Design method of surgical robot controller, controller thereof and surgical robot

Abstract

The present application relates to a design method for a surgical robot controller, its controller and a surgical robot. The design method includes: establishing a mathematical model according to the state parameters of the end of the robotic arm. Inputting preset specific instruction data to the surgical robot, and obtaining the motion data of the robotic arm to fit the mathematical model. Inputting the target test position, and calculating the test difference between the position of the end of the robotic arm and the target test position. Decomposing the test difference into the movement distance of the end of the robotic arm in different directions. Setting the control logic to adjust the movement of the robotic arm to keep the end of the robotic arm moving in different directions and reach the end point in each direction at the same time. Determining the control parameters of the control robotic arm through the parameter setting tool. Testing the surgical robot, sampling the motion data, and comparing it with the simulation data obtained by the mathematical model to decide whether to adjust the selected control parameters.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a design method for a surgical robot controller, a controller thereof, and a surgical robot. Background Art

[0002] In related technologies, as the population ages, degenerative osteoarthritis, rheumatoid arthritis and other diseases may lead to knee cartilage destruction or abnormal knee wear, resulting in ligament imbalance and limited flexion and extension of the lower limbs. In order to restore the function of the lower limbs, joint surgery is required. Therefore, more and more joint surgeries are performed in hospitals every year.

[0003] In orthopedic surgery performed by surgical robots, or in orthopedic surgery assisted by surgical robots, it is necessary to make the movement of the surgical robot effectively track the target part. Therefore, in the current scheme, the indicator structure is usually fixed on the human tissue by clamping or fixing with bone screws. However, since human tissue has a certain elasticity. Therefore, when using the clamping method or the bone screw fixing method, if the fixation is kept tight, it is easy to cause damage to the human body. How to make the mechanical arm movement of the surgical robot directly track the target part has become a problem that needs to be solved urgently. Summary of the invention

[0004] To solve the above problems, according to a first aspect of an embodiment of the present application, a design method for a surgical robot controller is provided, wherein the surgical robot comprises a robotic arm having a robotic arm end; the robotic arm end is arranged at an end of the robotic arm for movement; the robotic arm end is used to install surgical related instruments;

[0005] The design method of the surgical robot controller comprises:

[0006] A mathematical model is established according to the state parameters of the end of the robotic arm; preset specific instruction data is input to the surgical robot, and motion data of the robotic arm moving after the surgical robot receives the specific instruction data is obtained; the mathematical model is fitted according to the specific instruction data and the motion data; the specific instruction data is known data;

[0007] Input a target test position, and calculate a test difference between the position of the end of the robotic arm and the target test position; decompose the test difference into movement distances of the end of the robotic arm in different directions; set control logic to adjust the movement of the robotic arm so as to keep the end of the robotic arm moving in different directions and reach the end points in each direction at the same time;

[0008] Determine the control parameters for controlling the robotic arm by using a parameter setting tool, and select the control parameters;

[0009] The surgical robot is tested, the motion data is sampled, and compared with the simulation data obtained by the mathematical model; and whether to adjust the selected control parameters is determined according to the comparison results.

[0010] According to the above embodiments, by comparing the motion data with the simulation data of the mathematical model, the difference between the motion of the end of the robotic arm and the theoretical value can be effectively compared and discovered, so that the control parameters of the robotic arm can be adjusted in a targeted manner, and after adjusting the control parameters, they can be compared with the simulation data, and the control parameters can be adjusted cyclically until the motion data fits the simulation data, thereby achieving the adjustment of the control parameters of the robotic arm with the assistance of the established mathematical model, so as to effectively improve the adjustment efficiency of the surgical robot controller and make the entire adjustment process more efficient and safe.

[0011] Furthermore, since the parameters are adjusted with reference to the simulation data of the mathematical model, it is easier for the surgical robot controller to control the robotic arm to achieve the optimal system performance. In particular, with the assistance of the mathematical model, the surgical robot using the visual solution that lacks a reference can be adjusted around the mathematical model. Therefore, the above embodiment can make it easier for the surgical robot using the visual solution to achieve the optimal system performance.

[0012] According to a second aspect of an embodiment of the present application, a surgical robot controller is provided, which is designed by any of the above design methods for surgical robot controllers.

[0013] According to a third aspect of an embodiment of the present application, a surgical robot is provided, comprising the aforementioned surgical robot controller.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0016] Figure 1 It is a flow chart of a method for designing a surgical robot controller according to an embodiment of the present application.

[0017] Figure 2 It is a schematic diagram of the structure of a surgical robot according to an embodiment of the present application.

[0018] Figure 3 It is a control logic diagram of a surgical robot controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0020] In orthopedic surgery performed by a surgical robot, or in orthopedic surgery assisted by a surgical robot, it is necessary to allow the robotic arm of the surgical robot to track the movement of the surgical target part on the patient. In the prior art, one method is to better fix the surgical target part of the patient so that the robotic arm of the surgical robot can better track the surgical target part on the patient. In this scheme, in order to achieve a more secure fixation of the surgical target part of the patient, the clamping device is generally ergonomically designed to increase the contact area between the clamping device and the surgical target part of the patient, thereby improving the acceptable force strength of the surgical target part of the patient and achieving the purpose of improving the clamping stability of the clamping device. However, such a design still cannot overcome the problem that when the clamping device clamps soft tissue, it is easy to cause bruises on the human soft tissue when clamping it too tightly, and it is not possible to achieve a good fixation effect when clamping it too loosely. Similarly, the solution of fixing by structures such as bone needles or bone nails is more likely to cause damage to human tissue and has greater restrictions on use.

[0021] Another existing solution is to use sensors to enable the robotic arm of the surgical robot to track the target surgical site of the patient. In these solutions, if the tracking effect of the robotic arm is achieved through force sensors, there are many limitations due to the need for force contact between the robotic arm and human tissue. The solution using visual sensors is difficult to adjust, so the surgical robot as a whole cannot achieve a good tracking state. Therefore, there is an urgent need for a solution that enables the robotic arm of the surgical robot to effectively track the target surgical site of the patient.

[0022] The present application provides a design method for a surgical robot controller. Figure 1 Shown is a flow chart of the design method of the surgical robot controller. Figure 2 FIG. 1 is a schematic diagram of the structure of the surgical robot 10. Figure 2 As shown, the surgical robot 10 comprises: a robotic arm 11 having a robotic arm end 111. The robotic arm end 111 is disposed at one end of the robotic arm 11 for movement. The robotic arm end 111 is used to install surgical related instruments.

[0023] Among them, the surgical robot 10 may also include a base 21. The robotic arm 11 may also include a mounting end 112. The robotic arm end 111 and the mounting end 112 may be the two ends of the robotic arm 11. The mounting end 112 is used to cooperate with the base 21 to realize the installation of the robotic arm 11 to the base 21. The base 21 can be used to drive the robotic arm 11 and make it move. The base 21 can adopt a fixed or mobile structure. When the base 21 adopts a fixed structure, the base 21 is directly fixed at a preset position. When the base 21 adopts a mobile structure, the base 21 may include a pulley, or a matching slide rail, so that the base 21 can be moved through the pulley or slide rail structure. It should be noted that whether the base 21 is fixed or mobile, and which specific movement mode is adopted can be flexibly set according to actual needs, and no restriction is made here.

[0024] like Figure 1 As shown, the design method of the surgical robot controller includes: steps S110 to S130.

[0025] In step S110, a mathematical model is established based on the state parameters of the robot end 111. Preset specific instruction data is input to the surgical robot 10, and motion data of the robot arm 11 moving after the surgical robot 10 receives the specific instruction data is obtained. The mathematical model is fitted based on the specific instruction data and the motion data. The specific instruction data is known data, that is, the specific instruction data is known data input to the surgical robot 10.

[0026] The specific instruction data may be inputting a known unit speed into the surgical robot 10 .

[0027] The motion data of the robot arm 11 moving after the surgical robot 10 receives the specific instruction data can be obtained by obtaining the motion data of the robot arm 11 in real time after the specific instruction data is input, or by obtaining the motion data every time the robot arm 11 moves for a period of time after the specific instruction data is input, or by obtaining the motion data of the entire process after the robot arm 11 finishes moving after the specific instruction data is input, or by a combination of at least two of the above schemes.

[0028] In step S120, the target test position is input, and the test difference between the position of the robot end 111 and the target test position is calculated. The test difference is decomposed into the moving distance of the robot end 111 in different directions. The control logic is set to adjust the movement of the robot 11 to keep the movement of the robot end 111 in different directions and reach the end point in each direction at the same time.

[0029] The test difference is decomposed into the moving distance of the robot end 111 in different directions, and the movement of the robot end 111 in different directions is maintained while reaching the end point in each direction, which can be as follows: Figure 2 As shown, the test difference is decomposed according to the X direction, Y direction and Z direction of the three-dimensional coordinate system, and the movement of the robot end 111 in the three directions of X direction, Y direction and Z direction is maintained to reach the end points in the X direction, Y direction and Z direction respectively at the same time. However, the test difference may not be limited to being decomposed into the three directions of X direction, Y direction and Z direction, and the test difference may also be decomposed into more directions, which is not strictly limited here.

[0030] By keeping the end of the robot arm 111 moving in different directions and reaching the end points in each direction at the same time, it can be ensured that the end of the robot arm 111 as a whole maintains a substantially uniform linear motion in one direction. Thus, the end of the robot arm 111 can be kept moving linearly. And by keeping the end of the robot arm 111 moving in different directions and reaching the end points in each direction at the same time, it can also be effectively prevented that the end of the robot arm 111 deviates from the linear motion trajectory in the process of approaching the target.

[0031] In step S130, the control parameters for controlling the robot arm 11 are determined by a parameter setting tool, and the control parameters are selected.

[0032] In step S140, the surgical robot 10 is tested, the motion data is sampled, and compared with the simulation data obtained by the mathematical model. It is determined whether to adjust the selected control parameters according to the comparison result.

[0033] By comparing the motion data with the simulation data of the mathematical model, the difference between the motion of the robot arm end 111 and the theoretical value can be effectively compared and discovered. Thus, the control parameters of the robot arm 11 can be adjusted in a targeted manner, and then compared with the simulation data after adjusting the control parameters. The control parameters are adjusted cyclically until the motion data fits the simulation data. Then, the control parameters of the robot arm 11 can be adjusted with the assistance of the established mathematical model, so as to effectively improve the adjustment efficiency of the surgical robot controller and make the entire adjustment process more efficient and safe.

[0034] Furthermore, since the parameters are adjusted with reference to the simulation data of the mathematical model, it is easier for the surgical robot controller to control the robotic arm 11 to achieve the most optimized system performance. In particular, with the assistance of the mathematical model, the surgical robot using the visual solution that lacks a reference can be adjusted around the mathematical model. Therefore, the above embodiment can make it easier for the surgical robot 10 using the visual solution to achieve the most optimized system performance.

[0035] In some embodiments, Figure 2As shown, according to the state parameters of the robot end 111, a mathematical model is established, which also includes:

[0036] The end of the robot arm 111 is equivalent to a spring-damped proton second-order system, and a corresponding differential equation is established. Specifically, the corresponding spring-damped proton second-order system differential equation established can be as follows:

[0037]

[0038] Among them, k is the spring coefficient of the spring-damped proton second-order system, and b is the damping coefficient of the spring-damped proton second-order system, that is, k is the spring coefficient of the robot arm end 111, and b is the damping coefficient of the robot arm end 111.

[0039] The differential equation corresponding to the spring-damper proton second-order system is changed to obtain the mathematical model equation.

[0040]

[0041] Among them, ω n is the natural frequency of the end of the robot arm 111, and ζ is the damping ratio of the end of the robot arm 111. The specific process of the change of the differential equation corresponding to the spring-damped proton second-order system can be shown as follows:

[0042] Adjusting the differential equation for the corresponding spring-damper proton second-order system yields the equation:

[0043]

[0044] Define the natural frequency ω of the end of the robot 111 n and the damping ratio ζ of the robot end 111. Among them, the natural frequency Damping ratio And the natural frequency ω n Substitute the damping ratio ζ into the equation obtained by adjusting the differential equation above:

[0045]

[0046] Define the system input as Substituting the natural frequency ω n The equation with the damping ratio ζ changes to the Laplace form, and at the same time The following equation can be obtained:

[0047]

[0048] Based on the equations in Laplace form, assuming that a unit step function is input to the system, the Laplace change of the input is The mathematical model equation shown below can be obtained:

[0049]

[0050] Through the aforementioned change process, the aforementioned differential equation of the equivalent spring-damped proton second-order system for the robotic arm end 111 can be specifically changed into the aforementioned mathematical model equation. Thus, a specific mathematical model can be established through the aforementioned change. Further, the established mathematical model can be used to assist in the adjustment of the control parameters of the surgical robot controller, making the entire adjustment process more efficient and safe, making it easier for the surgical robot controller to control the robotic arm 11 to achieve the optimal system performance, and especially making it easier for the surgical robot 10 that adopts a visual solution to achieve the optimal system performance.

[0051] In some embodiments, Figure 2 As shown, fitting the mathematical model according to the specific instruction data and motion data also includes:

[0052] When the robot arm 11 moves, the motion data of the robot arm 11 is obtained. When the robot arm 11 reaches a stable state, the obtained motion data and specific instruction data are substituted into the mathematical model, and the mathematical model is fitted to obtain the natural frequency and damping ratio of the robot arm 11.

[0053] Among them, as mentioned above, obtaining motion data can be to obtain the motion data of the robot 11 in real time after inputting specific instruction data, and end until the robot 11 reaches a stable state, or, after inputting specific instruction data, the motion data is obtained once every time the robot 11 moves for a period of time, and end until the robot 11 reaches a stable state, or, after inputting specific instruction data, the motion data of the entire process is obtained after the robot 11 reaches a stable state, or it can be a combination of any at least two of the above-mentioned schemes.

[0054] With this arrangement, the solution of parameters in mathematical modeling can be specifically realized through the substitution of data, thereby, a mathematical model that is close to the motion state of the robotic arm 11 can be specifically obtained, and the control parameters of the surgical robot controller can be adjusted with the assistance of the established mathematical model, making the entire adjustment process more efficient and safe, and making it easier for the surgical robot controller to control the robotic arm 11 to achieve the optimal system performance, especially making it easier for the surgical robot 10 that adopts a visual solution to achieve the optimal system performance.

[0055] In some embodiments, Figure 2 As shown, after fitting the mathematical model according to the acquisition of specific instruction data and motion data, and before inputting the target test position and calculating the test difference between the position of the robot end 111 and the target test position, it also includes:

[0056] Input one or at least two different specific instruction data into the surgical robot 10, obtain one or at least two sets of motion data corresponding to the specific instruction data, substitute one or at least two different specific instruction data and the corresponding motion data into the mathematical model, and verify the accuracy of the mathematical model.

[0057] Among them, inputting one or at least two different specific instruction data into the surgical robot 10 may be inputting one specific instruction data into the surgical robot 10, or, may be inputting two specific instruction data into the surgical robot 10, or, may be inputting three specific instruction data into the surgical robot 10, but is not limited thereto.

[0058] With this arrangement, the mathematical model established in step S110 can be verified through the above-mentioned specific instruction data and the corresponding motion data, thereby verifying the accuracy of the mathematical model fitting, and then, adjustments can be made according to the accuracy, so as to further enable the mathematical model to better achieve the adjustment of the control parameters of the surgical robot controller by assisting in the adjustment of the control parameters, and better improve the adjustment efficiency of the robot arm 11, making the entire adjustment process more efficient and safe. In addition, the surgical robot controller can further control the robot arm 11 to achieve the optimal system performance, and in particular, it can further make it easier for the surgical robot 10 using the visual solution to achieve the optimal system performance.

[0059] Figure 3 What is shown is the control logic diagram of the surgical robot controller. In some embodiments, Figure 2 and Figure 3 As shown, the robot arm 11 also includes a plurality of limit values ​​of the maximum distance to which it can move in each direction.

[0060] Inputting a target test position and calculating a test difference between the position of the robot end 111 and the target test position also includes:

[0061] The control logic is also used to determine the relationship between the test difference and the limit value. When the test difference is greater than the limit value, the limit value is decomposed into the moving distance of the robot end 111 in different directions, and the movement of the robot end 111 in different directions is controlled to reach the end points in each direction at the same time. When the test difference is less than or equal to the limit value, the test difference is decomposed into the moving distance of the robot end 111 in different directions, and the movement of the robot end 111 in different directions is controlled to reach the end points in each direction at the same time.

[0062] During the movement of the robot end 111 , the control logic is also used to cyclically compare the limit value with the test difference value that has changed after the movement, and cyclically adjust the movement of the robot end 111 .

[0063] Similarly, if Figure 2As shown, and refer to Figure 3 The content shown in the figure decomposes the limit value into the moving distance of the robot end 111 along different directions, or decomposes the test difference into the moving distance of the robot end 111 along different directions. It can be that the limit value is decomposed into the moving distance along the X direction, the Y direction and the Z direction, or decomposes the test difference into the moving distance along the X direction, the Y direction and the Z direction.

[0064] like Figure 3 As shown, after determining the relationship between the test difference and the limit value, the limit value or the test difference is decomposed into the moving distance of the robot end 111 along different directions according to different situations, and the limit value is cyclically compared with the test difference that changes after the movement. Figure 3 The position response in the figure is the state in which the surgical robot controller controls the manipulator 11 to move to the target test position. The test difference value that changes after the movement is the test difference value between the new position of the manipulator end 111 after it moves and the target test position. Figure 3 As shown, the action of the surgical robot controller to cyclically compare the limit value with the new test difference value and the action of controlling the movement of the robot arm 11 can be performed simultaneously to improve the control efficiency of the surgical robot controller.

[0065] Furthermore, the robot arm 11 is controlled so that the movement of the robot arm end 111 in different directions reaches the end points in each direction at the same time, and the uniform modulation of the movement of the robot arm 11 in each direction can be achieved by a PID controller.

[0066] Due to the inherent properties of the robot arm 11 itself, the range of instructions that the robot arm end 111 can respond to is limited, so it is necessary to limit the range of instructions input to the surgical robot 10. By setting the control logic to determine the size relationship between the test difference and the limit value, and performing corresponding operations based on the determined size relationship, it can be avoided that the robot arm 11 cannot respond linearly due to the instruction input to the surgical robot 10 exceeding the limit value, and the robot arm end 111 does not maintain linear movement along a straight line. In addition, the linearity of the designed surgical robot controller to control the robot arm 11 can be improved, and the control effect of the surgical robot controller designed by the design method of the surgical robot controller can be improved.

[0067] In some embodiments, Figure 2 As shown, the robot arm 11 includes a rise time, a maximum overshoot and a stabilization time. Among them, the rise time includes the time when the surgical robot 10 reaches stability for the first time, or the time when the surgical robot 10 reaches 90% or more of the stable value for the first time. The maximum overshoot includes the maximum value output by the surgical robot 10 minus the steady-state value. The stabilization time includes the time when the surgical robot 10 enters the range of the stable value.

[0068] The control parameters of the control robot 11 are determined by the parameter setting tool, and the control parameters are selected, which also includes:

[0069] By adjusting the control parameters of the control robot 11, the maximum overshoot is kept at 0, and the rise time and the settling time are adjusted to the minimum value. After the adjustment is completed, the response time parameter, system robustness parameter, phase margin parameter and amplitude margin parameter at this time are selected as the control parameters of the control robot 11.

[0070] In the scenario where the surgical robot 10 is running, it is expected that the robot arm 11 will respond as sensitively as possible to the movement of the target, so it is necessary to make the rise time and the stabilization time of the robot arm 11 as short as possible. The maximum overshoot is the amount by which the movement of the robot end 111 exceeds the set range. If it exceeds the set range, the probability of the robot arm 11 having problems will increase.

[0071] Therefore, by keeping the maximum overshoot at 0, adjusting the rise time and stabilization time to the minimum value, and selecting the relevant parameters in this case, the designed surgical robot controller can better meet the aforementioned requirements, thereby making the response of the robotic arm 11 to follow the movement of the target as sensitive as possible, and thus, the control effect of the surgical robot controller can be better improved.

[0072] In some embodiments, determining whether to adjust the selected control parameter according to the comparison result further includes:

[0073] If the difference between the motion data and the simulation data is greater than 30%, at least part of the control parameters for controlling the robot arm 11 are reselected.

[0074] Among them, reselecting at least part of the control parameters for controlling the mechanical arm 11 may be reselecting part of the control parameters for controlling the mechanical arm 11, for example, some of the response time parameters, system robustness parameters, phase margin parameters, and amplitude margin parameters may be reselected. Also, all of the control parameters for controlling the mechanical arm 11 may be reselected, for example, the response time parameters, system robustness parameters, phase margin parameters, and amplitude margin parameters may be reselected.

[0075] This setting can assist in judging whether the various parameters of the controller have been adjusted to the expected control effect based on the difference between the simulation data and the motion data, thereby specifically realizing the adjustment of the control parameters of the surgical robot controller by assisting with the established mathematical model. Moreover, by adjusting the simulation data, the adjusted controller is closer to the expected ideal working performance, that is, it is easier for the surgical robot controller to control the mechanical arm 11 to achieve the most ideal system performance.

[0076] In some embodiments, after reselecting at least part of the control parameters for controlling the robot arm 11, the method further includes:

[0077] The reselected at least part of the control parameters are input to the surgical robot 10, and the surgical robot 10 is tested, the motion data is sampled again, and compared with the simulation data obtained by the mathematical model again. According to the comparison result, it is determined whether to reselect at least part of the control parameters again.

[0078] The above steps are repeated until the difference between the motion data and the simulation data is less than or equal to 30%.

[0079] By repeatedly looping the above steps, the auxiliary judgment of whether the various parameters of the controller have been adjusted to the expected control effect can be further enhanced, thereby enhancing the effect of adjusting the control parameters of the surgical robot controller through the established mathematical model. In addition, by looping the adjustment around the simulation data, the adjusted controller is closer to the expected ideal working performance, that is, it is easier for the surgical robot controller to control the mechanical arm 11 to achieve the most ideal system performance.

[0080] The present application also provides a surgical robot controller, which is designed using any of the aforementioned design methods for surgical robot controllers.

[0081] refer to Figure 2 The structure of the surgical robot 10 shown in FIG. 1 is that the surgical robot controller may be integrated into the robot arm 11, or may be integrated into the base 21, or may be independent of the robot arm 11. Figure 2 In addition to the structure shown, Figure 2 The structure shown is a structure connected by wires, or the surgical robot controller may also include multiple substructures, and the multiple substructures adopt any at least two of the aforementioned settings. However, the setting method of the surgical robot controller is still not limited to this. In other embodiments, the surgical robot controller may also adopt other feasible settings.

[0082] The present application also provides a surgical robot 10, including the aforementioned surgical robot controller. The surgical robot 10 can be mainly used to perform orthopedic surgeries, for example, the surgical robot 10 can be mainly used to perform hip surgery, knee surgery, single condyle surgery, spinal surgery and bone trauma surgery. However, it is not limited thereto, and the surgical robot 10 can also be mainly used to perform other orthopedic surgeries other than the above-mentioned surgeries.

[0083] The above embodiments of the present application may complement each other if no conflict occurs.

[0084] It should be noted that in the accompanying drawings, the sizes of layers and regions may be exaggerated for clarity of illustration. It is also understood that when an element or layer is referred to as being "on" another element or layer, it may be directly on the other element, or there may be an intermediate layer. In addition, it is understood that when an element or layer is referred to as being "under" another element or layer, it may be directly under the other element, or there may be more than one intermediate layer or element. In addition, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it may be the only layer between the two layers or two elements, or there may also be more than one intermediate layer or element. Similar reference numerals throughout the text indicate similar elements.

[0085] The term "plurality" means two or more than two, unless expressly limited otherwise.

[0086] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the disclosure disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0087] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A design method for a surgical robot controller, characterized in that: The surgical robot comprises a robotic arm provided with a robotic arm end; the robotic arm end is arranged at one end of the robotic arm for movement; the robotic arm end is used to install surgical related instruments; The design method of the surgical robot controller comprises: A mathematical model is established according to the state parameters of the end of the robotic arm; preset specific instruction data is input to the surgical robot, and motion data of the robotic arm moving after the surgical robot receives the specific instruction data is obtained; the mathematical model is fitted according to the specific instruction data and the motion data; the specific instruction data is known data; Input a target test position, and calculate a test difference between the position of the end of the robotic arm and the target test position; decompose the test difference into movement distances of the end of the robotic arm in different directions; set control logic to adjust the movement of the robotic arm so as to keep the end of the robotic arm moving in different directions and reach the end points in each direction at the same time; Determine the control parameters for controlling the robotic arm by using a parameter setting tool, and select the control parameters; The surgical robot is tested, the motion data is sampled, and compared with the simulation data obtained by the mathematical model; and whether to adjust the selected control parameters is determined according to the comparison results.

2. The design method of the surgical robot controller according to claim 1, characterized in that: According to the state parameters of the end of the robotic arm, a mathematical model is established, which also includes: The end of the robotic arm is equivalent to a spring-damped proton second-order system, and a corresponding differential equation is established; The differential equation corresponding to the spring-damped proton second-order system is changed to obtain the mathematical model equation: Among them, ω n is the natural frequency of the robotic arm, and ζ is the damping ratio of the robotic arm.

3. The design method of a surgical robot controller according to claim 1, characterized in that: Fitting the mathematical model according to the specific instruction data and the motion data also includes: When the robotic arm moves, motion data of the robotic arm is obtained; when the robotic arm reaches a stable state, the obtained motion data and the specific instruction data are substituted into the mathematical model, and the mathematical model is fitted to obtain the natural frequency and damping ratio of the robotic arm.

4. The design method of a surgical robot controller according to claim 1, characterized in that: After fitting the mathematical model according to the specific instruction data and the motion data, and before inputting a target test position and calculating a test difference between the position of the end of the robot arm and the target test position, the method further includes: Input one or at least two different specific instruction data into the surgical robot, obtain one or at least two sets of motion data corresponding to the specific instruction data, substitute one or at least two different specific instruction data and the corresponding motion data into the mathematical model, and verify the accuracy of the mathematical model.

5. The design method of a surgical robot controller according to claim 1, characterized in that: The robotic arm also includes a plurality of limit values ​​of the farthest distance it can move in each direction; Inputting a target test position and calculating the test difference between the position of the end of the robot arm and the target test position also includes: The control logic is also used to determine the relationship between the test difference and the limit value; When the test difference is greater than the limit value, the limit value is decomposed into the moving distances of the end of the robot arm along different directions, and the movement of the end of the robot arm in different directions is controlled to reach the end points in each direction at the same time; when the test difference is less than or equal to the limit value, the test difference is decomposed into the moving distances of the end of the robot arm along different directions, and the movement of the end of the robot arm in different directions is controlled to reach the end points in each direction at the same time; During the movement of the end of the robotic arm, the control logic is also used to cyclically compare the limit value with the test difference value that has changed after the movement, and cyclically adjust the movement of the end of the robotic arm.

6. The design method of a surgical robot controller according to claim 1, characterized in that: The robot arm includes a rise time, a maximum overshoot and a stabilization time; wherein the rise time includes the time when the surgical robot reaches stability for the first time, or the time when the surgical robot reaches 90% or more of the stable value for the first time; the maximum overshoot includes the value of the maximum value output by the surgical robot minus the steady-state value; the stabilization time includes the time when the surgical robot enters the range of the stable value; Determining control parameters for controlling the robotic arm through a parameter setting tool, selecting the control parameters, and further comprising: By adjusting the control parameters of the robotic arm, the maximum overshoot is maintained at 0, and the rise time and the stabilization time are adjusted to the minimum value; after the adjustment is completed, the response time parameter, system robustness parameter, phase margin parameter and amplitude margin parameter at this time are selected as the control parameters for controlling the robotic arm.

7. The method for designing a surgical robot controller according to claim 1, characterized in that: According to the comparison results, it is decided whether to adjust the selected control parameters, and it also includes: If the difference between the motion data and the simulation data is greater than 30%, at least a portion of the control parameters for controlling the robot arm are reselected.

8. The design method of a surgical robot controller according to claim 7, characterized in that: After reselecting at least part of the control parameters for controlling the robotic arm, the method further comprises: Inputting at least part of the control parameters that have been reselected into the surgical robot, testing the surgical robot, resampling the motion data, and comparing the motion data with the simulation data obtained by the mathematical model; and determining whether to reselect at least part of the control parameters based on the comparison result; The above steps are repeated until the difference between the motion data and the simulation data is less than or equal to 30%.

9. A surgical robot controller, characterized in that: The surgical robot controller is designed by using the design method of any one of claims 1 to 8.

10. A surgical robot, characterized in that: Including the surgical robot controller as described in claim 9.

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