figure 4 The {0} coordinate system shown may be located at the intersection of the ground and the axis of the proximal joint (eg, joint J2) of the motion arm 120 , with the z-axis of the reference coordinate system {0} pointing vertically upward and the x-axis along the elongation direction of the beam 113 .

[0041] In some embodiments, the target velocity of the control point of the motion arm relative to the reference coordinate system {0} can be determined based on the force vector information of the force sensor. Alternatively, the target angular velocity of the control point of the motion arm relative to the reference coordinate system {0} can be determined based on the torque vector information of the force sensor.

[0042] In some embodiments, the target speed and / or target angular velocity of the control point in the control point coordinate system is determined based on the force vector information and / or torque vector information of the force sensor. The target speed and / or target angular velocity of the control point relative to the reference coordinate system is determined based on the target speed and / or target angular velocity of the control point in the control point coordinate system and the transformation relationship between the control point coordinate system and the reference coordinate system. In some embodiments, determining the target speed of the control point in the control point coordinate system may include determining the force vector information in the control point coordinate system based on the force vector information and the transformation relationship between the force sensor coordinate system and the control point coordinate system, and determining the target speed of the control point in the control point coordinate system based on the force proportional coefficient. In some embodiments, determining the target angular velocity of the control point in the control point coordinate system may include determining the torque vector information in the control point coordinate system based on the torque vector information and the transformation relationship between the force sensor coordinate system and the control point coordinate system, and determining the target angular velocity of the control point in the control point coordinate system based on the torque proportional coefficient.

[0043] It should be understood that Figure 4 As shown, the reference coordinate system can be expressed as {0}, and the control point coordinate system can be expressed as {CP}. The RCM coordinate system can be expressed as {7}, with the origin being the RCM point, and the z-axis pointing along the sheath center axis to the sheath feed direction. The sensor coordinate system can be expressed as {FT}, which is determined according to the force sensor's own coordinate system definition, and its position relative to the {7} coordinate system It can be measured by a three-dimensional model. The sheath coordinate system (or, the entry point coordinate system) can be expressed as {TR} (not shown), with its origin located at the entry point, and the coordinate axis direction is consistent with the {7} coordinate system. The sheath clamp coordinate system can be expressed as {TRB}, with its origin located at the center of the end of the sheath clamp, and the coordinate axis direction is consistent with the {7} coordinate system. For example, {CP} can be the RCM coordinate system {7}, or it can be {TRB} or {TR} depending on the usage scenario.

[0044] For example, the force sensor information of at least one force sensor (e.g., a six-axis force sensor) can be expressed as f=[Fx, Fy, Fz, Mx, My, Mz]. The force vector information of the force sensor expressed in the sensor coordinate system {FT} can be expressed as The torque vector information of the force sensor expressed in the sensor coordinate system {FT} can be expressed as The force vector information expressed by the force sensor in the control point coordinate system {CP} can be expressed as The torque vector information of the force sensor expressed in the control point coordinate system {CP} can be expressed as

[0045] By multiplying the force vector information in the control point coordinate system {CP} by the force proportional coefficient, the target velocity of the control point in the control point coordinate system {CP} can be determined, as shown in formula (1):

[0046]

[0047] in, is the force proportionality coefficient.

[0048] By multiplying the torque vector information in the control point coordinate system {CP} by the torque proportional coefficient, the target angular velocity of the control point in the control point coordinate system {CP} can be determined, as shown in formula (2):

[0049]

[0050] in, is the torque proportionality coefficient.

[0051] The target velocity of the control point in the control point coordinate system {CP} is converted into the target velocity relative to the reference coordinate system {0}, as shown in formula (3):

[0052]

[0053] in, is the posture of the control point coordinate system relative to the reference coordinate system {0}.

[0054] The target angular velocity of the control point in the control point coordinate system {CP} is converted into the target angular velocity relative to the reference coordinate system {0}, as shown in formula (4):

[0055]

[0056] like Figure 5As shown, in step 2003, based on the target speed and / or target angular velocity of the control point of the moving arm relative to the reference coordinate system, a motion control instruction of the moving arm is generated. For example, the controller 140 of the robot system 100 can generate the driving parameters of the joint motors of the moving arm 120 based on the target speed and / or target angular velocity, and generate the motion control instruction of the moving arm 120 based on the driving parameters of the joint motors. For example, the driving parameters of the joints J1-J4 can be determined based on the target speed, and the position motion control instruction of the moving arm can be generated. The driving parameters of the joints J4-J6 can be determined based on the target angular velocity, and the posture motion control instruction of the moving arm can be generated. The driving parameters of the joints J1-J6 can be determined based on the target speed and the target angular velocity, and the position motion control instruction of the moving arm can be generated.

[0057] like Figure 5 As shown, in step 2005, based on the motion control instruction of the motion arm, the motion arm is controlled to move. It should be understood that, based on the motion control instruction, one or more joint motors of the motion arm and / or the mobile station can be controlled to drive the corresponding one or more joints to move, so as to drive the corresponding one or more arm bodies to move, so as to adjust the position or posture of the motion arm. For example, joints J1-J4 can be driven to move based on the position motion control instruction. Or joints J4-J6 of the motion arm can be driven to move based on the posture motion control instruction. Or joints J1-J6 of the motion arm can be driven to move based on the posture motion control instruction.

[0058] In some embodiments, the joint values ​​and joint velocities of one or more joints can be determined based on the target velocity and / or target angular velocity of the control point of the motion arm relative to the reference coordinate system, and the drive control instructions of one or more joint motors can be determined based on the joint values ​​and joint velocities of one or more joints.

[0059] The target velocity and target angular velocity of the control point relative to the reference coordinate system {0} are expressed as Using the differential kinematics model, based on formula (5), we can know:

[0060]

[0061] Among them, J vi represents the partial derivative of the control point velocity vector with respect to the velocity of the i-th joint, J wi represents the partial derivative of the angular velocity vector of the control point coordinate system with respect to the velocity of the i-th joint, represents the joint velocity of the ith joint. For example, J v1 Represents the control point velocity vector pair Figure 4 The partial derivative of the joint velocity of the lifting joint J1 is shown as w1 Represents the angular velocity vector pair of the control point coordinate system Figure 4The partial derivative of the joint velocity of the lifting joint J1 is shown as v2 Represents the control point velocity vector pair Figure 3 The first cross arm rotation joint 1211 ( Figure 4 The partial derivative of the joint velocity of the joint J2) shown in Figure 2, J w2 Represents the angular velocity vector of the control point coordinate system to the first cross arm rotation joint 1211 ( Figure 4 The partial derivative of the joint velocity of the joint J2) shown in represents the joint velocity of the lifting joint J1, It represents the joint velocity of the first transverse arm rotation joint 1211 (joint J2), and the same applies to other joints.

[0062] Through formula (1) to formula (4), the six-dimensional speed requirement is synthesized 0 V CP After that, the Jacobian pseudo-inverse can be used to calculate the target joint velocity and further converted into joint angle commands.

[0063] The joint value and joint velocity of one or more joints are determined as shown in formula (6) and formula (7):

[0064]

[0065]

[0066] Where q is the joint value vector of one or more joints, is the joint velocity vector of one or more joints, is the pseudo-inverse matrix of the Jacobian matrix J.

[0067] Figure 6 Flowchart showing a motion control method 3000 of a mobile station of a robot system according to some embodiments of the present disclosure. The method 3000 may be implemented or executed by hardware, software, or firmware. In some embodiments, the method 3000 may be implemented or executed by a robot system (e.g., Figure 2 The method 3000 may be implemented as computer-readable instructions. These instructions may be read and executed by a general-purpose processor or a dedicated processor. For example, a processor of the controller 140 of the robot system 100 is configured to execute the method 3000. In some embodiments, these instructions may be stored on a computer-readable medium.

[0068] like Figure 6As shown, in step 3001, based on the force sensor information, a target speed and / or a target angular speed of a control point of the mobile station is determined. In some embodiments, the force sensor information includes force vector information. In some embodiments, the one or more active casters may include a first caster and a second caster that are symmetrically arranged. Figure 7 A simplified schematic diagram showing control points of a mobile station 110 of a robot system 100 according to some embodiments of the present disclosure. For example, the mobile station 110 may include two active casters and two passive casters, and the two active casters are symmetrically arranged (for example, they may be Figure 7 The left front caster 1111 and the right front caster 1112 are shown in the figure, and the two passive casters are symmetrically arranged (not shown in the figure). It should be understood that the control point PP of the mobile station 110 can be the midpoint of the two active casters 1111 and 1112. In some embodiments, as Figure 4 As shown, the mobile station 110 may further include a column 112, a lifting joint J1 connected to the column 112, and a column lifting motor driving the lifting joint J1. The target speed of the control point PP of the mobile station may include a target forward speed and / or a target lifting speed of the active caster, and the target angular speed of the control point PP of the mobile station may include a target turning speed of the mobile station.

[0069] In some embodiments, the force vector information in the mobile station control point coordinate system may be determined based on the force vector information and the transformation relationship between the force sensor coordinate system and the mobile station control point coordinate system. In some embodiments, the torque vector information in the mobile station control point coordinate system may be determined based on the force vector information in the mobile station control point coordinate system. Figure 8 FIG. 1 is a schematic diagram showing the coordinates of control points of the mobile station 110 of the robot system 100 according to some embodiments of the present disclosure. Figure 8 As shown, the mobile station control point coordinate system can be expressed as {PP}, the vertical height of the origin of the mobile station control point coordinate system {PP} can be consistent with the reference coordinate system, such as the {0} coordinate system, and the horizontal position of the origin of the coordinate system {PP} is projected on the ground as the projection of the midpoint of the two active casters on the ground. The {PP} coordinate axis direction is consistent with the {0} coordinate system, which is the {0} coordinate system translated along the x-axis.

[0070] For example, the target velocity and / or target angular velocity of the control point of the mobile station may be calculated based on formula (8):

[0071]

[0072] Among them, the forward speed v of the operating table, the angular velocity ω, and the left wheel speed v l , right wheel speed v r , the distance between the two active casters is D.

[0073] In some embodiments, for a given target speed and target angular velocity of the mobile station, the speeds of the two active casters can be calculated based on formula (9):

[0074]

[0075] In some embodiments, the position of the force sensor coordinate system {FT} relative to {PP} can be calculated based on the positioning arm joint value, as shown in formula (10):

[0076]

[0077] For example, represents the position of the m coordinate system relative to the n coordinate system, Represents the posture of the m coordinate system relative to the n coordinate system, Indicates the position of the m coordinate system relative to the n coordinate system.

[0078] refer to Figure 3 and Figure 4 For the arm and joints shown, for the m-coordinate system or the n-coordinate system, the relevant coordinate systems are defined as follows:

[0079] Coordinate system {1}, the origin is located at the intersection of the lower surface of the beam 113 and the axis of the joint J2, the z-axis is vertically upward, and the x-axis is along the elongation direction of the beam 113, which is the coordinate system {0} translated upward along the z-axis;

[0080] Coordinate system {2}, the origin coincides with the origin of coordinate system {1}, the z-axis is vertically upward along the axis of joint J2, and the x-axis is along the first cross arm rotation joint J2 to point to the direction of joint J3, which is the rotation of coordinate system {1} around the z-axis;

[0081] Coordinate system {3}, the origin is located at the intersection of the axis of joint J3 and the upper surface of the second cross arm 122, the z-axis is vertically upward along the axis of joint J3, and the x-axis is along the second cross arm 122 from joint J3 to the direction of joint J4, which is the coordinate system {2} translated along the x-axis, translated along the z-axis, and then rotated around the z-axis;

[0082] Coordinate system {4}, with its origin at point RCM, with its z-axis pointing vertically upward along the axis of joint J4, its x-axis perpendicular to the plane where the central arc of the first arc arm 123 is located, and its direction along the z-axis z5 of coordinate system {5} intersecting the z-axis z4 of coordinate system {4}, is the translation of coordinate system {3} along the x-axis, along the z-axis, and then rotating around the z-axis;

[0083] Coordinate system {5}, the origin is point RCM, the z-axis is upward along the axis of joint J5, the x-axis is perpendicular to the plane where the central arc of the second arc arm 124 is located, and the direction is along the z-axis z6 of coordinate system {6} intersecting the z-axis z5 direction of coordinate system {5}, which is the rotation of coordinate system {4} around the x-axis and then around the z-axis;

[0084] Coordinate system {6}, the origin is point RCM, the z-axis is upward along the axis of joint J6, the x-axis is perpendicular to the plane where the central arc of the second arc arm 125 is located, and the direction is along the z-axis z6 of coordinate system {6} intersecting the z-axis z7 of coordinate system {7}, which is the rotation of coordinate system {5} around the x-axis and then around the z-axis;

[0085] Coordinate system {7}, the origin is the RCM point, the z-axis points to the sheath feeding direction along the central axis of the sheath, and the x-axis is in the same direction as the x-axis x6 of the coordinate system {6}, which is the rotation of the coordinate system {6} around the x-axis;

[0086] For example, represents the position of the reference coordinate system {0} relative to the mobile station control point coordinate system {PP}, It represents the position of coordinate system {1} relative to reference coordinate system {0}, and so on. represents the attitude of the sensor coordinate system {FT} relative to the mobile station control point coordinate system {PP}, represents the position of the sensor coordinate system {FT} relative to the mobile station control point coordinate system {PP}. The force sensor information of the force sensor (e.g., a six-axis force sensor) can be expressed as f=[Fx, Fy, Fz, Mx, My, Mz]. The force vector information expressed by the force sensor in the coordinate system {FT} can be expressed as The force vector information expressed by the force sensor in the {PP} coordinate system can be expressed as It should be understood that the force vector In Location The moment vector relative to the {PP} coordinate system can be generated at

[0087] In some embodiments, based on the forward (e.g., x-axis) direction component of the force vector information in the mobile station control point coordinate system, the force in the forward direction of the mobile station is determined, and based on the forward force proportionality coefficient, the target forward speed of the mobile station is determined. In some embodiments, based on the vertical (e.g., z-axis) direction component of the torque vector information in the mobile station control point coordinate system, the torque of the mobile station steering is determined, and based on the steering torque proportionality coefficient, the target angular velocity of the mobile station is determined. In some embodiments, based on the vertical (e.g., z-axis) direction component of the force vector information in the mobile station control point coordinate system, the force in the lifting direction of the mobile station is determined, and based on the lifting proportionality coefficient, the target lifting speed of the mobile station is determined.

[0088] For example, the force vector The x-axis component is the force F along the moving direction of the mobile station. fwd , the moment vector The z-axis component is the moment M that turns the mobile station. rot , force vector The z-axis component is the force F along the lifting direction of the mobile station. ud .

[0089] F fwd Multiply by the forward force proportionality factor k v , the target speed v of the mobile station can be determined tgt ,Will Multiply by the steering torque proportionality factor k ω , the target angular velocity ω of the mobile station can be determined tgt , F ud Multiply by the lifting and lowering ratio k w , the target lifting speed w of the mobile station can be determined tgt , as shown in formula (11), formula (12) and formula (13) respectively:

[0090] v tgt =k v F fwd Formula (11)

[0091] ω tgt =k ω M rot Formula (12)

[0092] w tgt =k w F ud Formula (13)

[0093] like Figure 6 As shown, in step 3003, a motion control instruction of the mobile station is generated based on the target speed and / or target angular velocity of the control point of the mobile station. In some embodiments, the target speed of one or more active casters can be determined based on the target forward speed of the mobile station and the target angular velocity of the mobile station. The active casters are driven to move through the active caster motion control instruction to drive the mobile station to move forward, and the column lifting motor is driven to move through the column motion control instruction to drive the mobile station to move up and down.

[0094] For example, the target speeds of the left active caster and the right active caster can be determined according to formula (14):

[0095]

[0096] Among them, v rtgt is the target speed of the right active caster, v ltgt is the target speed of the left active caster.

[0097] In some embodiments, the drive control instructions of one or more active caster motors are determined based on the target speed and radius of the one or more active casters. It should be understood that the RPM instruction (e.g., revolutions per minute instruction) of the active caster can be converted based on the target speed and radius of the active caster, and converted into the RPM instruction of the active caster motor according to the transmission ratio. The RPM instruction of the active caster can be known from formula (15) and formula (16):

[0098]

[0099]

[0100] Where: rpm l_tgt Indicates the RPM command of the left active caster, v l_tgt Indicates the target linear speed of the left active caster relative to the ground, rpm r_tgt Indicates the RPM command of the right active caster, v r_tgt Indicates the target linear velocity of the right active caster relative to the ground, r wheel Indicates the caster radius.

[0101] In some embodiments, the drive control instruction of the column lifting motor is determined based on the target lifting speed of the mobile station. It should be understood that the RPM instruction of the column lifting motor can be converted based on the target lifting speed according to the lead and transmission ratio to control the mobile station to lift.

[0102] like Figure 6 As shown, in step 3005, the movement of the mobile station is controlled based on the motion control instruction of the mobile station. For example, the active caster can be controlled to move forward, backward or turn based on the RPM instruction of the active caster motor. Based on the RPM instruction of the column lifting motor, the column is controlled to perform lifting movement to achieve the lifting of the mobile station.

[0103] In some embodiments, the control method 1000 or 2000 also includes detecting whether the moving arm is at the limit of the range of motion or whether the moving arm may collide, and in response to the moving arm being at the limit of the range of motion or the moving arm may collide, controlling the moving arm to stop moving or issuing an alarm message. In some embodiments, the range of motion limit includes the motion limit of each joint in one or more joints of the moving arm. It should be understood that a sensor (e.g., an encoder or a potentiometer, etc.) is provided at each joint of the moving arm 120, and joint information (such as joint angle data) is generated by the sensor of each joint. The surgical robot system 100 (e.g., the controller 140) determines whether the moving arm 120 is at the limit of the range of motion by detecting the joint angle data of the sensor. For example, the range of motion limit of the joint can be the mechanical range of motion limit of each joint (e.g., joint 1211-joint 1215) of the moving arm 120 or the motion angle limit set by the system. It should be understood that the distance between the collision points on one or more collision-prone arm bodies of the moving arm (e.g., the collision between the linear module 126 at the end of the arm body 125 of the moving arm 120 and the arm body 121 to the arm body 125, or the collision between the linear module 126 of the moving arm 120 and the column 112 or the crossbeam 113) can be determined by the moving arm model to determine whether the moving arm 120 is likely to collide. In some embodiments, the alarm information may include but is not limited to interface prompts, voice prompts, signal light prompts, etc.

[0104] In some embodiments, the mobile station or the motion arm can be controlled to stop moving based on the detected disappearance of the force or torque applied to the handle. For example, after the operator drags the motion arm 120 or the mobile station 110 to the target posture, the handle 130 is released, so that the force or torque applied to the handle 130 disappears, and the surgical robot system (such as the controller 140) detects the disappearance of the force or torque and controls the mobile station 110 or the motion arm 120 to stop moving.

[0105] Fig. 9 FIG. 1 is a schematic diagram showing the structure of a surgical robot 10 according to some embodiments of the present disclosure. Fig. 9 As shown, a surgical robot 10 includes a mobile station 110, a motion arm 120, a handle 130, and a controller. The motion arm 120 is movably disposed on the mobile station 110, and the handle 130 is disposed on the motion arm 120 (e.g., at the distal end of the motion arm 120) and is used to control the motion of the motion arm 120 and the mobile station 110. The handle 130 includes at least one force sensor 131, and the force sensor 131 is used to detect a force or torque applied to the handle 130 from the outside, and the controller (e.g., the controller 140) is configured to execute the control method in any embodiment of the present disclosure (e.g., the control method 1000, 2000, or 3000).

[0106] In some embodiments, Fig. 9 As shown, the mobile station 110 may include a base 111, a column 112 disposed on the base 111, and a lifting joint connected to the column 112 (for example, Figure 4 The base 111 includes one or more active casters and one or more active caster motors driving the active casters. In some embodiments, as shown in FIG. Figure 2 As shown, the controller (e.g., controller 140) can be connected to the motion arm 120 and the mobile station 110 for communication, for example, by cable connection or wireless connection, to achieve communication between the motion arm 120 and the mobile station 110. The controller 140 can be configured on a computer device and arranged inside the mobile station 110. The base 111 of the mobile station 110 is used to achieve the movement and positioning functions of the mobile station 110. The base 111 of the mobile station 110 is used to integrate the mobile station electrical components inside. The column 112 can be raised and lowered, and its top end is fixed to the crossbeam 113. A motion arm 120 is connected to the end of the crossbeam 113. In some embodiments, the motion arm 120 may include one or more joints of one or more arm bodies and one or more joint motors driving the one or more joints, and the arm body includes an end arm body. It should be understood that at least one motion arm 120 may also include multiple motion arms.

[0107] In some embodiments, the handle 130 also includes a main body, which is fixed on the end arm body 125 of the moving arm 120. The force sensor includes a six-axis force sensor, which is arranged in the main body for detecting the force or torque applied to the handle 130 from the outside.

[0108] In some embodiments, the present disclosure provides a computer storage medium. The storage medium may include at least one instruction, and the at least one instruction is executed by a processor to configure the processor to execute the control method in any of the above embodiments.

[0109] In some embodiments, the present disclosure provides a computer system, which may include a storage medium and a processor. The storage medium may include at least one instruction. The processor is configured to execute at least one instruction to configure the processor to execute the control method in any of the above embodiments.

[0110] Through the above description of the implementation methods, the technical personnel in the relevant field can clearly understand that the present disclosure can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware. Based on such an understanding, the technical solution of the present disclosure can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a computer-readable storage medium, such as a computer floppy disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FLASH), a hard disk or an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0111] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A motion control method for a robot system, the robot system comprising a mobile station, at least one motion arm disposed on the mobile station, and a handle disposed on the motion arm, the handle being used to control the motion of the motion arm and the mobile station and comprising at least one force sensor, the control method comprising: receiving force sensor information corresponding to a force and / or a torque applied to the handle from the at least one force sensor; as well as Based on the force sensor information, the motion arm or the mobile station is controlled to move.

2. The control method according to claim 1, characterized in that: The force sensor information includes force vector information and / or torque vector information, The control method further comprises: Determining a target velocity and / or a target angular velocity of a control point of the motion arm relative to a reference coordinate system based on the force sensor information; generating a motion control instruction for the motion arm based on a target velocity and / or a target angular velocity of a control point of the motion arm relative to a reference coordinate system; and Based on the motion control instruction of the motion arm, control the motion of the motion arm; or The control method further comprises: determining a target velocity and / or a target angular velocity of a control point of the mobile station based on the force sensor information; generating a motion control instruction for the mobile station based on a target velocity and / or a target angular velocity of a control point of the mobile station; and Based on the motion control instruction of the mobile station, the motion of the mobile station is controlled.

3. The control method according to claim 1, characterized in that: Also includes: A selection of the motion arm adjustment mode or the mobile station adjustment mode is received.

4. The control method according to claim 2, characterized in that: The method comprises: Determining a target velocity of a control point of the motion arm relative to a reference coordinate system based on force vector information of the force sensor; and / or Based on the torque vector information of the force sensor, a target angular velocity of the control point of the motion arm relative to a reference coordinate system is determined.

5. The control method according to claim 4, characterized in that: The method comprises: determining a target velocity and / or a target angular velocity of the control point in a control point coordinate system based on the force vector information and / or the torque vector information of the force sensor; and Based on the target speed and / or target angular speed of the control point in the control point coordinate system and the transformation relationship between the control point coordinate system and the reference coordinate system, the target speed and / or target angular speed of the control point relative to the reference coordinate system is determined.

6. The control method according to claim 5, characterized in that: Determining the target velocity and / or angular velocity of the control point in the control point coordinate system includes: Determining the force vector information in the control point coordinate system based on the force vector information and the transformation relationship between the force sensor coordinate system and the control point coordinate system; and determining a target velocity of the control point in a control point coordinate system based on a force proportionality coefficient; and / or Determining the torque vector information in the control point coordinate system based on the torque vector information and the transformation relationship between the force sensor coordinate system and the control point coordinate system; and Based on the torque proportionality coefficient, a target angular velocity of the control point in the control point coordinate system is determined.

7. The control method according to claim 5, characterized in that: The control point coordinate system includes a sheath coordinate system, a sheath fixed point coordinate system or a remote center of motion (RCM) coordinate system; and / or The origin of the reference coordinate system is located at the intersection of the ground and the proximal joint axis of the motion arm.

8. The control method according to claim 2, characterized in that: The motion arm, or the motion arm and the mobile station, includes one or more joints and one or more joint motors driving the one or more joints, and generating a motion control instruction for the motion arm includes: determining joint values ​​and joint velocities of the one or more joints based on a target velocity and / or a target angular velocity of a control point of the motion arm relative to the reference coordinate system; and Based on the joint values ​​and joint speeds of the one or more joints, drive control instructions for the one or more joint motors are determined.

9. The control method according to claim 8, characterized in that: The one or more joints include: The lifting joint of the mobile station; and The first cross arm rotation joint, the second cross arm rotation joint, the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm; or The one or more joints include: The motion arm comprises a first cross arm rotation joint, a second cross arm rotation joint, a lifting joint, a first arc arm rotation joint, a second arc arm rotation joint and a third arc arm rotation joint.

10. The control method according to claim 2, characterized in that: The method comprises: Determining the force vector information in the mobile station control point coordinate system based on the force vector information and the transformation relationship between the force sensor coordinate system and the mobile station control point coordinate system; and / or Based on the force vector information in the mobile station control point coordinate system, torque vector information in the mobile station control point coordinate system is determined.

11. The control method according to claim 10, characterized in that: Determining a target velocity and / or a target angular velocity of a control point of the mobile station includes: determining a force in the forward direction of the mobile station based on a forward direction component in the force vector information in the mobile station control point coordinate system; and Determining a target forward speed of the mobile station based on the forward force proportionality coefficient; and / or Determining the torque for steering the mobile station based on the vertical direction component in the torque vector information in the mobile station control point coordinate system; and determining a target angular velocity of the mobile station based on a steering torque proportionality coefficient; and / or Determining the force in the lifting direction of the mobile station based on the vertical direction component in the force vector information in the control point coordinate system of the mobile station; and Based on the lifting scale factor, a target lifting speed of the mobile station is determined.

12. The control method according to claim 11, characterized in that: The mobile station includes one or more active casters and one or more caster motors driving the active casters, and the method includes: determining a target speed of the one or more active casters based on a target forward speed of the mobile station and a target angular speed of the mobile station; and Determining a drive control instruction for the one or more active caster motors based on a target speed and radius of the one or more active casters; and / or The mobile station includes a column, a lifting joint connected to the column, and a column lifting motor driving the column lifting joint, and the method includes: Based on the target lifting speed of the mobile station, a driving control instruction of the column lifting motor is determined.

13. The control method according to claim 12, characterized in that: The active caster comprises a first caster and a second caster which are symmetrically arranged; The vertical height of the origin of the mobile station control point coordinate system is the same as the vertical height of the reference coordinate system, and the horizontal position of the origin of the mobile station control point coordinate system is projected on the ground as the projection of the midpoint of the first caster and the second caster on the ground.

14. The control method according to claim 8, characterized in that: Also includes: Detecting whether the moving arm is at the limit of the moving range or whether the moving arm may collide; In response to the movement arm being at the limit of the movement range or the movement arm being likely to collide, the movement arm is controlled to stop moving or an alarm message is issued.

15. The control method according to claim 1, characterized in that: Also includes: Based on the detected disappearance of the force or torque applied to the handle, the mobile station or the motion arm is controlled to stop moving.

16. A surgical robot, characterized in that: include: Mobile station; a moving arm, the moving arm being movably disposed on the mobile station; a handle, disposed on the motion arm and used to control the motion of the motion arm and the mobile station, the handle comprising at least one force sensor, the force sensor being used to detect a force or torque applied externally to the handle; as well as A controller is configured to execute the control method according to any one of claims 1 to 15.

17. The surgical robot according to claim 16, characterized in that: The motion arm comprises one or more arm bodies, and the arm body comprises an end arm body; The handle also includes a main body, which is fixedly arranged on the end arm body of the moving arm. The at least one force sensor includes a six-axis force sensor, which is arranged in the main body and is used to detect the force or torque applied to the handle from the outside.

18. The surgical robot according to claim 17, characterized in that: The motion arm further comprises one or more joints connecting the one or more arm bodies and one or more joint motors driving the one or more joints; The mobile station includes a base, a column arranged on the base, a lifting joint connected to the column, a column lifting motor driving the column lifting joint and a crossbeam arranged on the column, and the base includes one or more active casters and one or more active caster motors driving the active casters.

19. A computer storage medium, characterized in that: The storage medium includes at least one instruction, and the at least one instruction is executed by a processor to configure the processor to execute the control method according to any one of claims 1-15.

20. A computer system, characterized in that: include: a storage medium comprising at least one instruction; as well as A processor is configured to execute the at least one instruction to configure the processor to perform the control method according to any one of claims 1-15.

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