Master-slave surgical robot control method and master-slave surgical robot system

Abstract

The invention provides a control method of a master-slave surgical robot system and the master-slave surgical robot system. The control method comprises the following steps: registering a master hand and a slave hand, and obtaining a mapping pose of the master hand, so that the orientation of the master hand is consistent with the orientation of the slave hand; performing coordinate transformation on the master hand mapping pose to obtain a slave hand mapping pose; calculating output energy of the slave hands according to the slave hand mapping poses; and comparing the input energy of the master manipulator with the output energy of the slave manipulator, and determining whether the speed of the slave manipulator needs to be corrected according to a comparison result. According to the control method and the master-slave surgical robot system, a master-slave control framework is improved, the virtual slave hand module and the relay feedback module are introduced to the master hand end and the slave hand end respectively, whether the speed of the slave hand needs to be corrected or not is determined by comparing the input energy of the master hand with the output energy of the slave hand, and then the stability of the overall system is guaranteed.

Description

Technical Field

[0001] The present application mainly relates to the field of surgical robots, and in particular to a master-slave surgical robot control method and a master-slave surgical robot system. Background Art

[0002] Master-slave control is a control technology that uses a master device to remotely control a slave device to track the trajectory of the master device. Master-slave control establishes a mapping relationship between the master hand and the slave hand, and realizes the complete control of the master hand over the slave hand according to the corresponding control method involved in this mapping relationship. The existence of master-slave control technology enables doctors to operate on the master end and control the end mechanism of the slave end to complete related surgical operations, thereby improving the efficiency of the operation. At present, master-slave control surgical robots have been widely used in the medical field, such as laparoscopic surgical robots. For doctors, the force feedback function enables doctors to receive real-time force feedback on the control handle end to ensure the safe and effective operation. However, most of the current surgical robots do not have force feedback function. Some master-slave control surgical robots with force feedback are not suitable for high-rigidity surgical environments such as orthopedics. There are three main reasons: First, in master-slave control, the redundant degrees of freedom of the slave hand end are not fully utilized; second, the working space of the surgical arm itself is not reasonably utilized, and the slave hand is large as a whole; third, when a collision occurs in the high-rigidity environment of orthopedics, the stability of the control system will be destroyed. When there is a delay in information transmission between the master and slave devices, it is inevitable that the slave will contact the environment first and the master will receive force feedback later. When the slave strictly follows the movement instructions sent by the master, once the surgical instrument on the slave collides with a rigid environment such as the patient's bones, it may cause serious damage and trigger resonance between the master and slave. Therefore, there is an urgent need for a master-slave controlled surgical robot with force feedback and suitable for high-rigidity environments in orthopedics. Summary of the invention

[0003] In order to address the technical problem that master-slave control surgical robots are not suitable for high-rigidity surgical environments such as orthopedics, the present application provides a control method for a master-slave surgical robot system and a master-slave surgical robot system, which can make the master-slave control surgical robot system suitable for high-rigidity surgical environments, optimize the stability of the system when it collides with the environment, and improve the safety of the operation.

[0004] In order to solve the above technical problems, the present application provides a control method for a master-slave surgical robot system, wherein the surgical robot system includes a master control platform and a surgical platform, wherein the master control platform includes a master hand, and the surgical platform includes a slave hand. The control method includes: aligning the master hand and the slave hand to obtain the master hand mapping posture, so that the orientation of the master hand is consistent with the orientation of the slave hand; obtaining the slave hand mapping posture by coordinate transformation of the master hand mapping posture; calculating the output energy of the slave hand according to the slave hand mapping posture; comparing the input energy of the master hand with the output energy of the slave hand, and determining whether the speed of the slave hand needs to be corrected according to the comparison result.

[0005] In one embodiment of the present application, the registration of the master hand and the slave hand includes: obtaining a first master-hand terminal coordinate system of the master hand and a slave-hand terminal coordinate system of the slave hand; mapping the orientation of the slave hand to the master-hand space of the master hand to obtain a master-hand registration coordinate system; adjusting the orientation of the master hand so that the orientation of the master hand in the master-hand registration coordinate system is consistent with the orientation of the slave hand in the slave-hand terminal coordinate system.

[0006] In one embodiment of the present application, adjusting the orientation of the master hand so that the orientation of the master hand in the master hand registration coordinate system is consistent with the orientation of the slave hand includes: adjusting the orientation of the first master hand terminal coordinate system so that the master hand rotates around the x-axis and the y-axis of the first master hand terminal coordinate system, so that the z-axis of the master hand in the first master hand terminal coordinate system is consistent with the z-axis orientation of the master hand registration coordinate system mapped from the slave hand to the master hand space, and becomes the second master hand terminal coordinate system.

[0007] In one embodiment of the present application, the control method also includes: after the z-axis of the master hand in the first master-hand terminal coordinate system is aligned with the z-axis of the slave hand to become the second master-hand terminal coordinate system, the master hand is rotated around the z-axis of the second master-hand terminal coordinate system so that the x-axis and y-axis of the master hand in the second master-hand terminal coordinate system are respectively aligned with the x-axis and y-axis of the slave hand in the master-hand registration coordinate system to obtain a master-hand posture optimization matrix.

[0008] In one embodiment of the present application, after obtaining the slave hand mapping posture through coordinate transformation of the master hand mapping posture, it also includes: rotating the slave hand around its own x-axis and y-axis so that the z-axis of the slave hand itself is consistent with the slave hand mapping posture, and obtaining a slave hand posture optimization matrix according to the slave hand mapping posture and the slave hand reference posture.

[0009] In one embodiment of the present application, calculating the output energy of the slave hand according to the mapped posture of the slave hand includes: calculating the reference speed of the slave hand according to the reference posture of the slave hand; calculating the output energy of the slave hand according to the reference speed of the slave hand and the force signal of the end force sensor of the slave hand.

[0010] In one embodiment of the present application, the control method further includes: calculating the output energy of the slave hand using the following formula:

[0011]

[0012] Among them, t k Indicates the current moment, represents the output energy from the hand, V ref represents the slave reference speed, F ext Represents the force signal from the force sensor at the end of the hand.

[0013] In one embodiment of the present application, the control method also includes: calculating the slave hand joint position instructions according to the slave hand reference posture and the input energy of the master hand; obtaining the position feedback value of the virtual slave hand through the slave hand joint position instructions according to the slave hand positive kinematics; discretely differentiating the position feedback value to obtain the feedback speed of the virtual slave hand; calculating the slave hand reference speed according to the slave hand reference posture includes: discretely differentiating the slave hand reference posture to obtain an initial slave hand reference speed; performing proportional-integral control on the feedback speed of the virtual slave hand and the initial slave hand reference speed to generate the slave hand reference speed.

[0014] In one embodiment of the present application, determining whether the speed of the slave hand needs to be corrected based on the comparison result includes: in response to the input energy of the master hand being greater than the output energy of the slave hand, determining that the speed of the slave hand does not need to be corrected; in response to the input energy of the master hand being less than or equal to the output energy of the slave hand, determining that the speed of the slave hand needs to be corrected.

[0015] In one embodiment of the present application, the control method further includes: correcting the speed of the slave hand using the following formula:

[0016]

[0017] V refnew (t k )=V ref (t k )+β(t k )

[0018] Among them, V refnew (t k ) represents the corrected slave reference speed, represents the input energy of the master hand, t d It represents the delay of master-slave communication, and ΔT represents the system operation thread cycle.

[0019] In one embodiment of the present application, the control method further includes: making the modified slave hand reference speed satisfy the constraint condition in Cartesian space, and when the position of the slave hand approaches the boundary, constraining the slave hand reference speed by the following formula:

[0020]

[0021] Among them, P lim represents the position constraint boundary of the hand in the Cartesian space, P(t k ) represents the position of the slave hand, T break Indicates the shortest time required for the slave hand to stop moving.

[0022] In one embodiment of the present application, the control method also includes: obtaining a master hand feedback force and a master hand terminal velocity; calculating the output energy of the master hand based on the master hand feedback force and the master hand terminal velocity; comparing the output energy of the master hand with the input energy of the slave hand, and determining whether the master hand feedback force needs to be corrected based on the comparison result.

[0023] In one embodiment of the present application, the control method also includes: obtaining a master hand mapping posture by performing a reverse coordinate transformation on the slave hand mapping posture; reconstructing the master hand mapping posture according to the master hand posture optimization matrix to obtain a master hand reference posture; calculating the master hand feedback force according to the master hand reference posture, the master hand terminal posture and the output energy of the slave hand; calculating the output energy of the master hand according to the master hand feedback force and the master hand terminal speed; comparing the output energy of the master hand with the input energy of the slave hand, and determining whether the master hand feedback force needs to be corrected according to the comparison result.

[0024] In one embodiment of the present application, the control method also includes: the master hand feedback force includes a master-slave posture deviation force and a master hand local damping force, the master-slave posture deviation force is the deviation in position and orientation between the master hand reference posture and the master hand end posture, and the master hand local damping force is the product of the dynamic damping coefficient and the master hand end velocity.

[0025] In one embodiment of the present application, the control method further includes: calculating the master-slave posture deviation force using the following formula:

[0026] F=K c ΔP

[0027] F pose =max(F min ,min(F,F max ))

[0028] Among them, F pose represents the master-slave posture deviation force, K crepresents the diagonal matrix of stiffness coefficients, ΔP represents the master-slave posture difference, F min With F max They respectively represent the minimum boundary value and maximum boundary value of the correction force F.

[0029] In one embodiment of the present application, the control method further includes: calculating the master hand local damping force using the following formula:

[0030] F damp =BV m

[0031] B=B0+K b |F ext |

[0032] Among them, F damp represents the local damping force of the master hand, B represents the dynamic damping coefficient, V m represents the terminal velocity of the master hand, B0 represents the damping coefficient constant, K b The proportional coefficient of the dynamic change of damping with external force, F ext Represents the force signal from the force sensor at the end of the hand.

[0033] In one embodiment of the present application, the output energy of the master hand and the input energy of the slave hand are compared, and whether the master hand feedback force needs to be corrected is determined based on the comparison result, including: in response to the output energy of the master hand being less than or equal to the input energy of the slave hand, determining that the master hand feedback force does not need to be corrected; in response to the output energy of the master hand being greater than the input energy of the slave hand, determining that the master hand feedback force needs to be corrected.

[0034] In one embodiment of the present application, the control method further includes: correcting the master hand feedback force using the following formula:

[0035]

[0036] F refnew (t k )=F ref (t k )+α(t k )

[0037] Among them, F refnew (t k ) represents the corrected dominant hand feedback force, F ref (t k ) represents the current master hand feedback force, Indicates the output energy of the main hand, represents the input energy from the hand, t d It represents the delay of master-slave communication, and ΔT represents the system operation thread cycle.

[0038] In order to solve the above technical problems, the present application also provides a master-slave surgical robot system, including: a master control platform, including at least one master hand; a surgical platform, including at least one slave hand, and the slave hand is used to operate surgical instruments for surgery in response to the control of the master hand; a virtual slave hand module, used to calculate the slave hand reference speed according to the slave hand reference posture and the input energy of the master hand, and calculate the output energy of the slave hand according to the slave hand reference speed and the force signal of the end force sensor of the slave hand; an indirect feedback force calculation module, used to calculate the master hand feedback force according to the master hand reference posture, the master hand end posture and the output energy of the slave hand, and calculate the output energy of the master hand according to the master hand feedback force and the master hand end speed.

[0039] In one embodiment of the present application, the master-slave surgical robot system also includes: a surgical field imaging platform, including a 3D exoscopic mirror and an image processing device, for imaging the surgical field of view; a navigation and positioning platform, including an optical positioning device, for positioning the slave hand; and an auxiliary surgical platform, for carrying auxiliary surgical instruments.

[0040] In order to solve the above technical problems, the present application also provides a master-slave surgical robot system, including: a memory for storing instructions executable by a controller; and a controller for executing the instructions to implement the above control method.

[0041] The present application provides a control method for a master-slave surgical robot system, improves the master-slave control framework, introduces a virtual slave hand module and an indirect force feedback module at the master hand end and the slave hand end respectively, and determines whether the speed of the slave hand needs to be corrected by comparing the input energy of the master hand and the output energy of the slave hand, thereby ensuring the stability of the global system. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:

[0043] Figure 1 is a system block diagram of a master-slave robot system according to an embodiment of the present application;

[0044] Figure 2a It is a schematic diagram of the three-dimensional structure of the master control platform of the master-slave robot system according to one embodiment of the present application;

[0045] Figure 2b It is a schematic diagram of the three-dimensional structure of the right master manipulator of the master control platform of the master-slave robot system according to one embodiment of the present application;

[0046] Figure 2cIt is a schematic diagram of the three-dimensional structure of a surgical platform of a master-slave robot system according to an embodiment of the present application;

[0047] Figure 2d It is a schematic diagram of the three-dimensional structure of a surgical arm of a surgical platform of a master-slave robot system according to an embodiment of the present application;

[0048] Figure 2e It is a schematic diagram of the three-dimensional structure of the navigation and positioning platform of the master-slave robot system according to one embodiment of the present application;

[0049] Figure 2f It is a schematic diagram of the three-dimensional structure of the surgical field imaging platform of the master-slave robot system according to one embodiment of the present application;

[0050] Figure 2g It is a schematic diagram of the three-dimensional structure of an auxiliary surgery platform of a master-slave robot system according to an embodiment of the present application;

[0051] Figure 3 is an exemplary flow chart of a control method of a master-slave robot system according to an embodiment of the present application;

[0052] Figure 4 Schematic diagram of a master-slave control architecture of a control method of a master-slave robot system according to an embodiment of the present application;

[0053] Figure 5 is based on Figure 3 A schematic diagram of a master-slave registration coordinate system in step S100 of the illustrated embodiment;

[0054] Figure 6 It is a schematic diagram of the internal flow of the virtual slave module in the master-slave robot system of one embodiment of the present application during operation;

[0055] Figure 7 It is a schematic diagram of the internal flow of the indirect feedback force calculation module in the master-slave robot system of one embodiment of the present application during operation;

[0056] Figure 8 is an exemplary flow chart of master-slave osteotomy using a master-slave robot system according to an embodiment of the present application;

[0057] Fig. 9 It is an exemplary block diagram of a master-slave surgical robot system according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] 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 the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0059] As shown in this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0060] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0061] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0062] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0063] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0064] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0065] The control method of the master-slave surgical robot system disclosed in the present application and the master-slave surgical robot system are applicable to the field of surgical robots, especially to the field of master-slave surgical robot control, and can also be used in operations in high rigidity environments such as orthopedics, but are not limited thereto. In order to solve the problem that the existing master-slave control surgical robot does not fully utilize the redundant degrees of freedom of the slave end and reasonably utilize the working space of the surgical arm itself in the master-slave control, the present application ignores the degrees of freedom of rotation around its z-axis when aligning the grinding drill head, and the present application also adds local degree of freedom optimization (master hand posture reconstruction, slave hand posture optimization, slave hand posture reconstruction, master hand posture optimization) to both the master and slave ends. In order to solve the problem that the stability of the control system will be destroyed when a collision occurs in a high rigidity environment in orthopedics, the present application introduces a control method of indirect feedback force and slave hand reference speed from the perspective of passive design, so that the master-slave system with force feedback can interact safely and stably with the rigid environment in the presence of delay. The master-slave control method used in the present application is an improvement based on position-force bilateral control. The so-called position-force bilateral means that the master hand sends a position command to the slave hand, and the slave hand follows the position. Conversely, the slave hand sends a force command to the master hand, and the master hand outputs feedback force to the operator. The slave hand position control is the process of transmitting the master hand position change to the slave hand and converting it into the slave hand joint position command. The master hand force control is the process of transmitting the slave hand feedback posture and force sensing information to the master hand and converting it into the master hand joint torque command. The specific embodiments are described as follows:

[0066] Figure 1 This is a system block diagram of a master-slave surgical robot system according to an embodiment of the present application. Figure 1 As shown, the master-slave system robot system 10 includes a master control platform 11, a surgical platform 12, a virtual slave hand module 13 and an indirect feedback force calculation module 14. Among them, the master control platform 11 includes at least one master hand 111. The surgical platform 12 includes at least one slave hand 121, and the slave hand 121 will respond to the control instructions from the master hand 111 to achieve the operation of the surgical instrument. The virtual slave hand module 13 is used to calculate the slave hand reference speed according to the slave hand reference posture and the input energy of the master hand 111, and calculate the output energy of the slave hand 121 according to the slave hand reference speed and the force signal of the end force sensor of the slave hand 121. The indirect feedback force calculation module 14 is used to calculate the master hand feedback force according to the master hand reference posture, the master hand end posture and the output energy of the slave hand 121, and calculate the output energy of the master hand 111 according to the master hand feedback force and the master hand end speed.

[0067] The setting of the main control platform 11, surgical platform 12, virtual slave hand module 13 and indirect feedback force calculation module 14 of the master-slave system robot system 10 realizes the calculation of the output energy of the slave hand 121 and the feedback force of the master hand, so as to facilitate the subsequent correction of the two and solve the problem of system stability.

[0068] like Figure 1 As shown, in some embodiments, the master-slave surgical robot system 10 further includes a registration module 15. The registration module 15 is used to register the master hand 111 and the slave hand 121. The specific registration process will be described later.

[0069] The master-slave system robot system can calculate the slave hand reference speed, master hand feedback force, slave hand 121 output energy and master hand 111 output energy by setting up five modules including a main control platform 11, a surgical platform 12, a virtual slave hand module 13, an indirect feedback force calculation module 14 and a registration module 15. Figure 2a to Figure 2g Schematic diagrams of the three-dimensional structures of the devices included in the master-slave surgical robot system 10 of an embodiment of the present application are respectively shown. Figure 2a The main control platform 11 in the master-slave robot system 10 is shown. Figure 2a As shown, in some embodiments, the main control platform 11 includes: a display screen 115, a main operator 116, a pedal 117 and a doctor control platform 118. Among them, the display screen 115 includes a large screen 115a and a small screen 115b. The large screen 115a can be a display screen, and the small screen 115b can be an operation touch screen. The two screens can enable the doctor to better observe the surgical situation and perform corresponding surgical operations. Among them, the pedal 117 includes multiple pedals. In some embodiments, the main control platform 11 can be configured with a grinding drill pedal for controlling the rotation and stop of the grinding drill; two bone holding instrument opening and closing pedals for controlling the opening and closing of the bone holding instrument; and a repositioning pedal for pausing the master-slave control and simultaneously moving the main operator to any suitable position to meet the doctor's operating habits. The main control platform 11 also includes a main operator 116, which is set at Figure 2a The doctor is shown on a control platform 118. The number of the main operators 116 can be one or two. Figure 2a Two main operators 116 are shown, namely a left main operator 116a and a right main operator 116b, which can be determined according to the habits of the operating doctor. Figure 2b As shown, in some embodiments, the right master manipulator 116b may have six active axes 116b1, 116b2, 116b3, 116b4, 116b5 and 116b6. The active axis 116b6 at the end of the right master manipulator 116b may be connected to the master hand 111. The right master manipulator 116b also has a grip button at the end for controlling the surgical arm 127.

[0070] Figure 2c The surgical platform 12 in the master-slave system robot system 10 is shown, which is usually located at the patient end or in the operating room. Figure 2cAs shown, in some embodiments, the surgical platform 12 includes: a display screen 126, a surgical arm 127 and a base 128. The surgical arm 127 is arranged above the surgical platform 12. The surgical arm 127 has 6 active axes, and the base 128 has 4 active axes. The display screen 126 is a small touch screen. Figure 2d The surgical arm 127 and the base 128 are shown separately. The surgical arm 127 can also be a six-axis surgical arm. Figure 2d 6 active axes 127a, 127b, 127c, 127d, 127e, 127f of the surgical arm 127 and 1 base axis 128a of the base 128 are exemplarily marked. Figure 2d The markings are not used to limit the actual positions of the driving axes. The driving axis 127a is an axis extending in the vertical direction. The driving axis 127f at the end of the surgical arm 127 can be connected to Figure 1 The slave hand 121 shown in FIG. Figure 2c As shown, the slave hand 121 holds a main surgical instrument 129. The main surgical instrument 129 refers to the surgical instrument mainly used during the operation. In osteotomy, the main surgical instrument 129 can be an active power device such as a grinding drill or a super knife used for osteotomy.

[0071] In some embodiments, the master-slave surgical robot system 10 further includes: a navigation and positioning platform 160 , a surgical field imaging platform 170 , and an auxiliary surgery platform 180 . Figure 2e The three-dimensional structure of the navigation and positioning platform 160 is shown. In this embodiment, the navigation and positioning platform 160 includes an optical positioning device 161 located at the top of the navigation and positioning platform 160 and used for positioning the slave hand 121. Figure 2f The three-dimensional structure of the surgical field imaging platform 170 is shown. In this embodiment, the surgical field imaging platform 170 includes a 3D external mirror 171, an image processing device 172 and a handle 173, which are used to image the surgical field. The handle 173 and the external mirror 171 are arranged at the front end of the surgical field imaging platform 170. The image processing device 172 is arranged on the column of the surgical field imaging platform 170, which can receive images from the external mirror 171 and perform left and right eye fusion 3D imaging. Figure 2g The three-dimensional structure of the auxiliary surgery platform 180 is shown. The auxiliary surgery platform 180 has an auxiliary arm 181 and a base 182. The front end of the auxiliary arm 181 is used to carry auxiliary surgery instruments. Figure 2g In the state shown, the auxiliary arm 181 has not yet been equipped with auxiliary surgical instruments. In osteotomy surgery, the auxiliary surgical instruments may include bone holding instruments, etc., which play a role in assisting the main surgical instruments in performing the surgery.

[0072] Based on the above-mentioned master-slave surgical robot system 10, a complete set of surgical equipment is provided to doctors as a whole, thereby improving the convenience and safety of doctors performing surgery on patients.

[0073] Figure 3 This is an exemplary flow chart of a control method of a master-slave surgical robot system according to an embodiment of the present application. Figure 1 The master-slave surgical robot system 10 shown in the figure performs the control method, so this specification is combined with Figure 1 To illustrate the control method, but not to limit the control method of this application to only use Figure 1 The master-slave surgical robot system 10 shown is used for execution.

[0074] like Figure 3 As shown, in this embodiment, the control method of the master-slave surgical robot system includes:

[0075] Step S100: registering the master hand 111 and the slave hand 121 to obtain the master hand mapping posture, so that the orientation of the master hand 111 is consistent with the orientation of the slave hand 121;

[0076] Step S200: obtaining the mapping posture of the slave hand through coordinate transformation of the mapping posture of the master hand;

[0077] Step S300: Calculating the output energy of the slave hand 121 according to the mapped posture of the slave hand;

[0078] Step S400: Compare the input energy of the master hand 111 and the output energy of the slave hand 121, and determine whether the speed of the slave hand 121 needs to be corrected according to the comparison result.

[0079] The purpose of the registration in step S100 is to adjust the orientation of the master hand 111 according to the posture of the slave hand 121 before the teleoperation mode starts, so that the movement direction of the slave hand 121 under the imaging system during the operation is consistent with the user's operation of the master hand 111 and conforms to human intuitive cognition. Figure 1 The registration module 15 in step S100 is executed. Normally, the registration module 15 only adjusts the orientation of the master hand 111, and does not affect the position of the master hand 111. The registration module 15 gives the initial master-slave registration position information and sends the information to the surgical platform 12 where the slave hand 121 is located. In some embodiments, the registration in step S100 is also used to obtain the master hand posture optimization matrix to facilitate the subsequent calculation of the master hand feedback force. Specifically, the registration module 15 is also used to send the master hand posture optimization matrix to the master hand control platform 11.

[0080] The registration process will be combined with Figure 4 and Figure 5 Herein, Figure 4Schematic diagram of the master-slave control framework of the master-slave surgical robot system of an embodiment of the present application. The master end includes a master hand 111, and an encoder 111a and a driver 111b corresponding to the master hand 111. The slave end includes a slave hand 121, and an encoder 121a, a driver 121b and a force sensor 121c corresponding to the slave hand 121. The master end and the slave end are separated by a dotted line. The above steps S100 to S400 involve multiple operations on the master end and the slave end, which will be combined later. Figure 4 Provide explanation.

[0081] Figure 5 is based on Figure 3 Schematic diagram of the master-slave registration coordinate system of step S100 in the illustrated embodiment. Figure 5 As shown, mbase is the master hand reference coordinate system, morigin is the initial coordinate system of the master hand end, called the first master hand end coordinate system, and s0 is the initial end coordinate system of the slave hand, called the slave hand end coordinate system. In some embodiments, the step of registering the master hand 111 and the slave hand 121 in step S100 includes:

[0082] Step S110: obtaining a first master hand end coordinate system morigin of the master hand 111 and a slave hand end coordinate system S0 of the slave hand 121;

[0083] Step S120: Mapping the orientation of the slave hand 121 to the master hand space of the master hand 111 to obtain the master hand registration coordinate system m0;

[0084] Step S130: Adjust the orientation of the master hand 111 so that the orientation of the master hand 111 in the master hand registration coordinate system is consistent with the orientation of the slave hand 121 in the slave hand terminal coordinate system S0.

[0085] In some embodiments, step S130: adjusting the orientation of the master hand 111 so that the orientation of the master hand 111 in the master hand registration coordinate system is consistent with the orientation of the slave hand 121 in the slave hand terminal coordinate system S0, further includes:

[0086] Step S131 adjusts the orientation of the first master hand terminal coordinate system morigin, so that the master hand rotates around the x-axis and y-axis of the first master hand terminal coordinate system, so that the z-axis of the first master hand terminal coordinate system is consistent with the z-axis orientation of the master hand registration coordinate system m0 mapped from the slave hand to the master hand space, and becomes the second master hand terminal coordinate system m0optz. This step is composed of Figure 5 The schematic diagram within the dotted box marked S131 is shown.

[0087] In some embodiments, after step S131 is completed, the process further includes:

[0088] Step S132: After the first master hand terminal coordinate system morigin becomes the second master hand terminal coordinate system m0optz, the master hand is rotated around the z-axis of the second master hand terminal coordinate system m0optz, so that the x-axis and y-axis of the second master hand terminal coordinate system m0optz are respectively consistent with the x-axis and y-axis of the master hand registration coordinate system m0, and the master hand posture optimization matrix is ​​obtained. This step is performed by Figure 5 Schematic representation of the dashed box marked S132 in FIG.

[0089] Step S133: Obtain the slave hand reference posture according to the slave hand mapping posture and the slave hand posture optimization matrix.

[0090] The following references Figure 5 A specific registration process is described in detail, including: first, the orientation Rsbase_s0 of the slave hand 121 (the rotation matrix between the slave hand reference system and the end tool coordinate system) is mapped to the master hand space through the equivalent relationship between the imaging system and the screen coordinate system, that is, the initial target orientation of the master hand under the master hand reference coordinate system mbase is obtained, which is recorded as Thus, the master hand registration coordinate system m0 is obtained. In this step, the mapping to the master hand space through the equivalent relationship between the imaging system and the screen coordinate system is to make the orientation relationship of the slave hand compared to the imaging system consistent with the coordinate relationship of the master hand compared to the screen. Since the freedom of the drill to rotate around its z-axis is generally not concerned in the actual use of the burr for osteotomy, it is not necessary to ensure that the burr and the handle, that is, the x and y axes of the master-slave hand end coordinate system are consistent during registration, but only the z-axis orientation of the master-slave hand end needs to be registered. When registering the burr head, the freedom of rotation around its z-axis is ignored, so that the master-slave control surgical robot can be suitable for the structural characteristics of the orthopedic burr. To this end, it is only necessary to rotate around the x-axis and y-axis of the master hand initial coordinate system morigin, while ignoring the freedom of rotation around the z-axis, and at the same time ensure that the z-axis of the master hand initial first master hand end coordinate system morigin is consistent with the z-axis orientation of the master hand registration coordinate system m0. Therefore, after obtaining m0, execute step S131 to adjust the orientation of the initial coordinate system morigin of the master hand so that it rotates around its own x and y axes so that the z axis is consistent with the orientation of the z axis of the m0 coordinate system mapped from the slave hand to the master hand space. The rotation transformation matrix is ​​recorded as Rmzhold. The orientation of morigin after the Rmzhold rotation transformation is recorded as m0optz, that is, the second master hand terminal coordinate system m0optz. Then execute step S132: adjust the second master hand terminal coordinate system m0optz to rotate around its own z axis so that the x axis and y axis of the second master hand terminal coordinate system m0optz are consistent with the x axis and y axis orientation of the m0 coordinate system mapped from the slave hand to the master hand space, that is, they are consistent with the x axis and y axis of the slave hand terminal coordinate system S0, respectively, to obtain the master hand posture optimization matrix. This is because there is still a deviation between the master hand optimization target orientation m0optz and the master hand initial target orientation m0, which is a rotation deviation around the z axis. The matrix of the optimized deviation is called the master hand posture optimization matrix and is recorded as Finally, move the main hand to the target direction That is, the registration between the master and slave hands is completed, and this moment is the initial moment after the registration is completed. In some embodiments, the registration process needs to be performed once each time the system is started to connect the master and slave systems. In some embodiments, during the master-slave operation, the communication is suddenly interrupted but the master-slave connection is immediately restored. If the position of the slave hand does not change significantly during the disconnection, re-registration is not required. If the position of the slave hand changes significantly during the disconnection, re-registration is required.

[0091] like Figure 4As shown, in some embodiments, during the registration process, the registration module 15 first obtains the posture relationship between the surgical field imaging platform 170 and the slave hand end tool from the navigation positioning platform 160, and then uses the registration algorithm for registration. The registration module 15 is set at the master end. It should be noted that the relationship between the display screen 115 on the main control platform 11 and the base coordinate system of the master hand is a known parameter. In this way, during the registration process, the image direction on the display screen 115 can be adjusted according to the known parameters, so that the image of the slave hand end tool seen by the user on the display screen 115 is consistent with the direction of the master hand.

[0092] In some embodiments, Figure 4 As shown, the master terminal also includes a master hand forward kinematics module 41. The encoder 111a of the master hand 111 is a joint encoder, which is used to collect the position information of each joint of the master hand 111. These master hand joint position information are input into the master hand forward kinematics module 411 to calculate the terminal position of the master hand 111 at any time t. It should be noted that forward kinematics refers to the forward kinematics of a robot with serial joints, that is, the algorithm that uses the joint positions to solve the robot's end position. Correspondingly, inverse kinematics refers to the inverse kinematics of a robot with serial joints, that is, the algorithm that uses the robot's end position to solve the joint position. The master hand posture has been optimized, so when performing master-slave mapping, it is necessary to optimize the master hand posture matrix provided by the registration module 15 The reconstruction is done to get the mapping pose of the main hand before optimization, namely: This reconstruction step can be done by Figure 4 The master hand posture reconstruction module 412 in is executed.

[0093] In some embodiments, the step S200 of obtaining the mapping posture of the slave hand through coordinate transformation of the mapping posture of the master hand specifically refers to: obtaining the mapping posture of the slave hand through the master-slave coordinate transformation relationship used in scaling and registration. The reason for scaling is: in order to save the operator's effort, the master-slave coordinates are often scaled at a fixed ratio. The fixed ratio can be determined according to the actual designed spatial ratio of the master hand and the slave hand, and this application does not limit this. Figure 4 , this step can be performed by the coordinate transformation and scaling module 421.

[0094] The master hand posture reconstruction and subsequent master hand posture optimization, slave hand posture optimization, and slave hand posture reconstruction are local degree of freedom optimizations added to the master and slave hand ends in this application in order to further improve the flexibility of the master and slave hands when clamping orthopedic drills / super knives. The master hand 111 and the slave hand 121 can have the right to "local autonomy" in specific degrees of freedom, thereby being independent of each other in the master-slave relationship, thereby maximizing the workspace.

[0095] After registration, the master-slave surgical robot system can improve the safety and stability of the surgical environment by correcting the slave hand reference speed and the master hand indirect feedback force.

[0096] Next, how to correct the slave hand reference speed will be explained in conjunction with a specific embodiment:

[0097] In some embodiments, after step S200: obtaining the mapping posture of the slave hand through coordinate transformation of the mapping posture of the master hand, the method further includes:

[0098] Step S210: rotating the slave hand 121 around its own x-axis and y-axis so that the z-axis of the slave hand 121 is consistent with the slave hand mapping posture, and obtaining the slave hand reference posture;

[0099] Step S220: Obtain a slave hand posture optimization matrix according to the slave hand mapping posture and the slave hand reference posture. Specifically, the difference between the slave hand mapping posture and the slave hand reference posture may be calculated to obtain the slave hand posture optimization matrix.

[0100] It should be noted that the difference in rotation around the z-axis between the mapped posture Tsbase_st of the slave hand and the initial posture Tsbase_s0 of the slave hand at any time t is ignored, and what is obtained is the reference posture of the slave hand at any time t. The ignored rotation part is the optimization matrix of the slave hand posture.

[0101] refer to Figure 4 As shown, steps S210 and S220 may be performed by the hand gesture optimization module 422 .

[0102] In some embodiments, calculating the output energy of the slave hand 121 according to the slave hand mapping posture in step S300 further includes:

[0103] Step S310: Calculating the slave hand reference velocity according to the slave hand reference posture;

[0104] Step S320: Calculate the output energy of the slave hand according to the reference speed of the slave hand and the force signal of the end force sensor of the slave hand.

[0105] In some embodiments, calculating the slave hand reference velocity according to the slave hand reference posture in step S310 includes:

[0106] Step S311: discretely differentiate the slave hand reference posture to obtain an initial slave hand reference velocity;

[0107] Step S312: Perform proportional-integral control on the feedback speed of the virtual slave hand and the initial slave hand reference speed to generate a slave hand reference speed.

[0108] Steps S310 to S320 and steps S311 to S312 can be performed by Figure 4 The virtual slave module 13 is executed.

[0109] In some embodiments, calculating the output energy of the slave hand 121 according to the slave hand mapping posture in step S300 further includes:

[0110] Step S301: Calculate the slave hand joint position instruction according to the slave hand reference posture and the input energy of the master hand. Figure 4 As shown, the input energy of the master hand is calculated by the master hand energy observer module 416 and output to the virtual slave hand module 13. After the virtual slave hand module 13 calculates the slave hand joint position instruction, it sends the instruction to the slave hand 121.

[0111] Step S302: Obtaining a position feedback value of the virtual slave hand through the slave hand joint position instruction according to the slave hand forward kinematics.

[0112] Step S303: discretely differentiate the position feedback value to obtain the feedback speed of the virtual slave hand.

[0113] like Figure 4 As shown, steps S302 to S303 can be executed by the slave hand positive kinematics module 423, and the position feedback value and feedback speed of the virtual slave hand are calculated according to the slave hand joint position command, so as to obtain the slave hand feedback posture. It should be noted that the virtual slave hand used in steps S302 and S303 corresponds to Figure 1 and Figure 4 The virtual slave module 13 in the embodiment of the present invention is shown in FIG. 1. Compared with the slave 121, the virtual slave is not an actual slave, but a virtual module introduced by the present invention in order to obtain control parameters related to the slave.

[0114] In some embodiments, step S400: comparing the input energy of the master hand 111 and the output energy of the slave hand 121, and determining whether to correct the speed of the slave hand 121 according to the comparison result further includes:

[0115] Step S410: In response to the input energy of the master hand 111 being greater than the output energy of the slave hand 121, determining that there is no need to correct the speed of the slave hand 121;

[0116] Step S420 : In response to the input energy of the master hand 111 being less than or equal to the output energy of the slave hand 121 , determining that the speed of the slave hand 121 needs to be corrected.

[0117] Figure 6 FIG. 1 shows the internal calculation process of the virtual slave module 13. Figure 6 As shown, in some embodiments, the calculation process in the virtual slave hand module 13 includes:

[0118] Step S610: discretely differentiate the slave hand reference posture to obtain the initial slave hand reference velocity. This step is equivalent to the above step S310.

[0119] Step S611: Perform proportional-integral control on the virtual slave feedback speed and the initial slave reference speed to generate a slave reference speed. In this step, the initial slave reference speed is generated by the PI control module of the virtual slave module 13 to generate a new slave reference speed. This step is equivalent to the above step S312.

[0120] Step S612: The slave hand energy observer calculates the slave hand output energy according to the slave hand reference speed, the master hand input energy and the force signal. This step is equivalent to the above step S320.

[0121] In some embodiments, calculating the output energy of the slave hand according to the reference speed of the slave hand and the force signal of the end force sensor of the slave hand in step S320 further includes: calculating the output energy of the slave hand using the following formula (1):

[0122]

[0123] Among them, t k Indicates the current moment, Represents the output energy from the hand to the outside at the current moment, V ref represents the reference speed from the hand, F ext The slave hand energy observer module 425 uses the slave hand reference velocity and the force signal generated by the slave hand end force sensor to perform integration operation according to the above formula (1) to obtain the output energy of the slave hand.

[0124] Step S613: Compare the input energy of the master hand 111 and the output energy of the slave hand 121 to determine whether the passivity is satisfied. This is equivalent to step S400. If not satisfied, execute step S614 to perform speed correction; if satisfied, execute step S615.

[0125] In step S613, when judging whether the current slave hand reference speed satisfies the passivity, the passivity theory is involved, and whether the speed of the slave hand 121 needs to be corrected is determined based on the passivity theory. Passivity means that when the total energy generated by a system to the outside at any time is not greater than the total energy input from the outside, the system is considered to meet the passivity. For a master-slave control system with force feedback, it can be considered that the only energy input of the system comes from the human hand at the master end, and the surgical instruments carried by the slave end output energy to the external environment. Since the cutting energy of surgical instruments such as grinding drills or super knives is not within the master-slave control system, only the energy generated by the slave end device when it is used to move the surgical instrument and contact with the patient is considered. Therefore, when the energy input by the human hand is scaled at a fixed ratio and is always greater than the energy output by the slave end to the environment, the master-slave control system is considered to meet the passivity. In other words, if Less than the input energy recorded by the subsequently calculated master hand energy observer module 416 It is considered that the current system meets the passivity and there is no need to correct the speed of the slave hand. Otherwise, the reference speed of the slave hand needs to be corrected.

[0126] In some embodiments, step S614 further includes correcting the speed of the slave hand using the following formula (2) and formula (3):

[0127]

[0128] Among them, V refnew (t k ) represents the corrected slave reference speed, represents the input energy of the master hand, t d It represents the delay of master-slave communication, and ΔT represents the system operation thread cycle.

[0129] Step S615: The slave hand reference speed that meets the passivity condition also needs to meet the constraints in Cartesian space. When the slave hand end tool contacts a high-rigidity environment, it will instantly generate a large force to the outside. Therefore, the energy stored in the system from the input of the master hand will be quickly consumed, thereby constraining the movement speed of the slave hand. The corrected speed is checked according to the system preset constraints through the Cartesian space motion constraint to ensure that the reference speed meets all constraints. Specifically, the constraints contained in this module are: position, speed, Euler angular velocity, θ angle and θ angle change rate in Cartesian space. Among them, the θ angle is the angle between the current Z axis of the slave hand end tool and the Z axis of the slave hand end tool during initial alignment.

[0130] In some embodiments, the modified slave hand reference velocity satisfies the constraints in Cartesian space. When the position is close to the position boundary or θ is close to the angle boundary, the following formula (4) is used to constrain the slave hand reference velocity:

[0131]

[0132] Among them, P lim represents the position constraint boundary of the hand in Cartesian space, P(t k ) represents the position of the hand, T break Indicates the shortest time required for the hand to stop moving. lim (t k ) represents the velocity or angular velocity constraint condition triggered by approaching the position boundary. The position boundary and angle boundary are set according to the specific surgical environment.

[0133] After the Cartesian space constraint, the slave hand reference velocity in the new Cartesian space can be obtained. Since the slave hand 121 may have multiple slave hand joints, the slave hand joint reference velocity needs to be calculated after calculating the slave hand reference velocity.

[0134] Step S616: Obtain the reference velocity of the hand joint through Jacobian matrix calculation.

[0135] Step S617, the reference velocity of the slave hand joint after Jacobian matrix operation will be constrained in joint space motion and output slave hand joint velocity instruction. The joint space motion constraint has similar constraints as Cartesian space motion constraint, and its inherent constraints also include: joint position, joint velocity, and joint acceleration.

[0136] Step S618: The slave hand joint velocity command is integrated by an integrator to obtain a virtual slave hand joint position command, that is, the slave hand joint position command in step S301.

[0137] Step S619: Obtaining the position feedback value of the virtual slave hand through the slave hand joint position instruction according to the slave hand forward kinematics, which is equivalent to the above-mentioned step S302.

[0138] Step S620: discretely differentiate the position feedback value to obtain the feedback speed of the virtual slave hand, which is equivalent to the above-mentioned step S303.

[0139] After step S620, the virtual slave hand feedback speed is transmitted back to the speed PI control module, and step S611 is continued. In the subsequent master-slave control process, the slave hand energy observer module 425 calculates the output energy of the slave hand 121 according to the virtual slave hand feedback speed, the master hand input signal, the force signal and the slave hand reference speed.

[0140] according to Figure 6 In the embodiment shown, the present application determines whether the slave hand reference speed needs to be corrected based on the passive theory. When the system is delayed, in a high-rigidity surgical environment, it is very likely that the system will generate too much energy at the moment of collision, causing damage to the patient. At the same time, it will also cause unstable factors such as resonance because the energy cannot be dissipated by the system. To address this problem, the passive theory is used to compare the input energy of the master hand and the output energy of the slave hand, and the slave hand reference speed that does not meet the passive theory is corrected, ensuring the stability of the system and the safety of the operation.

[0141] In some embodiments, the control method of the present application is Figure 3 The step S400 shown further includes the following steps:

[0142] Step S401: Obtaining the master hand feedback force and the master hand end velocity;

[0143] Step S402: Calculating the output energy of the master hand according to the master hand feedback force and the master hand end velocity;

[0144] Step S403: Compare the output energy of the master hand and the input energy of the slave hand, and determine whether the master hand feedback force needs to be corrected according to the comparison result.

[0145] In step S401, the master hand feedback force can come from the contact force measured from the hand force sensor, and the contact force is mapped to the master hand workspace through coordinate transformation and then appropriately low-pass filtered and scaled before participating in the calculation of subsequent steps. Steps S402 and S403 are similar to steps S800 and S900 described later, and will be described in detail later.

[0146] The following will explain how to correct the master hand feedback force on the master end in conjunction with a specific embodiment:

[0147] In some embodiments, the control method of the present application further includes the following steps:

[0148] Step S500: Obtaining the master hand mapping posture through reverse coordinate transformation from the slave hand mapping posture;

[0149] Step S600: reconstructing the mapping posture of the master hand according to the master hand posture optimization matrix to obtain the reference posture of the master hand;

[0150] Step S700: Calculating the master hand feedback force according to the master hand reference posture, the master hand end posture and the output energy of the slave hand 121;

[0151] Step S800: Calculating the output energy of the master hand 111 according to the master hand feedback force and the master hand end velocity;

[0152] Step S900: Compare the output energy of the master hand 111 and the input energy of the slave hand 121, and determine whether the master hand feedback force needs to be corrected according to the comparison result.

[0153] The master hand feedback force needs to be calculated during the correction of the master hand feedback force. In order to calculate the master hand feedback force, the posture of the slave hand 121 needs to be mapped to the master hand end in step S500 to obtain the master hand mapping posture. Figure 4 As shown, this step can be performed by the reverse coordinate transformation and scaling module 413. The execution logic of the reverse coordinate transformation and scaling module 413 and the coordinate transformation and scaling module 421 can be relative, so that the master hand mapping posture can be reversely derived from the slave hand mapping posture.

[0154] In some embodiments, Figure 4As shown, when the slave hand joint position instruction output by the virtual slave hand module 13 passes through the slave hand positive kinematics module 423, the position feedback of the virtual slave hand, i.e., the slave hand feedback posture, is obtained. Since the posture is optimized by the posture of the slave hand 121, it is necessary to restore the slave hand mapping posture used for master-slave mapping through the slave hand posture reconstruction module 424, and then obtain the master hand mapping posture through the reverse coordinate transformation and scaling module 413.

[0155] refer to Figure 4 In step S600, the master hand posture optimization module 415 may reconstruct the master hand mapping posture according to the master hand posture optimization matrix, obtain the master hand reference posture, and transmit the master hand reference posture to the indirect feedback force calculation module 14.

[0156] In some embodiments, comparing the output energy of the master hand and the input energy of the slave hand in step S900, and determining whether the master hand feedback force needs to be corrected according to the comparison result, further includes:

[0157] Step S901: In response to the output energy of the master hand being less than or equal to the input energy of the slave hand, determining that there is no need to correct the master hand feedback force.

[0158] Step S902: In response to the output energy of the master hand being greater than the input energy of the slave hand, determining that the master hand feedback force needs to be corrected.

[0159] Figure 7 FIG. 2 shows the calculation process inside the indirect feedback force calculation module 14. Figure 7 As shown, in some embodiments, the master hand feedback force in step S700 includes the master-slave posture deviation force and the master hand local damping force. pose is the deviation of position and orientation between the master hand reference posture and the master hand end posture, the master hand local damping force F damp It is the product of the dynamic damping coefficient and the speed of the master end. Master-slave posture deviation force F pose Proportional to the master-slave posture deviation and does not exceed the boundary value F max . Figure 7 The master-slave posture deviation shown in is the deviation in position and orientation between the reference posture of the master hand obtained by reverse mapping from the slave hand and the current end posture of the master hand 111.

[0160] like Figure 7 As shown, the calculation process includes the following steps:

[0161] Step S710: Calculate the master-slave posture deviation force. In some embodiments, the master-slave posture deviation force is calculated using the following formulas (5) and (6):

[0162] F=K c Δ (5)

[0163] Fpose =max(F min ,min(F,F max )) (6)

[0164] Among them, F pose Denotes the master-slave posture deviation force, K c represents the diagonal matrix of stiffness coefficients, ΔP represents the master-slave posture difference, F min With F max Respectively represent the master and slave posture deviation force F pose The minimum and maximum boundary values.

[0165] Step S711: discretely differentiate the master hand reference posture, the master hand mapping feedback force, and the master hand end posture.

[0166] Step S712: Calculate the local damping force of the master hand. In some embodiments, step S712 uses the following formulas (7) and (8) to calculate the local damping force of the master hand:

[0167] F damp =BV m (7)

[0168] B=B0+K b |F ext | (8)

[0169] Among them, F damp represents the local damping force of the master hand, B represents the dynamic damping coefficient, V m represents the end velocity of the main hand, B0 represents the damping coefficient constant, K b The proportional coefficient of the dynamic change of damping with external force, F ext Represents the force signal from the force sensor at the end of the hand.

[0170] Step S713: After obtaining the master-slave posture deviation force F pose and the master hand local damping force F damp The two are then added together as a reference value for the master hand feedback force and input into the master hand energy observer module 416 .

[0171] Step S714: The master hand energy observer module 416 calculates the output energy of the master hand 111 according to the indirect force feedback reference value, the master hand end velocity and the input energy of the slave hand. This is equivalent to step S800. The master hand energy observer module 416 has a similar function to the slave hand energy observer module 425, but for the master hand 111, the product of the master hand 111 end velocity and the indirect force feedback reference value is integrated to calculate the output energy of the master hand 111.

[0172] Step S715: Compare the output energy of the master hand and the input energy of the slave hand to determine whether the passivity condition is met. If so, execute step S716 without correcting the feedback force; otherwise, execute step S717 and correct the feedback force. For example, when the energy output of the master hand is greater than the energy input of the slave hand, it means that the system does not meet the passivity condition, that is, Otherwise, the system satisfies passivity.

[0173] Step S716: Correct the feedback force.

[0174] In some embodiments, the following formulas (9) and (10) are used to correct the dominant hand feedback force:

[0175]

[0176] F refnew (t k )=F ref (t k )+α(t k ) (10)

[0177] Among them, F refnew (t k ) represents the corrected dominant hand feedback force, F ref (t k ) represents the current master hand feedback force, Indicates the output energy of the main hand, represents the input energy from the hand, t d It represents the delay of master-slave communication, and ΔT represents the system operation thread cycle.

[0178] Step S717: Regardless of whether feedback force correction is performed, the master hand joint feedback force torque can be obtained by Jacobian matrix calculation for the master hand feedback force that meets the passivity. Figure 4 As shown, the joint feedback force torque can then be added to the dynamic compensation joint torque output by the master hand dynamics module to obtain the master hand joint torque command for master hand joint motor control. There can be multiple master hand joints, and the specific number is not limited in this application. In some embodiments, there are 6 master hand joints, and in this step, 6 master hand joint torque commands need to be calculated.

[0179] In this section, based on the passive theory, it is determined whether the master hand feedback force needs to be corrected by comparing the output energy of the master hand 111 and the input energy of the slave hand 121. And the master hand feedback force that does not meet the passive requirements is corrected, which can make the doctor feel more accurate in the master-slave control and improve the safety of the operation.

[0180] The above method can correct the master hand feedback force and the slave hand reference speed, avoiding the damage to the stability of the system caused by collisions in high-rigidity surgeries under delayed conditions, making it more suitable for high-rigidity surgeries such as orthopedics.

[0181] Figure 8 A master-slave osteotomy flow chart is shown. In some embodiments, the system 10 can be used to perform a master-slave osteotomy operation. A grinding drill is used as an example of a surgical arm end tool, but the tool is not limited to a grinding drill, a super knife and other common orthopedic power tools. Figure 8 As shown, firstly, preoperative preparations should be done well. This application does not impose any restrictions on this.

[0182] Step S810: Move from hand to starting position. The doctor moves the surgical arm 127 and the auxiliary arm 181 from the hand to the starting position through the medical host computer. This position is generally located above the center of the patient's spinal surgery area.

[0183] Step S820: Adjust the external mirror, specifically, adjust the external mirror 171 to a suitable surgical field.

[0184] Step S830: Optical navigation positioning. Tracers may be installed on the surgical arm 127 , the auxiliary arm 181 , and the optical positioning device 161 of the navigation positioning platform 160 , and the system may automatically determine the positional relationship between the surgical arm 127 , the auxiliary arm 181 , and the external mirror 171 .

[0185] Step S840: Master-slave osteotomy parameter setting: You can use the medical host computer on the master end to select the required master-slave mapping ratio and grinding drill speed, and enter the master-slave control mode after confirmation.

[0186] Step S850: Master-slave connection and registration: In this step, the master-slave connection can be automatically run and the master-slave registration can be completed.

[0187] Step S860: Start the master-slave osteotomy. Use the master operator 116 and the pedal 117 carried by the main control platform 11 to complete the master-slave osteotomy operation.

[0188] Specifically, during the master-slave osteotomy process, the surgeon can press the grip button at the end of the right master operator 116a and move the right master operator 116a to control the surgical arm 127, and can control the auxiliary arm 181 by pressing the grip button at the end of the left master operator 116b and moving the left master operator 116b. The surgeon can use the pedal 117 to control the use of the bur and bone holding instrument, as well as to pause the master-slave control and move the master operator. During the osteotomy process, if the bur at the end of the surgical arm 127 contacts the patient or exceeds the pre-operative working range, the slave hand controller will constrain the movement of the surgical arm and generate feedback force at the end of the master operator.

[0189] The present application also includes a master-slave surgical robot system, including a memory and a processor, wherein the memory is used to store instructions executable by the processor; and the processor is used to execute the instructions to implement the control method of the master-slave surgical robot system described above.

[0190] Fig. 9 is a system block diagram of a master-slave surgical robot system according to an embodiment of the present application. Fig. 9 As shown, the master-slave surgical robot system 900 may include an internal communication bus 901, a processor 902, a read-only memory (ROM) 903, a random access memory (RAM) 904, and a communication port 905. When applied on a personal computer, the master-slave surgical robot system 900 may also include a hard disk 906. The internal communication bus 901 can realize data communication between the components of the master-slave surgical robot system 900. The processor 902 can make judgments and issue prompts. In some embodiments, the processor 902 can be composed of one or more processors. The communication port 905 can realize data communication between the master-slave surgical robot system 900 and the outside. In some embodiments, the master-slave surgical robot system 900 can send and receive information and data from the network through the communication port 905. The master-slave surgical robot system 900 may also include different forms of program storage units and data storage units, such as a hard disk 906, a read-only memory (ROM) 903 and a random access memory (RAM) 904, which can store various data files used for computer processing and / or communication, and possible program instructions executed by the processor 902. The processor executes these instructions to implement the main part of the method. The result processed by the processor is transmitted to the user device through the communication port and displayed on the user interface.

[0191] The above control method can be implemented as a computer program, stored in the hard disk 906, and loaded into the processor 902 for execution to implement the control method of the present application.

[0192] The present application also includes a computer-readable medium storing a computer program code, which, when executed by a processor, implements the control method of the master-slave surgical robot system described above.

[0193] When the control method of the master-slave surgical robot system is implemented as a computer program, it can also be stored in a computer-readable storage medium as a product. For example, a computer-readable storage medium may include, but is not limited to, a magnetic storage device (e.g., a hard disk, a floppy disk, a magnetic strip), an optical disk (e.g., a compact disk (CD), a digital versatile disk (DVD)), a smart card, and a flash memory device (e.g., an electrically erasable programmable read-only memory (EPROM), a card, a stick, a key drive). In addition, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media (and / or storage media) that can store, contain and / or carry code and / or instructions and / or data.

[0194] It should be understood that the embodiments described above are only illustrative. The embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For hardware implementation, the processor may be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and / or other electronic units designed to perform the functions described herein, or a combination thereof.

[0195] Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes ...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).

[0196] A computer-readable medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may have a variety of manifestations, including electromagnetic, optical, etc., or a suitable combination. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium, which may be connected to an instruction execution system, device or apparatus to communicate, propagate or transmit a program for use. The program code on the computer-readable medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above mediums.

[0197] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0198] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining the digits. Although the numerical domains and parameters used to confirm the breadth of the range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

Claims

1. A control method for a master-slave surgical robot system, the surgical robot system comprising a master control platform and a surgical platform, the master control platform comprising a master hand, the surgical platform comprising a slave hand, characterized in that: include: Registering the master hand and the slave hand to obtain a mapping posture of the master hand so that the orientation of the master hand is consistent with the orientation of the slave hand; Obtaining a slave hand mapping posture by coordinate transformation of the master hand mapping posture; Calculating the output energy of the slave hand according to the mapped posture of the slave hand; The input energy of the master hand and the output energy of the slave hand are compared, and it is determined whether the speed of the slave hand needs to be corrected according to the comparison result.

2. The control method according to claim 1, characterized in that: The registering the master hand and the slave hand comprises: Obtaining a first master-hand end coordinate system of the master hand and a slave-hand end coordinate system of the slave hand; Mapping the orientation of the slave hand to the master hand space of the master hand to obtain a master hand registration coordinate system; The orientation of the master hand is adjusted so that the orientation of the master hand in the master hand registration coordinate system is consistent with the orientation of the slave hand in the slave hand terminal coordinate system.

3. The control method according to claim 2, characterized in that: The step of adjusting the orientation of the master hand so that the orientation of the master hand in the master hand registration coordinate system is consistent with the orientation of the slave hand includes: adjusting the orientation of the first master hand terminal coordinate system so that the master hand rotates around the x-axis and y-axis of the first master hand terminal coordinate system so that the z-axis of the first master hand terminal coordinate system is consistent with the z-axis orientation of the master hand registration coordinate system in which the slave hand is mapped to the master hand space, and becomes the second master hand terminal coordinate system.

4. The control method according to claim 3, characterized in that: Also includes: After the first master hand terminal coordinate system becomes the second master hand terminal coordinate system, the master hand is rotated around the z-axis of the second master hand terminal coordinate system so that the x-axis and y-axis of the second master hand terminal coordinate system are respectively consistent with the x-axis and y-axis of the master hand registration coordinate system to obtain the master hand posture optimization matrix.

5. The control method according to claim 4, characterized in that: After obtaining the mapping posture of the slave hand through coordinate transformation of the mapping posture of the master hand, the following further comprises: Rotate the slave hand around its own x-axis and y-axis so that the z-axis of the slave hand is consistent with the mapped posture of the slave hand; A slave hand posture optimization matrix is ​​obtained according to the slave hand mapping posture and the slave hand reference posture.

6. The control method according to claim 5, characterized in that: Calculating the output energy of the slave hand according to the mapping posture of the slave hand comprises: Calculating a slave hand reference velocity according to the slave hand reference posture; The output energy of the slave hand is calculated according to the reference speed of the slave hand and the force signal of the end force sensor of the slave hand.

7. The control method according to claim 6, characterized in that: The output energy of the slave hand is calculated using the following formula: Among them, t k Indicates the current moment, represents the output energy from the hand, V ref represents the slave reference speed, F ext Represents the force signal from the force sensor at the end of the hand.

8. The control method according to claim 6, characterized in that: Also includes: Calculating a slave hand joint position instruction according to the slave hand reference posture and the input energy of the master hand; Obtaining a position feedback value of a virtual slave hand through the slave hand joint position instruction according to the slave hand positive kinematics; Performing discrete differentiation on the position feedback value to obtain a feedback speed of the virtual slave hand; Calculating the slave hand reference velocity according to the slave hand reference posture comprises: Discretely differentiating the slave hand reference posture to obtain an initial slave hand reference velocity; Proportional-integral control is performed on the feedback speed of the virtual slave hand and the initial slave hand reference speed to generate the slave hand reference speed.

9. The control method according to claim 7, characterized in that: Determining whether the speed of the slave hand needs to be corrected according to the comparison result includes: In response to the input energy of the master hand being greater than the output energy of the slave hand, determining that no correction is required to the speed of the slave hand; In response to the input energy of the master hand being less than or equal to the output energy of the slave hand, it is determined that the speed of the slave hand needs to be corrected.

10. The control method according to claim 9, characterized in that: The speed of the slave hand is corrected using the following formula: V refnew (t k )=V ref (t k )+β(t k ) Among them, V refnew (t k ) represents the corrected slave reference speed, represents the input energy of the master hand, t d It represents the delay of master-slave communication, and ΔT represents the system operation thread cycle.

11. The control method according to claim 10, characterized in that: Also includes: The modified slave hand reference speed is made to meet the constraints in Cartesian space. When the position of the slave hand is close to the boundary, the slave hand reference speed is constrained by the following formula: Among them, P lim represents the position constraint boundary of the hand in the Cartesian space, P(t k ) represents the position of the slave hand, T break Indicates the shortest time required for the slave hand to stop moving.

12. The control method according to claim 1, characterized in that: Also includes: Obtain the master hand feedback force and the master hand end velocity; Calculating the output energy of the master hand according to the master hand feedback force and the master hand end velocity; The output energy of the master hand and the input energy of the slave hand are compared, and it is determined whether the master hand feedback force needs to be corrected according to the comparison result.

13. The control method according to claim 4, characterized in that: Also includes: Obtaining the master hand mapping posture by performing a reverse coordinate transformation on the slave hand mapping posture; Reconstruct the master hand mapping posture according to the master hand posture optimization matrix to obtain the master hand reference posture; Calculating the master hand feedback force according to the master hand reference posture, the master hand end posture and the output energy of the slave hand; Calculating the output energy of the master hand according to the master hand feedback force and the master hand end velocity; The output energy of the master hand and the input energy of the slave hand are compared, and it is determined whether the master hand feedback force needs to be corrected according to the comparison result.

14. The control method according to claim 13, characterized in that: The master hand feedback force includes a master-slave posture deviation force and a master hand local damping force. The master-slave posture deviation force is the deviation in position and orientation between the master hand reference posture and the master hand end posture. The master hand local damping force is the product of the dynamic damping coefficient and the master hand end velocity.

15. The control method according to claim 14, characterized in that: The master-slave posture deviation force is calculated using the following formula: F=K c ΔP F pose =max(F min ,min(F,F max )) Among them, F pose represents the master-slave posture deviation force, K c represents the diagonal matrix of stiffness coefficients, ΔP represents the master-slave posture difference, F min With F max They represent the minimum and maximum boundary values ​​of the correction force F respectively.

16. The control method according to claim 14, characterized in that: The master hand local damping force is calculated using the following formula: F damp =BV m B=B0+K b |F ext | Among them, F damp represents the local damping force of the master hand, B represents the dynamic damping coefficient, V m represents the terminal velocity of the master hand, B0 represents the damping coefficient constant, K b The proportional coefficient of the dynamic change of damping with external force, F ext Represents the force signal from the force sensor at the end of the hand.

17. The control method according to claim 13, characterized in that: Comparing the output energy of the master hand with the input energy of the slave hand, and determining whether the master hand feedback force needs to be corrected according to the comparison result, includes: In response to the output energy of the master hand being less than or equal to the input energy of the slave hand, determining that there is no need to correct the master hand feedback force; In response to the output energy of the master hand being greater than the input energy of the slave hand, it is determined that the master hand feedback force needs to be corrected.

18. The control method according to claim 17, characterized in that: The master hand feedback force is corrected using the following formula: F refnew (t k )=F ref (t k )+α(t k ) Among them, F refnew (t k ) represents the corrected dominant hand feedback force, F ref (t k ) represents the current master hand feedback force, Indicates the output energy of the main hand, represents the input energy from the hand, t d It represents the delay of master-slave communication, and ΔT represents the system operation thread cycle.

19. A master-slave surgical robot system, characterized in that: include: A main control platform, including at least one main hand; A surgical platform, comprising at least one slave hand, the slave hand being used to operate a surgical instrument to perform surgery in response to control of the master hand; A virtual slave hand module, used to calculate a slave hand reference velocity according to a slave hand reference posture and an input energy of a master hand, and to calculate an output energy of the slave hand according to the slave hand reference velocity and a force signal of a force sensor at an end of the slave hand; The indirect feedback force calculation module is used to calculate the master hand feedback force according to the master hand reference posture, the master hand end posture and the output energy of the slave hand, and to calculate the output energy of the master hand according to the master hand feedback force and the master hand end speed.

20. The master-slave surgical robot system according to claim 19, characterized in that: Also includes: The surgical field imaging platform includes a 3D exoscopic scope and image processing equipment for imaging the surgical field; A navigation and positioning platform, including an optical positioning device, for positioning the slave hand; Auxiliary surgery platform, used to carry auxiliary surgical instruments.

21. A master-slave surgical robot system, characterized in that: include: a memory for storing instructions executable by the controller; A controller, configured to execute the instructions to implement the method according to any one of claims 1 to 18.

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