Control method, program product, electronic device and storage medium for master control arm

Abstract

This application relates to the field of surgical robot control technology, specifically providing a control method, program product, electronic device, and storage medium for a main control arm. The main control arm includes a first rotary joint, a second rotary joint, and a third rotary joint connected sequentially via joint links. The control method for this main control arm monitors a first motion parameter of the first rotary joint. When the first motion parameter meets a preset deviation condition, a second motion parameter of the third rotary joint is determined based on the first motion parameter. Based on the second motion parameter, the movement of the third rotary joint is controlled. Since the rotation axes of the first and third rotary joints are coaxial when the second rotary joint is at its zero-point position, determining the second motion parameter based on the first motion parameter reduces the possibility of collisions between the user's hand and the joint links or between different joint links, resulting in smoother user operation and improved user experience during the use of the main control arm.

Description

Technical Field

[0001] This application relates to the field of surgical robot control technology, and more specifically, to control methods, program products, electronic devices, and storage media for a main control arm. Background Technology

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient suffering. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity.

[0003] Currently, the largest category of minimally invasive surgical robots is the laparoscopic (surgical) robot, which generally includes a surgeon's console (also called the master end) and a surgical platform (also called the slave end). The surgical platform is equipped with multiple surgical arms. The master control arm on the surgeon's console collects the surgeon's operation signals, which are processed by the control system to generate control signals for the surgical arms. These surgical arms then control the surgical instruments attached to them to perform surgical operations or for the endoscope to acquire images. To improve operational flexibility and avoid singularities, the master control arm is usually a redundant mechanism (a redundant mechanism refers to a mechanism with more joints than spatial degrees of freedom). If the user can actively control the redundant mechanism while using the master control arm, it will result in a better user experience. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a control method, program product, electronic device and storage medium for a main control arm, so as to improve the user experience during the use of the main control arm.

[0005] In a first aspect, embodiments of this application provide a control method for a main control arm, the control method being used to control the main control arm; the main control arm includes a first rotary joint, a second rotary joint, and a third rotary joint connected in sequence via joint links; when the second rotary joint is at the zero point position, the rotation axes of the first rotary joint and the third rotary joint are coaxial;

[0006] The control method includes:

[0007] Monitor the first motion parameters of the first rotary joint;

[0008] If the first motion parameter satisfies the preset deviation condition, the second motion parameter of the third rotary joint is determined based on the first motion parameter;

[0009] The movement of the third rotary joint is controlled based on the second motion parameters.

[0010] In the above implementation process, the control method of the main control arm monitors the first motion parameter of the first rotary joint, and determines the second motion parameter of the third rotary joint based on the first motion parameter when the first motion parameter meets a preset deviation condition; based on the second motion parameter, the movement of the third rotary joint is controlled. Since the rotation axes of the first and third rotary joints are coaxial when the second rotary joint is at the zero position, by determining the second motion parameter of the third rotary joint based on the first motion parameter when the first motion parameter meets the preset deviation condition, the possibility of collision between the user's hand and the joint link or between different joint links can be reduced, making the user operation smoother and improving the user experience during the use of the main control arm.

[0011] Optionally, in this embodiment, the first motion parameter includes a first rotation angle increment of the first rotary joint relative to the zero position; the second motion parameter includes a second rotation angle increment of the third rotary joint relative to the zero position; determining the second motion parameter of the third rotary joint based on the first motion parameter includes: determining the second rotation angle increment based on the first rotation angle increment when the second rotary joint is at the zero position; and determining the second rotation angle increment based on the first rotation angle increment and the joint deviation angle of the second rotary joint when the second rotary joint is not at the zero position.

[0012] In the above implementation process, when the second rotary joint is at the zero point position, that is, when the rotation axes of the first and third rotary joints are coaxial, the second rotation angle increment is determined based on the first rotation angle increment, so that the third rotary joint follows the rotation of the first rotary joint, thereby reducing the possibility of collision between the user's hand and the joint link or between different joint links. When the second rotary joint is not at the zero point position, that is, when the rotation axes of the first and third rotary joints are not coaxial, the second rotation angle increment that enables the third rotary joint to follow the rotation of the first rotary joint can be determined based on the first rotation angle increment and the joint deviation angle of the second rotary joint; the movement of the third rotary joint is controlled based on the second rotation angle increment, reducing the possibility of collision between the user's hand and the joint link or between different joint links.

[0013] Optionally, in this embodiment of the application, determining the second motion parameter of the third rotary joint based on the first motion parameter specifically includes: when the second rotary joint is at the zero point position, determining the first rotation angle increment as the second rotation angle increment; when the second rotary joint is not at the zero point position, determining the product of the first rotation angle increment and the cosine of the joint deviation angle as the second rotation angle increment.

[0014] Optionally, in this embodiment, the second motion parameter further includes: the real-time rotational speed and real-time rotational acceleration of the third rotary joint; before controlling the movement of the third rotary joint based on the second motion parameter, the control method further includes: when the first rotation angle increment is greater than or equal to a first preset angle and less than a second preset angle, determining the target rotational speed and target rotational acceleration of the third rotary joint according to the spatial angular velocity of the main control arm; when the first rotation angle increment is greater than or equal to the second preset angle, determining the target rotational speed and target rotational acceleration of the third rotary joint according to a preset speed threshold and a preset acceleration threshold respectively; and calculating the real-time rotational speed and real-time rotational acceleration based on the target rotational speed and the target rotational acceleration.

[0015] In the above implementation process, when the first rotation angle increment is small, the target rotational speed and target rotational acceleration of the third rotary joint are determined based on the spatial angular velocity of the main control arm. Real-time rotational speed and real-time rotational acceleration are then calculated based on these target rotational speed and target rotational acceleration. This aims to maintain the motion synchronization between the third rotary joint and the main control arm as much as possible, reducing the possibility of collisions between the user's hand and the joint links or between different joint links, thus improving the motion continuity of the third rotary joint. When the first rotation angle increment is large, the target rotational speed and target rotational acceleration of the third rotary joint are determined based on preset speed and preset acceleration thresholds, respectively. Real-time rotational speed and real-time rotational acceleration are then calculated based on these target rotational speed and target rotational acceleration. This aims to quickly achieve deviation compensation of the third rotary joint from the first rotary joint, thereby reducing the possibility of collisions between the user's hand and the joint links or between different joint links.

[0016] Optionally, in this embodiment of the application, determining the second motion parameter of the third rotary joint based on the first motion parameter when the first motion parameter satisfies a preset deviation condition includes: when the first motion parameter satisfies the preset deviation condition, calculating the real-time rotational position, real-time rotational speed, and real-time rotational acceleration of the third rotary joint based on a trajectory planning strategy, the second rotational angle increment, the target rotational speed, and the target rotational acceleration of the third rotary joint; when the real-time rotational speed is less than or equal to the preset speed threshold and the real-time rotational acceleration is less than or equal to the preset acceleration threshold, determining the real-time rotational position, real-time rotational speed, and real-time rotational acceleration as the second motion parameter; when the real-time rotational speed is greater than the preset speed threshold or the real-time rotational acceleration is greater than the preset acceleration threshold, replacing the real-time rotational speed based on the preset speed threshold and replacing the real-time rotational acceleration based on the preset acceleration threshold; and determining the real-time rotational position and the replaced real-time rotational speed and real-time rotational acceleration as the second motion parameter.

[0017] In the above implementation process, by calculating the real-time rotational position, real-time rotational speed, and real-time rotational acceleration of the third rotary joint based on the trajectory planning strategy, the second rotational angle increment, and the target rotational speed and target rotational acceleration of the third rotary joint when the first motion parameter meets the preset deviation condition, the third rotary joint is controlled according to its real-time rotational position, real-time rotational speed, and real-time rotational acceleration. This improves the motion control accuracy of the third rotary joint and better reduces the possibility of collisions between the user's hand and the joint link or between different joint links. Furthermore, by replacing the real-time rotational speed with a preset speed threshold or the real-time rotational acceleration with a preset acceleration threshold when the real-time rotational speed exceeds a preset speed threshold or when the real-time rotational acceleration exceeds a preset acceleration threshold, it can be ensured that both the real-time rotational speed and real-time rotational acceleration of the third rotary joint are within a preset range.

[0018] Optionally, in this embodiment, the preset deviation condition includes a preset deviation angle threshold and / or a preset angular velocity threshold for the first rotary joint; the step of determining the second motion parameter of the third rotary joint based on the first motion parameter when the first motion parameter satisfies the preset deviation condition includes: determining the second motion parameter of the third rotary joint based on the first motion parameter when the first rotation angle increment is greater than or equal to the preset deviation angle threshold, and / or when the spatial angular velocity of the main control arm is greater than or equal to the preset angular velocity threshold.

[0019] In the above implementation process, by determining the second motion parameters of the third rotary joint based on the first motion parameters when the first rotation angle increment is greater than or equal to a preset deviation angle threshold (i.e., when the first rotation angle increment is large), the motion synchronization between the third rotary joint and the first rotary joint can be maintained as much as possible, thereby reducing the possibility of "collision between joint links connected to the first rotary joint when the first rotation angle increment of the first rotary joint is large". Similarly, by determining the second motion parameters of the third rotary joint based on the first motion parameters when the spatial angular velocity of the main control arm is greater than or equal to a preset angular velocity threshold (i.e., when the operating speed of the main control arm is too fast), the motion synchronization between the third rotary joint and the first rotary joint can be maintained as much as possible, thereby reducing the possibility of "collision between the user's hand and the joint links or between different joint links when the operating speed of the main control arm is fast".

[0020] Optionally, in this embodiment of the application, the control method further includes: controlling the third rotary joint to maintain its current position when the first motion parameter does not meet the preset deviation condition.

[0021] In the above implementation process, by controlling the third rotary joint to maintain its current position when the first motion parameter does not meet the preset deviation condition, the possibility of collision between the user's hand and the joint link or between different joint links can be reduced, while the motion complexity of the main control arm can be reduced.

[0022] Secondly, embodiments of this application provide a computer program / instruction that, when executed by a processor, implements the control method of the main control arm as described in any of the first aspects above.

[0023] Thirdly, embodiments of this application also provide an electronic device; the electronic device includes:

[0024] Memory;

[0025] processor;

[0026] The memory stores a computer program executable by the processor, which, when executed by the processor, performs the control method of the main control arm as described in any of the first aspects.

[0027] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer program instructions that, when executed by a processor, perform the control method of the main control arm as described in any of the first aspects.

[0028] The beneficial effects of this application include at least the following: The control method for the main control arm provided by this application monitors the first motion parameters of the first rotary joint, and determines the second motion parameters of the third rotary joint based on the first motion parameters when the first motion parameters meet preset deviation conditions; and controls the movement of the third rotary joint based on the second motion parameters. Since the rotation axes of the first and third rotary joints are coaxial when the second rotary joint is at the zero position, by determining the second motion parameters of the third rotary joint based on the first motion parameters when the first motion parameters meet preset deviation conditions, active control of redundant joints is achieved. This reduces the possibility of collisions between the user's hand and the joint links or between different joint links, making user operation smoother and improving the user experience during the use of the main control arm. Attached Figure Description

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A flowchart illustrating a control method for a main control arm provided in an embodiment of this application;

[0031] Figure 2 This is a schematic diagram of the structure of a main control arm provided in an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of another main control arm provided in an embodiment of this application;

[0033] Figure 4 A flowchart illustrating another control method for a main control arm provided in an embodiment of this application;

[0034] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0035] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application.

[0037] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0038] The technical solutions of various embodiments of this application will now be described with reference to the accompanying drawings.

[0039] This specification contains numerous specific technical details to enable those skilled in the art to understand the complete technical solution. However, it should be understood that embodiments of this application can be implemented without these specific technical details. Such detailed descriptions of technical details should not be considered as limitations on this application, and the scope of protection of this application is defined only by the claims. Elsewhere, well-known structures, connections / positional relationships, circuits, and / or other details may not be shown in detail to avoid misleading the public about the inventive points of this application.

[0040] This specification includes accompanying drawings illustrating several embodiments of the present application. However, the drawings are merely illustrative, and it should be understood that variations in mechanical structure, connection / positional relationships, physical composition, electrical aspects, and procedures can be made without departing from the spirit and scope of the present application. Such variations may involve substitution or combination of elements from the embodiments of the present application, or substitution or combination of known content.

[0041] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” “middle,” “center,” “inner,” “outer,” “central,” “edge,” etc., are used for ease of description to describe the relationship between one component or feature shown in the figures and another component or feature. It should be understood that spatial relative terms are used only under the orientation of the device in use or operation (other than the orientation specifically defined in the figures) and are not necessarily unique or constant. For example, if the device in the figures is rotated 180° up and down along the plane of the paper, then an element described as “below” other components or features will become “above” other components or features. Therefore, the exemplary term “below” can encompass both above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (e.g., rotated 90° or positioned in other directions), and the spatial relative descriptive terms used herein will be interpreted accordingly.

[0042] As used herein, “several,” “one,” and “the” are intended to include the plural form as well, unless the context otherwise indicates. It should be further understood that the terms “comprising” and / or “including” specify the presence of the said feature, step, operation, element, and / or component, without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0043] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "part," "module," "assembly," and "element" are used interchangeably.

[0044] The terms “instrument,” “surgical instrument,” and “surgical device” are used herein to describe medical devices configured for insertion into a patient and for performing surgical or diagnostic procedures, generally including end effectors. End effectors can be surgical tools associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of this application further provide articulated supports (sometimes referred to as “wrist joints” or “articular seats”) for the surgical tool, allowing the position and / or orientation of the end effector to be flexibly manipulated relative to the instrument axis with one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. Instruments may also contain permanent or updatable stored information (e.g., on a PCBA board within the instrument). Accordingly, the system can provide one-way or two-way communication between the instrument and one or more system components.

[0045] The term "mate" (sometimes referred to as "connection," "linkage," "installation," or "assembly") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in combination with each other. It should be noted that a mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather that many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Furthermore, the terms "detachably connected" or "detachably mated" can be interpreted as implying a non-permanent connection or mating situation between two or more objects. This means that detachably connected objects can be unconnected and separated, allowing them to operate without being joined.

[0046] Finally, the terms “or” and “and / or” as used herein should be interpreted as inclusive or meaning either one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or actions is inherently mutually exclusive in some way.

[0047] Taking a master-slave teleoperated laparoscopic surgical robot as an example, a laparoscopic surgical robot typically includes a surgeon control platform, a patient surgical platform, and an imaging platform. The surgeon sits on the surgeon control platform, viewing two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope (sometimes called an "endoscope") placed inside the patient's body, and controlling the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to that robotic arm. The robotic arm is analogous to a human arm, and the surgical instruments are analogous to a human hand. Both provide the surgeon with a series of movements that mimic the human wrist, while also filtering out tremors inherent in the human hand. Therefore, their application is becoming increasingly widespread in surgery, especially in abdominal, thoracic, and general surgery.

[0048] A patient surgical platform typically includes a chassis, a column, multiple robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. Surgical instruments and / or endoscopes are detachably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at the surgical site within the patient's body. Various forms of control are possible that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located where the surgical instrument enters the body wall, and is generally referred to as the "discent point" or "fixed point."

[0049] An imaging platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, optics are included to transmit images from inside the patient's body to the distal end of the endoscope via one or more imaging sensors (e.g., CCD or CMOS sensors). The video images are then transmitted to the main unit of the imaging platform through photoelectric conversion and other steps. Subsequently, image processing is performed, and the processed images are displayed on the video displays for observation by other doctors or assistants.

[0050] A surgeon's control platform typically includes a chassis, foot pedal assembly, stereoscopic monitor, main control arm, and manual controllers connected to the end of the main control arm. The surgeon controls the manual controllers and foot pedal assembly to achieve specific movements and / or energy activation of surgical instruments. The surgeon's control platform can be located at a single position within a surgical system composed of laparoscopic surgical robots, or it can be distributed across two or more positions within the system. Remote master / slave operation can be performed according to a preset level of control; for example, one position acts as the master controller for the main surgical operation, and another position acts as the auxiliary controller for an assistant operation. The master controller performs the main surgical operations, while the auxiliary controller performs auxiliary operations such as laparoscopic movement or tissue traction. In some embodiments, the manual controller can be an input device capable of performing one or more manual operations, such as a joystick, exoskeleton glove, power and gravity-compensated manipulator, etc. These input devices acquire the surgeon's operation signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulators. These signals control the remote-controlled motors on the surgical instrument manipulators, which in turn control the final movement of the surgical instruments.

[0051] Generally, the force generated by the remote-controlled motor is transmitted via a drive system to the end effector of the surgical instrument. In some remote surgical embodiments, the input device for controlling the manipulator can be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with remote manipulation, remote control, and telepresence surgery will understand such a system and its components, which will not be elaborated upon here.

[0052] Please see Figure 1 The diagram shown is a flowchart illustrating a control method for a main control arm according to an embodiment of this application. This control method is used to control a main control arm; the main control arm includes a first rotary joint, a second rotary joint, and a third rotary joint connected sequentially via joint links; when the second rotary joint is in the zero-point position, the rotation axes of the first rotary joint and the third rotary joint are coaxial.

[0053] The control method for the main control arm may include the following steps:

[0054] S101. Monitor the first motion parameters of the first rotary joint;

[0055] S102. When the first motion parameter meets the preset deviation condition, determine the second motion parameter of the third rotary joint based on the first motion parameter;

[0056] S103. Based on the second motion parameters, control the movement of the third rotary joint.

[0057] Please refer to Figure 2 , Figure 2This is a schematic diagram of the structure of a main control arm provided in an embodiment of this application. Please refer to... Figure 3 , Figure 3 This is a schematic diagram of another main control arm provided in an embodiment of this application. Figure 2 and Figure 3 All examples illustrate joint connections between the first and second rotary joints, and between the second and third rotary joints, based on "L-shaped" joint links. Connections between the first and second rotary joints, and between the second and third rotary joints, can also be achieved using linear, polygonal, or curved joint links, etc., and this application does not impose specific limitations on these connections. Figure 2 The diagram shows the second rotary joint at the zero point position, with the rotation axes of the first and third rotary joints coaxial. Figure 3 This illustrates a situation where the second rotary joint is not at the zero point, and the rotation axes of the first and third rotary joints are not aligned.

[0058] In step S101, the first motion parameter may include the angular increment of the first rotary joint relative to its zero position. It can be assumed that the first rotary joint is at its zero position when the second rotary joint is at its zero position and the rotation axes of the first and third rotary joints are coaxial. The first motion parameter may also include the deviation angular velocity of the first rotary joint.

[0059] In step S102, the preset deviation condition may include a preset deviation angle threshold and / or a preset deviation angular velocity threshold for the first rotary joint. Accordingly, if the angle increment of the first rotary joint relative to the zero position is greater than or equal to the preset deviation angle threshold, the first motion parameter is determined to satisfy the preset deviation condition; if the angle increment of the first rotary joint relative to the zero position is less than the preset deviation angle threshold, the first motion parameter is determined not to satisfy the preset deviation condition. Alternatively, if the deviation angular velocity of the first rotary joint is greater than or equal to the deviation angular velocity threshold, the first motion parameter is determined to satisfy the preset deviation condition; if the deviation angular velocity of the first rotary joint is less than the deviation angular velocity threshold, the first motion parameter is determined not to satisfy the preset deviation condition. The second motion parameter may include the angle increment of the third rotary joint relative to the zero position. The angle increment of the third rotary joint relative to the zero position may be equal to the angle increment of the first rotary joint relative to the zero position, or it may be directly proportional to the angle increment of the first rotary joint relative to the zero position or have other functional relationships.

[0060] In step S103, the second motion parameter may include the angular increment of the third rotary joint relative to the zero position. The angular increment of the third rotary joint relative to the zero position can be determined based on the angular increment of the first rotary joint relative to the zero position. The motion of the third rotary joint is controlled based on the angular increment of the third rotary joint relative to the zero position.

[0061] based on Figure 2 , Figure 3 As shown in the diagram of the main control arm, when the first rotary joint rotates and the angular increment relative to the zero point is large, a collision may occur between the two links connected to the first rotary joint. By determining the second motion parameters of the third rotary joint based on the first motion parameters of the first rotary joint, and controlling the movement of the third rotary joint based on the second motion parameters, the motion synchronization between the third rotary joint and the first rotary joint can be improved, thereby reducing the possibility of a collision between the two links connected to the first rotary joint.

[0062] It should be noted that the control method for the main control arm provided in this application can also be used for main control arms that include a greater number of rotary joints or translational joints. For example, as Figure 2 , Figure 3 The image shows a seven-degree-of-freedom redundant robotic arm that simulates a human arm. Figure 2 , Figure 3 The main control arm shown also includes a fourth rotary joint connected to the first rotary joint via a joint linkage. The rotation axes of the fourth rotary joint, the first rotary joint, and the second rotary joint intersect at a point that can be controlled by the operator to achieve multi-degree-of-freedom movement of the main control arm in Cartesian space.

[0063] Therefore, the control method for the main control arm provided in this application monitors the first motion parameters of the first rotary joint and determines the second motion parameters of the third rotary joint based on the first motion parameters when the first motion parameters meet preset deviation conditions; based on the second motion parameters, the movement of the third rotary joint is controlled. Since the rotation axes of the first and third rotary joints are coaxial when the second rotary joint is at the zero position, determining the second motion parameters of the third rotary joint based on the first motion parameters when the first motion parameters meet preset deviation conditions can reduce the possibility of collisions between the user's hand and the joint links or between different joint links, making the user operation smoother and improving the user experience during the use of the main control arm.

[0064] In some optional embodiments, the first motion parameter includes a first rotation angle increment of the first rotary joint relative to the zero position; the second motion parameter includes a second rotation angle increment of the third rotary joint relative to the zero position; determining the second motion parameter of the third rotary joint based on the first motion parameter includes: determining the second rotation angle increment based on the first rotation angle increment when the second rotary joint is at the zero position; and determining the second rotation angle increment based on the first rotation angle increment and the joint deviation angle of the second rotary joint when the second rotary joint is not at the zero position.

[0065] in, Figure 2 This shows the second rotary joint in the zero position, at which point the rotation axes of the first and third rotary joints are coaxial. Figure 3 The illustration shows the case where the second rotary joint is not at its zero point, in which case the rotation axes of the first and third rotary joints are not coaxial. When the second rotary joint is at its zero point, the second rotation angle increment can be made equal to the first rotation angle increment; alternatively, the second rotation angle increment can be made zero if the first rotation angle increment is less than a rotation angle threshold (which could be 10°, 20°, 45°, or other reasonable values); or the difference between the second and first rotation angle increments can be equal to the aforementioned rotation angle threshold if the first rotation angle increment is greater than or equal to the threshold. Through these processes, the difference in rotation angle between the first and third rotary joints can be kept within the rotation angle threshold, thereby reducing the possibility of collision between the two links connected to the first rotary joint. Therefore, by determining the second rotation angle increment based on the first rotation angle increment when the second rotary joint is at its zero point (i.e., when the rotation axes of the first and third rotary joints are coaxial), and ensuring that the third rotary joint rotates following the first rotary joint, the possibility of collision between the joint links can be reduced.

[0066] Specifically, when the second rotary joint is not at its zero point, the correspondence between the first and second rotation angle increments can be corrected based on the joint deviation angle of the second rotary joint. This allows for the determination of a second rotation angle increment that enables the third rotary joint to follow the first rotary joint, reducing the likelihood of collisions between the two links connected to the first rotary joint. By determining the second rotation angle increment based on the first and second rotation angle increments when the second rotary joint is not at its zero point, and controlling the movement of the third rotary joint based on this second rotation angle increment, the possibility of collisions between the joint links is reduced.

[0067] In some optional embodiments, determining the second motion parameter of the third rotary joint based on the first motion parameter specifically includes: when the second rotary joint is at the zero point position, determining the first rotation angle increment as the second rotation angle increment; when the second rotary joint is not at the zero point position, determining the product of the first rotation angle increment and the cosine of the joint deviation angle as the second rotation angle increment.

[0068] By defining the first rotation angle increment as the second rotation angle increment when the second rotary joint is at its zero position, the rotational synchronization between the third and first rotary joints can be maximized, minimizing the possibility of collisions between the joint links. When the second rotary joint is not at its zero position, as the joint deviation angle of the second rotary joint increases, the rotation axis between the third and first rotary joints also gradually deviates. As the joint deviation angle increases, meaning the deviation between the rotation axis of the third and first rotary joints becomes greater, the deviation compensation effect of the third rotary joint on the first rotary joint becomes increasingly poor; until, when the joint deviation angle equals 90°, the third rotary joint has no deviation compensation effect on the first rotary joint. The product of the first rotation angle increment and the cosine of the joint deviation angle can characterize the effective component of the first rotation angle increment in the direction of the rotation axis of the third rotary joint. By determining the product of the first rotation angle increment and the cosine of the joint deviation angle as the second rotation angle increment, the synchronization between the rotation of the third rotary joint and the rotation of the first rotary joint in the direction of the rotation axis of the third rotary joint can be guaranteed, thereby reducing the possibility of collision between joint links.

[0069] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating another control method for a main control arm provided in an embodiment of this application.

[0070] In some optional embodiments, the second motion parameter further includes: the real-time rotational speed and real-time rotational acceleration of the third rotary joint; before controlling the movement of the third rotary joint based on the second motion parameter in S103, the control method further includes: S104, when the first rotation angle increment is greater than or equal to a first preset angle and less than a second preset angle, determining the target rotational speed and target rotational acceleration of the third rotary joint according to the spatial angular velocity of the main control arm; S105, when the first rotation angle increment is greater than or equal to the second preset angle, determining the target rotational speed and target rotational acceleration of the third rotary joint according to a preset speed threshold and a preset acceleration threshold respectively; S106, calculating the real-time rotational speed and real-time rotational acceleration based on the target rotational speed and the target rotational acceleration.

[0071] The first preset angle can be 20°, 30°, or other reasonable values. The second preset angle is greater than the first preset angle; it can be 40°, 45°, 60°, or other reasonable values. The spatial angular velocity of the main control arm refers to the angle rotated by the end of the main control arm per unit time when the rotation angle of the rotary joint changes. The target rotational speed and target rotational acceleration of the third rotary joint can be determined based on the spatial angular velocity of the main control arm, or the angular velocity component of the spatial angular velocity of the main control arm along the rotation axis of the first rotary joint. Specifically, the target rotational speed and target rotational acceleration of the third rotary joint can be directly proportional to the "spatial angular velocity of the main control arm" or the "angular velocity component of the spatial angular velocity of the main control arm along the rotation axis of the first rotary joint." The preset speed threshold can be the maximum speed of the third rotary joint, and the preset acceleration threshold can be the maximum acceleration of the third rotary joint. When the increment of the first rotation angle is greater than or equal to the second preset angle, the real-time rotational speed and real-time rotational acceleration of the third rotary joint can be set to their maximum values ​​to quickly achieve deviation compensation for the first rotary joint. By determining the target rotational speed and target rotational acceleration of the third rotary joint based on the spatial angular velocity of the main control arm when the first rotational angle increment is small, and calculating the real-time rotational speed and real-time rotational acceleration based on the target rotational speed and target rotational acceleration; that is, to maintain the motion synchronization between the third rotary joint and the main control arm as much as possible, so as to improve the motion continuity of the third rotary joint while reducing the possibility of collisions between joint links.

[0072] In some optional embodiments, S102, when the first motion parameter satisfies a preset deviation condition, determining the second motion parameter of the third rotary joint based on the first motion parameter includes: when the first motion parameter satisfies the preset deviation condition, calculating the real-time rotational position, real-time rotational speed, and real-time rotational acceleration of the third rotary joint based on a trajectory planning strategy, the second rotational angle increment, the target rotational speed, and the target rotational acceleration of the third rotary joint; when the real-time rotational speed is less than or equal to the preset speed threshold, and the real-time rotational acceleration is less than or equal to the preset acceleration threshold, determining the real-time rotational position, real-time rotational speed, and real-time rotational acceleration as the second motion parameter; when the real-time rotational speed is greater than the preset speed threshold, or the real-time rotational acceleration is greater than the preset acceleration threshold, replacing the real-time rotational speed based on the preset speed threshold, and replacing the real-time rotational acceleration based on the preset acceleration threshold; and determining the real-time rotational position and the replaced real-time rotational speed and real-time rotational acceleration as the second motion parameter.

[0073] The trajectory planning strategy refers to determining the motion trajectory of the main control arm in space using mathematical methods, including parameters such as position, velocity, and acceleration, to meet specific constraints or optimization objectives. The trajectory planning strategy can be implemented using model-based or sensor-based path planning methods, or even trajectory filters; this application does not specifically limit this. By calculating the real-time rotational position, real-time rotational velocity, and real-time rotational acceleration of the third rotary joint based on the trajectory planning strategy, the second rotational angle increment, and the target rotational velocity and target rotational acceleration of the third rotary joint, when the first motion parameters meet preset deviation conditions, and controlling the third rotary joint according to these parameters, the motion control accuracy of the third rotary joint can be improved, and the possibility of collisions between the user's hand and the joint links or between different joint links can be better reduced. Furthermore, by replacing the real-time rotational velocity with a preset velocity threshold or the real-time rotational acceleration with a preset acceleration threshold when the real-time rotational velocity exceeds a preset velocity threshold or when the real-time rotational acceleration exceeds a preset acceleration threshold, it can be ensured that the real-time rotational velocity and real-time rotational acceleration of the third rotary joint are within preset ranges.

[0074] In some optional embodiments, the preset deviation condition includes a preset deviation angle threshold and / or a preset angular velocity threshold for the first rotary joint; the step of determining the second motion parameter of the third rotary joint based on the first motion parameter when the first motion parameter satisfies the preset deviation condition includes: determining the second motion parameter of the third rotary joint based on the first motion parameter when the first rotation angle increment is greater than or equal to the preset deviation angle threshold, and / or when the spatial angular velocity of the main control arm is greater than or equal to the preset angular velocity threshold.

[0075] The preset deviation angle threshold can be 10°, 20°, 45°, or other reasonable values. By determining the second motion parameters of the third rotary joint based on the first motion parameters of the first rotary joint when the first rotation angle increment is greater than or equal to the preset deviation angle threshold (i.e., when the first rotation angle increment is large), the motion synchronization between the third and first rotary joints can be maintained as much as possible, thereby reducing the possibility of collisions between joint links connected to the first rotary joint when the first rotation angle increment of the first rotary joint is large. The preset angular velocity threshold can be 50° per second, 60° per second, 90° per second, or other reasonable values. When the operating speed of the main control arm is too fast, collisions may occur between the user's hand and the joint links or between different joint links. By determining the second motion parameters of the third rotary joint based on the first motion parameters when the spatial angular velocity of the main control arm is greater than or equal to the preset angular velocity threshold (i.e., when the operating speed of the main control arm is too fast), the motion synchronization between the third and first rotary joints can be maintained as much as possible, thereby reducing the possibility of collisions between the user's hand and the joint links or between different joint links when the operating speed of the main control arm is fast.

[0076] In some optional embodiments, the control method of the main control arm further includes: controlling the third rotary joint to maintain its current position when the first motion parameter does not meet the preset deviation condition.

[0077] The preset deviation condition may include a preset deviation angle threshold for the first rotary joint. If the increment of the first rotation angle of the first rotary joint is less than the preset deviation angle threshold, it can be determined that the first motion parameter does not meet the preset deviation condition. By controlling the third rotary joint to maintain its current position when the first motion parameter does not meet the preset deviation condition, the possibility of collisions between joint links can be reduced, while simultaneously reducing the motion complexity of the main control arm.

[0078] Please refer to Figure 5 , Figure 5This is a schematic diagram of the structure of an electronic device 200 provided in an embodiment of this application. The electronic device 200 includes: a memory 202 and a processor 201; the memory 202 stores a computer program executable by the processor 201, and when the computer program is executed by the processor 201, it executes the control method of the main control arm described in any one of the first aspects.

[0079] The memory 202 and the processor 201 can be interconnected and communicate with each other via a communication bus 203 and / or other forms of connection mechanism (not shown). The memory 202 stores a computer program executable by the processor 201, which, when executed by the processor 201, performs the control method of the main control arm as described in the first aspect above.

[0080] This application also provides a computer-readable storage medium storing computer program instructions, which, when executed by processor 201, perform the control method of the main control arm as described in the first aspect above.

[0081] The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0082] It should be understood that the disclosed apparatus / systems and methods can also be implemented in other ways, as provided in the embodiments of this application. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0083] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0084] The above description is only an optional implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application.

Claims

1. A control method for a master control arm, characterized in that, The control method is used to control the main control arm; the main control arm includes a first rotary joint, a second rotary joint, and a third rotary joint connected in sequence by joint links; When the second rotary joint is at the zero position, the rotation axes of the first rotary joint and the third rotary joint are coaxial. The control method includes: Monitor the first motion parameters of the first rotary joint; If the first motion parameter satisfies the preset deviation condition, the second motion parameter of the third rotary joint is determined based on the first motion parameter; Based on the second motion parameters, control the movement of the third rotary joint; Wherein, the first motion parameter includes a first rotation angle increment of the first rotary joint relative to the zero position; the second motion parameter includes a second rotation angle increment of the third rotary joint relative to the zero position; determining the second motion parameter of the third rotary joint based on the first motion parameter includes: When the second rotary joint is at the zero point position, the second rotation angle increment is determined based on the first rotation angle increment; When the second rotary joint is not at the zero point position, the second rotary angle increment is determined based on the first rotary angle increment and the joint deviation angle of the second rotary joint; The control method further includes: If the first motion parameter does not meet the preset deviation condition, the third rotary joint is controlled to maintain its current position.

2. The control method according to claim 1, characterized in that, The step of determining the second motion parameter of the third rotary joint based on the first motion parameter specifically includes: When the second rotary joint is at the zero point position, the first rotation angle increment is determined as the second rotation angle increment; When the second rotary joint is not at the zero point position, the product of the first rotation angle increment and the cosine of the joint deviation angle is determined as the second rotation angle increment.

3. The control method according to claim 1, characterized in that, in, The second motion parameters further include: the real-time rotational speed and real-time rotational acceleration of the third rotary joint; before controlling the movement of the third rotary joint based on the second motion parameters, the control method further includes: When the first rotation angle increment is greater than or equal to the first preset angle and less than the second preset angle, the target rotation speed and target rotation acceleration of the third rotary joint are determined based on the spatial angular velocity of the main control arm. When the first rotation angle increment is greater than or equal to the second preset angle, the target rotation speed and target rotation acceleration of the third rotation joint are determined according to the preset speed threshold and the preset acceleration threshold, respectively. The real-time rotational speed and real-time rotational acceleration are calculated based on the target rotational speed and the target rotational acceleration.

4. The control method according to claim 3, characterized in that, The step of determining the second motion parameter of the third rotary joint based on the first motion parameter when the first motion parameter meets the preset deviation condition includes: When the first motion parameter meets the preset deviation condition, the real-time rotation position, real-time rotation speed and real-time rotation acceleration of the third rotation joint are calculated based on the trajectory planning strategy, the second rotation angle increment, the target rotation speed and target rotation acceleration of the third rotation joint. When the real-time rotational speed is less than or equal to the preset speed threshold and the real-time rotational acceleration is less than or equal to the preset acceleration threshold, the real-time rotational position, real-time rotational speed, and real-time rotational acceleration are determined as the second motion parameters. If the real-time rotational speed is greater than the preset speed threshold, or the real-time rotational acceleration is greater than the preset acceleration threshold, the real-time rotational speed is replaced based on the preset speed threshold, and the real-time rotational acceleration is replaced based on the preset acceleration threshold; and the real-time rotational position and the replaced real-time rotational speed and real-time rotational acceleration are determined as the second motion parameter.

5. The control method according to any one of claims 1-4, characterized in that, in, The preset deviation conditions include a preset deviation angle threshold and / or a preset angular velocity threshold for the first rotary joint; the step of determining the second motion parameter of the third rotary joint based on the first motion parameter when the first motion parameter satisfies the preset deviation conditions includes: When the first rotation angle increment is greater than or equal to the preset deviation angle threshold, and / or when the spatial angular velocity of the main control arm is greater than or equal to the preset angular velocity threshold, the second motion parameters of the third rotary joint are determined based on the first motion parameters.

6. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the control method of the main control arm as described in any one of claims 1-5.

7. An electronic device, characterized in that, The electronic device includes: Memory; processor; The memory stores a computer program executable by the processor, which, when executed by the processor, performs the control method of the main control arm as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, perform the control method of the main control arm according to any one of claims 1-5.

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