Acupuncture robot adaptive impedance control method, device, equipment and storage medium

Abstract

The present application discloses an adaptive impedance control method, device, equipment and storage medium for an acupuncture robot, and relates to the field of robot control technology. The method includes: obtaining feedback data of acupuncture; the feedback data includes the measured force exerted on the needle; determining the model parameters of the spring-damping contact force model according to the feedback data; generating an execution trajectory according to the spring-damping contact force model after determining the model parameters; when the measured force is less than the preset upper limit force, generating a first speed instruction according to the expected trajectory; when the measured force is greater than or equal to the upper limit force, generating a second speed instruction according to the execution trajectory; and controlling the acupuncture robot according to the first speed instruction or the second speed instruction. By estimating the model parameters under different conditions and then generating the corresponding execution trajectory and speed instruction, that is, the speed instruction generated by the impedance caused by different forces can be adaptively changed, the movement of the acupuncture robot can be controlled more accurately and stably.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to an acupuncture robot adaptive impedance control method, device, equipment and storage medium. Background Art

[0002] At present, acupuncture robots have been used for acupuncture, but the relevant technology is still not accurate and stable enough when controlling acupuncture robots. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to propose an adaptive impedance control method, device, equipment and storage medium for an acupuncture robot to improve the accuracy and stability of controlling the acupuncture robot.

[0004] To achieve the above purpose, one aspect of an embodiment of the present application provides an adaptive impedance control method for an acupuncture robot, the method comprising the following steps:

[0005] Acquiring feedback data of acupuncture, wherein the feedback data includes a measured force exerted on the needle;

[0006] Determining model parameters of a spring-damper contact force model according to the feedback data;

[0007] generating an execution trajectory according to the spring-damper contact force model after determining the model parameters;

[0008] When the measured force is less than a preset upper limit force, a first speed instruction is generated according to the expected trajectory; when the measured force is greater than or equal to the upper limit force, a second speed instruction is generated according to the execution trajectory;

[0009] The acupuncture robot is controlled according to the first speed instruction or the second speed instruction.

[0010] In some embodiments, obtaining acupuncture feedback data comprises the following steps:

[0011] The acupuncture depth measurement value, the derivative of the acupuncture depth measurement value and the measured force are obtained as the feedback data.

[0012] In some embodiments, determining the model parameters of the spring-damper contact force model according to the feedback data comprises the following steps:

[0013] Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value, and the measured force into the spring-damper contact force model and determining the model parameters of the spring-damper contact force model;

[0014] The expression of the spring-damper contact force model is:

[0015]

[0016] Among them, F e is the measured force, x m is the acupuncture depth measurement value, is the derivative of the acupuncture depth measurement, K e is the stiffness coefficient to be determined, B e is the damping coefficient to be determined, x e is the acupuncture depth to be determined; the model parameters include K e , B e 、x e .

[0017] In some embodiments, the step of bringing the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value, and the measured force into the spring-damper contact force model and determining the model parameters of the spring-damper contact force model comprises the following steps:

[0018] Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value and the measured force into the spring-damper contact force model and determining a predicted stiffness coefficient, a predicted damping coefficient, a predicted acupuncture depth and a predicted force as the model parameters;

[0019] The expression for the predicted stiffness coefficient is:

[0020]

[0021] The expression of the predicted damping coefficient is:

[0022]

[0023] The expression for predicting acupuncture depth is:

[0024]

[0025] The expression of the predicted force is:

[0026]

[0027] in, is the predicted force, is the predicted stiffness coefficient at time t, is the initial value of the predicted stiffness coefficient; is the predicted damping coefficient at time t, is the initial value of the predicted damping coefficient; is the predicted acupuncture depth at time t, is the initial value of the predicted acupuncture depth; 1 , γ 2 and γ 3 is a positive scalar.

[0028] In some embodiments, generating an execution trajectory according to the spring-damper contact force model after determining the model parameters comprises the following steps:

[0029] generating a reference trajectory according to the desired force, the desired velocity, the proportionality coefficient of the feedback, the predicted stiffness coefficient determined in the spring-damper contact force model, and the predicted acupuncture depth determined;

[0030] The expression of the reference trajectory is:

[0031]

[0032] Among them, x r is the reference trajectory, F r is the expected force, is the desired speed, k F is the proportionality coefficient, is the predicted stiffness coefficient, The predicted acupuncture depth;

[0033] generating the execution trajectory according to the reference trajectory and a mass-spring-damper model;

[0034] The expression for generating the execution trace is:

[0035]

[0036] Where, ΔF = F r -F e represents the error between the expected force and the measured force, Δx=x c -x r represents the execution trajectory x caused by ΔF c With the reference trajectory x r , ΔX(s) is the form of Δx in the s domain, ΔF(s) is the form of ΔF in the s domain, G(s) represents the transfer function between ΔF(s) and ΔX(s); M, B, and K are the mass coefficient, damping coefficient, and stiffness coefficient of the mass-spring-damper model, respectively.

[0037] In some embodiments, when the measured force is less than a preset upper limit force, generating a first speed instruction according to the expected trajectory includes the following steps:

[0038] When the measured force is less than a preset upper limit force, the desired trajectory is brought into a first instruction expression and the first speed instruction is generated;

[0039] The first instruction expression is:

[0040]

[0041] Wherein, u1 is the first speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x d is the desired trajectory, x m is the measurement value of acupuncture depth;

[0042] When the measured force is greater than or equal to the upper limit force, generating a second speed instruction according to the execution trajectory comprises the following steps:

[0043] When the measured force is greater than or equal to the upper limit force, the execution trajectory is brought into a second instruction expression and the second speed instruction is generated;

[0044] The second instruction expression is:

[0045]

[0046] Wherein, u2 is the second speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x c is the execution trajectory, x m It is the measurement value of acupuncture depth.

[0047] In some embodiments, controlling the acupuncture robot according to the first speed instruction or the second speed instruction comprises the following steps:

[0048] The stepper motor is driven according to the first speed instruction or the second speed instruction to control the acupuncture robot.

[0049] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application provides an acupuncture robot adaptive impedance control device, the device comprising:

[0050] A data acquisition unit, used to acquire feedback data of acupuncture; wherein the feedback data includes a measured force exerted on the needle;

[0051] A parameter determination unit, used for determining model parameters of a spring-damper contact force model according to the feedback data;

[0052] A trajectory generating unit, configured to generate an execution trajectory according to the spring-damper contact force model after determining the model parameters;

[0053] an instruction generating unit, configured to generate a first speed instruction according to a desired trajectory when the measured force is less than a preset upper limit force; and to generate a second speed instruction according to the execution trajectory when the measured force is greater than or equal to the upper limit force;

[0054] A robot control unit is used to drive the acupuncture robot according to the first speed instruction or the second speed instruction.

[0055] To achieve the above objective, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above method when executing the computer program.

[0056] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0057] The embodiments of the present application include at least the following beneficial effects:

[0058] The present application can obtain feedback data of acupuncture; wherein the feedback data includes the measured force exerted on the needle; the model parameters of the spring-damping contact force model are determined according to the feedback data; the execution trajectory is generated according to the spring-damping contact force model after the model parameters are determined; when the measured force is less than the preset upper limit force, a first speed instruction is generated according to the expected trajectory; when the measured force is greater than or equal to the upper limit force, a second speed instruction is generated according to the execution trajectory; and the acupuncture robot is controlled according to the first speed instruction or the second speed instruction. By estimating the model parameters under different situations and then generating the corresponding execution trajectory, when the measured force is less than the upper limit force, a first speed instruction is generated according to the expected trajectory, and when the measured force is greater than or equal to the upper limit force, a second speed instruction is generated according to the execution trajectory, that is, the speed instruction generated can be adaptively changed according to the impedance caused by different forces, which can more accurately and stably control the movement of the acupuncture robot and reduce the situation of bending the needle due to inappropriate force applied by the acupuncture robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0060] Figure 1 A schematic diagram of a flow chart of an adaptive impedance control method for an acupuncture robot provided in an embodiment of the present application;

[0061] Figure 2 A control flow chart of an adaptive impedance control method for an acupuncture robot provided in an embodiment of the present application;

[0062] Figure 3 A schematic diagram of the structure of an adaptive impedance control device for an acupuncture robot provided in an embodiment of the present application;

[0063] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0065] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0066] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0068] Reference Figure 1The embodiment of the present application provides an adaptive impedance control method for an acupuncture robot, which may include but is not limited to S100 to S140, as follows:

[0069] S100: Acquire feedback data of acupuncture; wherein the feedback data includes a measured force exerted on the needle.

[0070] Specifically, the feedback data may include data of the acupuncture environment obtained after acupuncture, wherein the measured force is the external force measured on the needle after acupuncture.

[0071] Furthermore, S100 may include:

[0072] The acupuncture depth measurement value, the derivative of the acupuncture depth measurement value and the measured force are obtained as the feedback data.

[0073] S110: Determine model parameters of a spring-damper contact force model according to the feedback data.

[0074] It is understandable that, in this embodiment, a spring-damping contact force model can be established for the acupuncture process, and then various model parameters in the spring-damping contact force model can be determined according to the feedback data.

[0075] Furthermore, S100 may include:

[0076] Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value, and the measured force into the spring-damper contact force model and determining the model parameters of the spring-damper contact force model;

[0077] The expression of the spring-damper contact force model is:

[0078]

[0079] Among them, F e is the measured force, x m is the acupuncture depth measurement value, is the derivative of the acupuncture depth measurement, K e is the stiffness coefficient to be determined, B e is the damping coefficient to be determined, x e is the acupuncture depth to be determined; the model parameters include K e , B e 、x e .

[0080] Considering that the parameters of the spring-damper contact force model are different under different acupuncture environments, and characteristics such as acupuncture depth and force rebound after acupuncture will affect the accuracy of the spring-damper contact force model, the various model parameters in the spring-damper contact force model can be determined in real time.

[0081] Furthermore, the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value and the measured force are introduced into the spring-damper contact force model and the model parameters of the spring-damper contact force model are determined, comprising the following steps:

[0082] Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value and the measured force into the spring-damper contact force model and determining a predicted stiffness coefficient, a predicted damping coefficient, a predicted acupuncture depth and a predicted force as the model parameters;

[0083] The expression for the predicted stiffness coefficient is:

[0084]

[0085] The expression of the predicted damping coefficient is:

[0086]

[0087] The expression for predicting acupuncture depth is:

[0088]

[0089] The expression of the predicted force is:

[0090]

[0091] in, is the predicted force, is the predicted stiffness coefficient at time t, is the initial value of the predicted stiffness coefficient; is the predicted damping coefficient at time t, is the initial value of the predicted damping coefficient; is the predicted acupuncture depth at time t, is the initial value of the predicted acupuncture depth; 1 , γ 2 and γ 3 is a positive scalar.

[0092] S120: Generate an execution trajectory according to the spring-damper contact force model after determining the model parameters.

[0093] It can be understood that after the spring-damper contact force model parameters are determined, the model can be used to generate an execution trajectory, which can be used for trajectory control of the acupuncture robot.

[0094] Further, S120 may include:

[0095] generating a reference trajectory according to the desired force, the desired velocity, the proportionality coefficient of the feedback, the predicted stiffness coefficient determined in the spring-damper contact force model, and the predicted acupuncture depth determined;

[0096] The expression of the reference trajectory is:

[0097]

[0098] Among them, x r is the reference trajectory, F r is the expected force, is the desired speed, k F is the proportionality coefficient, is the predicted stiffness coefficient, The predicted acupuncture depth;

[0099] generating the execution trajectory according to the reference trajectory and a mass-spring-damper model;

[0100] The expression for generating the execution trace is:

[0101]

[0102] Where, ΔF = F r -F e represents the error between the expected force and the measured force, Δx=x c -x r represents the execution trajectory x caused by ΔF c With the reference trajectory x r , ΔX(s) is the form of Δx in the s domain, ΔF(s) is the form of ΔF in the s domain, G(s) represents the transfer function between ΔF(s) and ΔX(s); M, B, and K are the mass coefficient, damping coefficient, and stiffness coefficient of the mass-spring-damper model, respectively.

[0103] Specifically, the expected force and the expected speed can be preset, the proportional coefficient of the feedback can be adjusted and given, and then combined with the predicted stiffness coefficient and the predicted acupuncture depth determined in S110, a reference trajectory can be generated and further an execution trajectory can be generated.

[0104] S130: When the measured force is less than a preset upper limit force, a first speed instruction is generated according to a desired trajectory; when the measured force is greater than or equal to the upper limit force, a second speed instruction is generated according to the execution trajectory.

[0105] It can be understood that this embodiment can adaptively adjust the way of generating speed instructions according to the current value of the measured force, thereby realizing adaptive processing of the impedance brought by different measured forces, and can track safe force control and acupuncture techniques in complex acupuncture environments.

[0106] Further, S130 may include:

[0107] When the measured force is less than a preset upper limit force, the desired trajectory is brought into a first instruction expression and the first speed instruction is generated;

[0108] The first instruction expression is:

[0109]

[0110] Wherein, u1 is the first speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x d is the desired trajectory, x m is the measurement value of acupuncture depth;

[0111] When the measured force is greater than or equal to the upper limit force, generating a second speed instruction according to the execution trajectory comprises the following steps:

[0112] When the measured force is greater than or equal to the upper limit force, the execution trajectory is brought into a second instruction expression and the second speed instruction is generated;

[0113] The second instruction expression is:

[0114]

[0115] Wherein, u2 is the second speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x c is the execution trajectory, x m It is the measurement value of acupuncture depth.

[0116] It can be understood that, in this embodiment, the execution trajectory or the expected trajectory can be brought into the expression of the speed generation instruction according to the magnitude of the measured force and the upper limit force, thereby generating a speed instruction that meets the current impedance.

[0117] S140: Control the acupuncture robot according to the first speed instruction or the second speed instruction.

[0118] Specifically, this embodiment can control the acupuncture robot to perform acupuncture according to different speed instructions, including controlling the speed and movement trajectory of the needle, thereby achieving accurate and stable control of the acupuncture robot.

[0119] Furthermore, S140 may include:

[0120] The stepper motor is driven according to the first speed instruction or the second speed instruction to control the acupuncture robot.

[0121] It can be understood that, in this embodiment, the stepper motor can be driven accordingly according to the speed instruction generated by the adaptive impedance to control the movement of the acupuncture robot.

[0122] Next, the solution of the embodiment of the present application will be introduced and explained in detail with reference to specific application examples.

[0123] In order to solve the problems of inaccurate and unstable control of acupuncture robots, this embodiment provides an 8-DOF acupuncture robot control solution to achieve the safety, accuracy and stability of acupuncture manipulation trajectory tracking control. Furthermore, in order to control the force and track the manipulation in different contact environments, an adaptive impedance control method integrating forward-feedback controller is proposed, and the consistent limit boundedness of the closed-loop system is verified by using Lyapunov theory.

[0124] Acupuncture robots in related technologies model the deformation of acupuncture point tissues during acupuncture, and equate it to a spring-damper model. However, the essence of related methods is to perform mixed force-position control, while synchronous motion and force tracking have not been fully studied to a large extent. Therefore, considering acupuncture operations with force and position in one direction has become a research difficulty.

[0125] In order to solve the above problems, this embodiment proposes an adaptive impedance control method considering the contact model, which can perform force control in different contact environments and detect the operating force in real time to autonomously select force control and manipulation tracking tasks.

[0126] Specifically, this embodiment may include:

[0127] When the acupuncture robot plans to the ideal posture, the end effector starts to perform acupuncture operations. Acupuncture techniques can be performed at the desired speed (needling speed). and the expected trajectory (needle puncture depth) x d Quantitatively, this embodiment designs a forward-feedback controller to control the speed command u sent by the stepper motor, that is,

[0128]

[0129] Among them, k F is the proportional coefficient of feedback, x m It is the measurement value of the needle insertion depth at the end of the acupuncture robot.

[0130] Assume that the force F acting on the needle is e Exceeding the upper limit force F max , considering the sudden change of force, tissue rebound and safe acupuncture, this embodiment proposes an adaptive impedance control method integrating a forward-feedback controller, which can simultaneously realize the tracking of the technique and the control of the acupuncture force in a complex contact environment.

[0131] Generally, the impedance control of the position layer can be equivalent to a mass-spring-damper system, which converts the dynamic relationship between the force error ΔF and the trajectory error Δx into a second-order linear system, that is,

[0132]

[0133] Where ΔF = F r -F e Represents the error between the expected force and the measured force, Δx = x c -x r Represents the execution trajectory x caused by ΔF c With reference trajectory x r The error between is the derivative of Δx, yes The derivative of , M is the mass coefficient, B is the damping coefficient, and K is the stiffness coefficient.

[0134] Convert (2) into the form of transfer function, that is:

[0135]

[0136] Among them, ΔX(s) is the form of Δx in the s domain (i.e., Laplace domain, s is the Laplace variable), ΔF(s) is the form of ΔF in the s domain, and G(s) represents the transfer function of the force error ΔF(s) and the trajectory error ΔX(s).

[0137] Place the needle and measure the force F e The model is replaced by the spring-damper contact force model, that is:

[0138]

[0139] Where K e , B e They are the stiffness coefficient and damping coefficient of the acupuncture environment, x e is the needling depth.

[0140] So we have:

[0141]

[0142] in, is x m The derivative of .

[0143] The execution trace x of the impedance filter output c Input to the forward-feedback controller, in an ideal case, is:

[0144]

[0145] Transforming (6) into the s-domain form is:

[0146]

[0147] Among them, X m (s) is x m In the form of s domain, X c (s) is x c In the form of s domain, for In the form of s domain.

[0148] So we have:

[0149]

[0150] Substituting (8) into (5) and combining it with (3), we have:

[0151]

[0152] Among them, X e (s) is x e In the form of s domain, F r (s) is F r In the form of s domain, X r (s) is x r In the form of s domain.

[0153] Rearranging formula (9) yields:

[0154]

[0155] Therefore, the steady-state error of the needle force Δf ss It can be expressed as:

[0156]

[0157] From (11), we can see that given the reference trajectory x r for:

[0158]

[0159] Combining equations (11) and (12), Δf ss →0, the system realizes the control of operating force.

[0160] In fact, when K e , B e and x e When there is a deviation from the true value, that is, K eact =K e +ΔK e , B eact =B e +ΔB e 、x eact =x e +Δx e When x is determined by formula (12) r This will result in the actual steady-state error being:

[0161]

[0162] Considering that the model parameters of the spring-damping contact force model are different in different acupuncture environments, and the characteristics of the needle insertion depth and force rebound will affect the accuracy of the spring-damping contact force model, this embodiment can determine the various model parameters (parameter estimation) of the spring-damping contact force model in real time. Assume that the predicted values ​​of the various model parameters of the spring-damping contact force model are and The predicted force at this time for:

[0163]

[0164] when According to formula (12), at this time F e →F max , so we can design a and The adaptive adjustment scheme makes

[0165] Assume that the actual model parameters of the spring-damper contact force model are K e , B e and x e ,So:

[0166]

[0167] in

[0168] Define the Lyapunov function as:

[0169] V=φ T Γφ (16)

[0170] in is a positive definite symmetric matrix.

[0171] According to the definition, let:

[0172]

[0173] Deriving equation (16) with respect to φ and combining it with equation (15), we have:

[0174]

[0175] when When designed according to formula (17), the Always holds true, that is, when t→∞, φ→0,

[0176] Furthermore, according to formula (17), we can get:

[0177]

[0178] where γ 1 , γ 2 and γ 3 is a positive scalar, for Derivative, for Derivative, for Derivative.

[0179] In summary, the adaptive impedance control equation of the integrated forward-feedback controller can be expressed as:

[0180]

[0181] In summary, the steps of this embodiment may include:

[0182] Step 1: Based on the feedback data from acupuncture m , and F e Perform parameter estimation on the model parameters of the spring-damper contact force model.

[0183] Step 2: According to the adaptive impedance scheme, the estimated model parameters and F max Generate reference trajectory x for force control r and execution trace x c .

[0184] Step 3: Determine F max -F e>υ is true; if so, the expected trajectory x d As the input trajectory of the forward-feedback controller, perform the acupuncture manipulation tracking task; if not, then execute the trajectory x c As the input trajectory of the forward-feedback controller, the force control task is performed.

[0185] The control flow chart of the end effector of the acupuncture robot in this embodiment is as follows: Figure 2 As shown, the tracking and force control of the coordinated manipulation are adjusted by the switch module in this embodiment to autonomously adjust the input of the position trajectory of the forward-feedback controller. When the acupuncture operation force (i.e., the measured force, F e ) does not exceed the upper limit force F max When F max -F e >υ, where υ is a small positive number, in which case the position trajectory input of the forward-feedback controller is the desired trajectory x d When F max -F e ≤υ, then use the expected force F r Replace F max , and the execution trajectory x output by the adaptive impedance filter c As the input trajectory to the forward-feedback controller.

[0186] This embodiment proposes an adaptive impedance control method that integrates a forward-feedback controller, and realizes force control and technique tracking of acupuncture operations in different acupuncture environments through an acupuncture robot. This method uses Lyapunov theory to verify the consistent limit boundedness of the closed-loop system proposed in this embodiment, and improves the safety and stability during acupuncture. By combining force control and position control, this embodiment designs an adaptive impedance controller based on a mass-spring-damper model, which can detect and adjust the force and tracking errors in acupuncture operations in real time. At the same time, a switch module is used to realize the switching of technique tracking and safe force control tasks, thereby realizing precise control of acupuncture force and efficient tracking of acupuncture techniques in complex acupuncture environments. Experimental results show that this control method can achieve high-precision safe acupuncture operations under different contact conditions, effectively improving the operational reliability and adaptability of the acupuncture robot.

[0187] Reference Figure 3 The embodiment of the present application also provides an acupuncture robot adaptive impedance control device, which can implement the above-mentioned acupuncture robot adaptive impedance control method, and the device includes:

[0188] A data acquisition unit, used to acquire feedback data of acupuncture; wherein the feedback data includes a measured force exerted on the needle;

[0189] A parameter determination unit, used for determining model parameters of a spring-damper contact force model according to the feedback data;

[0190] A trajectory generating unit, configured to generate an execution trajectory according to the spring-damper contact force model after determining the model parameters;

[0191] an instruction generating unit, configured to generate a first speed instruction according to a desired trajectory when the measured force is less than a preset upper limit force; and to generate a second speed instruction according to the execution trajectory when the measured force is greater than or equal to the upper limit force;

[0192] A robot control unit is used to drive the acupuncture robot according to the first speed instruction or the second speed instruction.

[0193] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0194] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned adaptive impedance control method for an acupuncture robot when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0195] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0196] See also Figure 4 , Figure 4 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0197] The processor 401 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0198] The memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 402 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 402, and the processor 401 calls and executes the adaptive impedance control method of an acupuncture robot in the embodiment of this application;

[0199] Input / output interface 403, used to implement information input and output;

[0200] Communication interface 404, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0201] Bus 405 , which transmits information between various components of the device (e.g., processor 401 , memory 402 , input / output interface 403 , and communication interface 404 );

[0202] The processor 401 , the memory 402 , the input / output interface 403 and the communication interface 404 are connected to each other in communication within the device via the bus 405 .

[0203] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned adaptive impedance control method for an acupuncture robot is implemented.

[0204] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0205] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0206] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0207] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0208] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0209] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0210] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0211] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0212] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0213] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0214] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0215] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0216] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. An adaptive impedance control method for an acupuncture robot, characterized in that: The method comprises the following steps: Acquiring feedback data of acupuncture, wherein the feedback data includes a measured force exerted on the needle; Determining model parameters of a spring-damper contact force model according to the feedback data; generating an execution trajectory according to the spring-damper contact force model after determining the model parameters; When the measured force is less than a preset upper limit force, a first speed instruction is generated according to the expected trajectory; when the measured force is greater than or equal to the upper limit force, a second speed instruction is generated according to the execution trajectory; Controlling the acupuncture robot according to the first speed instruction or the second speed instruction; The method of obtaining feedback data of acupuncture comprises the following steps: Acquiring acupuncture depth measurement value, a derivative of the acupuncture depth measurement value, and the measured force as the feedback data; Determining the model parameters of the spring-damper contact force model according to the feedback data comprises the following steps: Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value, and the measured force into the spring-damper contact force model and determining the model parameters of the spring-damper contact force model; The expression of the spring-damper contact force model is: Among them, F e is the measured force, x m is the acupuncture depth measurement value, is the derivative of the acupuncture depth measurement, K e is the stiffness coefficient to be determined, B e is the damping coefficient to be determined, x e is the acupuncture depth to be determined; the model parameters include K e , B e 、x e ; The step of bringing the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value, and the measured force into the spring-damper contact force model and determining the model parameters of the spring-damper contact force model comprises the following steps: Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value and the measured force into the spring-damper contact force model and determining a predicted stiffness coefficient, a predicted damping coefficient, a predicted acupuncture depth and a predicted force as the model parameters; The expression for the predicted stiffness coefficient is: The expression of the predicted damping coefficient is: The expression for predicting acupuncture depth is: The expression of the predicted force is: in, is the predicted force, is the predicted stiffness coefficient at time t, is the initial value of the predicted stiffness coefficient; is the predicted damping coefficient at time t, is the initial value of the predicted damping coefficient; is the predicted acupuncture depth at time t, is the initial value of the predicted acupuncture depth; γ1, γ2 and γ3 are positive scalars; The step of generating an execution trajectory according to the spring-damper contact force model after determining the model parameters comprises the following steps: generating a reference trajectory according to the desired force, the desired velocity, the proportionality coefficient of the feedback, the predicted stiffness coefficient determined in the spring-damper contact force model, and the predicted acupuncture depth determined; The expression of the reference trajectory is: Among them, x r is the reference trajectory, F r is the expected force, is the desired speed, k F is the proportionality coefficient, is the predicted stiffness coefficient, The predicted acupuncture depth; generating the execution trajectory according to the reference trajectory and a mass-spring-damper model; The expression for generating the execution trace is: Where, ΔF = F r -F e represents the error between the expected force and the measured force, Δx=x c -x r represents the execution trajectory x caused by ΔF c With the reference trajectory x r The error between them, ΔX(s) is the form of Δx in the s domain, ΔF(s) is the form of ΔF in the s domain, G(s) represents the transfer function between ΔF(s) and ΔX(s); M, B, and K are the mass coefficient, damping coefficient, and stiffness coefficient of the mass-spring-damper model, respectively; When the measured force is less than the preset upper limit force, generating a first speed instruction according to the expected trajectory includes the following steps: When the measured force is less than a preset upper limit force, the desired trajectory is brought into a first instruction expression and the first speed instruction is generated; The first instruction expression is: Wherein, u1 is the first speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x d is the desired trajectory, x m is the measurement value of acupuncture depth; When the measured force is greater than or equal to the upper limit force, generating a second speed instruction according to the execution trajectory comprises the following steps: When the measured force is greater than or equal to the upper limit force, the execution trajectory is brought into a second instruction expression and the second speed instruction is generated; The second instruction expression is: Wherein, u2 is the second speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x c is the execution trajectory, x m It is the measurement value of acupuncture depth.

2. The method for adaptive impedance control of an acupuncture robot according to claim 1, characterized in that: The method of controlling the acupuncture robot according to the first speed instruction or the second speed instruction comprises the following steps: The stepper motor is driven according to the first speed instruction or the second speed instruction to control the acupuncture robot.

3. An adaptive impedance control device for an acupuncture robot, characterized in that: The device comprises: A data acquisition unit, used to acquire feedback data of acupuncture; wherein the feedback data includes a measured force exerted on the needle; A parameter determination unit, used to determine model parameters of a spring-damper contact force model according to the feedback data; A trajectory generating unit, used for generating an execution trajectory according to the spring-damper contact force model after determining the model parameters; an instruction generating unit, configured to generate a first speed instruction according to a desired trajectory when the measured force is less than a preset upper limit force; and to generate a second speed instruction according to the execution trajectory when the measured force is greater than or equal to the upper limit force; A robot control unit, used for driving the acupuncture robot according to the first speed instruction or the second speed instruction; The method of obtaining feedback data of acupuncture comprises the following steps: Acquiring acupuncture depth measurement value, a derivative of the acupuncture depth measurement value, and the measured force as the feedback data; Determining the model parameters of the spring-damper contact force model according to the feedback data comprises the following steps: Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value, and the measured force into the spring-damper contact force model and determining the model parameters of the spring-damper contact force model; The expression of the spring-damper contact force model is: Among them, F e is the measured force, x m is the acupuncture depth measurement value, is the derivative of the acupuncture depth measurement, K e is the stiffness coefficient to be determined, B e is the damping coefficient to be determined, x e is the acupuncture depth to be determined; the model parameters include K e , B e 、x e ; The step of bringing the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value, and the measured force into the spring-damper contact force model and determining the model parameters of the spring-damper contact force model comprises the following steps: Substituting the acupuncture depth measurement value, the derivative of the acupuncture depth measurement value and the measured force into the spring-damper contact force model and determining a predicted stiffness coefficient, a predicted damping coefficient, a predicted acupuncture depth and a predicted force as the model parameters; The expression for the predicted stiffness coefficient is: The expression of the predicted damping coefficient is: The expression for predicting acupuncture depth is: The expression of the predicted force is: in, is the predicted force, is the predicted stiffness coefficient at time t, is the initial value of the predicted stiffness coefficient; is the predicted damping coefficient at time t, is the initial value of the predicted damping coefficient; is the predicted acupuncture depth at time t, is the initial value of the predicted acupuncture depth; γ1, γ2 and γ3 are positive scalars; The step of generating an execution trajectory according to the spring-damper contact force model after determining the model parameters comprises the following steps: generating a reference trajectory according to the desired force, the desired velocity, the proportionality coefficient of the feedback, the predicted stiffness coefficient determined in the spring-damper contact force model, and the predicted acupuncture depth determined; The expression of the reference trajectory is: Among them, x r is the reference trajectory, F r is the expected force, is the desired speed, k F is the proportionality coefficient, is the predicted stiffness coefficient, The predicted acupuncture depth; generating the execution trajectory according to the reference trajectory and a mass-spring-damper model; The expression for generating the execution trace is: Where, ΔF = F r -F e represents the error between the expected force and the measured force, Δx=x c -x r represents the execution trajectory x caused by ΔF c With the reference trajectory x r The error between them, ΔX(s) is the form of Δx in the s domain, ΔF(s) is the form of ΔF in the s domain, G(s) represents the transfer function between ΔF(s) and ΔX(s); M, B, and K are the mass coefficient, damping coefficient, and stiffness coefficient of the mass-spring-damper model, respectively; When the measured force is less than the preset upper limit force, generating a first speed instruction according to the expected trajectory includes the following steps: When the measured force is less than a preset upper limit force, the desired trajectory is brought into a first instruction expression and the first speed instruction is generated; The first instruction expression is: Wherein, u1 is the first speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x d is the desired trajectory, x m is the measurement value of acupuncture depth; When the measured force is greater than or equal to the upper limit force, generating a second speed instruction according to the execution trajectory comprises the following steps: When the measured force is greater than or equal to the upper limit force, the execution trajectory is brought into a second instruction expression and the second speed instruction is generated; The second instruction expression is: Wherein, u2 is the second speed instruction, is the expected speed, k F is the proportional coefficient of feedback, x c is the execution trajectory, x m It is the measurement value of acupuncture depth.

4. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 2 when executing the computer program.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 2 is implemented.

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