Method and device for determining transmission idle stroke and transmission ratio of instrument assembly and surgical robot

Abstract

The embodiment of the invention provides an instrument assembly transmission idle stroke and transmission ratio determining method and device and a surgical robotic.The method comprises the steps that an adapter is controlled to rotate by a preset angle in the first direction and the second direction, so that a target joint rotates with the initial position of the joint as the starting point, the position of the target joint after rotation and the actual joint angle of the target joint are obtained; the first direction is opposite to the second direction; the preset angle is larger than an angle corresponding to an idle stroke gap between the driving end and the driven end; determining an angle coefficient between the theoretical joint angle and the actual joint angle, and determining the actual transmission ratio of the steel wire rope based on the angle coefficient and the theoretical transmission ratio; determining a target idle stroke gap of the adapter based on the actual transmission ratio and the position of the target joint after rotation; therefore, the data for calculating the target idle stroke gap and the data for calculating the actual transmission ratio can be acquired at the same time, the measurement efficiency is improved, and the measurement working intensity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a method and device for determining transmission idle stroke and transmission ratio of an instrument component, and a surgical robot. Background Art

[0002] The instruments at the end of existing laparoscopic surgical robots are usually driven by motor reducers, adapters and wire ropes. The encoder cannot be directly installed at the joint at the end of the instrument, and can only be installed at the motor end. Therefore, when the encoder feeds back the actual angle, it feeds back the actual angle of the motor. At the same time, because the motor output end needs to be connected to the end of the instrument through mechanical gears and adapters for transmission, there will be a certain amount of idle clearance in the transmission process of these machines, and there is an error between the actual transmission ratio of the wire rope and the theoretical transmission ratio; therefore, when the angle of the motor end is measured to reach the theoretical position, the end of the instrument may not rotate to the theoretical angle, which will affect the position and posture accuracy of the end of the instrument. In order to improve the posture accuracy of the instrument, the transmission idle clearance and the actual transmission ratio can be measured for compensation and correction.

[0003] At present, in the process of measuring the transmission idle clearance and actual transmission ratio of the equipment, it is necessary to first measure the actual transmission ratio of the wire rope after the idle travel is fully consumed, and then measure the transmission idle clearance. However, this will lead to low measurement efficiency and increase the measurement workload when there are a lot of measurement data. Summary of the invention

[0004] The present application provides a method, device and surgical robot for determining the transmission idle clearance and transmission ratio of an instrument component, which can simultaneously obtain the idle clearance of the adapter and the actual transmission ratio of the wire rope, thereby improving measurement efficiency, avoiding multiple measurements and reducing measurement workload.

[0005] In a first aspect of the present application, a method for determining transmission idle stroke and transmission ratio of an instrument assembly is provided, wherein the instrument assembly comprises a motor, an adapter, a steel wire rope and a surgical instrument; the active end of the adapter is connected to the output shaft of the motor, and the driven end of the adapter is connected to a target joint in the surgical instrument through the steel wire rope; the method comprises:

[0006] Controlling the adapter to rotate by a preset angle in a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as the starting point, and obtaining the position of the target joint after rotation and the actual joint angle of the target joint; wherein the first direction and the second direction are opposite; and the preset angle is greater than the angle corresponding to the idle clearance between the active end and the driven end;

[0007] Determine an angular coefficient between a theoretical joint angle and the actual joint angle, and determine an actual transmission ratio of the wire rope based on the angular coefficient and the theoretical transmission ratio; the angular coefficient represents the slope of a straight line corresponding to a linear relationship between the theoretical joint angle and the actual joint angle;

[0008] A target backlash of the adapter is determined based on the actual transmission ratio and the position of the target joint after rotation.

[0009] In some embodiments, controlling the adapter to rotate by a preset angle along a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as a starting point, and obtaining the position of the target joint after rotation, comprises:

[0010] Controlling the adapter to rotate along the first direction by the preset angle so that the target joint rotates from the joint initial position to a first joint position;

[0011] Controlling the adapter to rotate along the second direction by the preset angle so that the target joint rotates from the first joint position to the second joint position;

[0012] Controlling the adapter to continue rotating along the second direction by the preset angle, so that the target joint rotates from the second joint position to a third joint position;

[0013] The adapter is controlled to rotate along the first direction by the preset angle so that the target joint rotates from the third joint position to the fourth joint position; wherein the first joint position, the second joint position, the third joint position, and the fourth joint position are all positions of the target joint after rotation.

[0014] In some embodiments, determining the target free play clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation includes:

[0015] The target lost motion clearance is determined based on the actual transmission ratio, the fourth joint position and the second joint position.

[0016] In some embodiments, determining the target idle clearance based on the actual transmission ratio and based on the fourth joint position and the second joint position includes:

[0017] determining a first difference between the four joint positions and the second joint position;

[0018] The ratio between the absolute value of the first difference and the actual transmission ratio is determined as the target idle clearance.

[0019] In some embodiments, determining the angle coefficient between the theoretical joint angle and the actual joint angle comprises:

[0020] The theoretical joint angle is used as the abscissa and the actual joint angle is used as the ordinate for fitting to obtain the angular coefficient.

[0021] In some embodiments, determining the actual transmission ratio of the steel wire rope based on the angular coefficient and the theoretical transmission ratio includes:

[0022] The actual transmission ratio is determined by multiplying the angular coefficient by the theoretical transmission ratio.

[0023] In some embodiments, the joint initial position includes a first joint initial position and a second joint initial position;

[0024] The method further comprises:

[0025] Controlling the adapter to rotate by preset angles in the first direction and the second direction respectively, so that the target joint rotates with the first joint initial position as a starting point, obtaining a first position of the target joint after rotation, and determining a first idle clearance of the adapter based on the actual transmission ratio and the first position;

[0026] Controlling the adapter to rotate by preset angles in the first direction and the second direction respectively, so that the target joint rotates with the second joint initial position as a starting point, obtaining a second position of the target joint after the rotation, and determining a second idle clearance of the adapter based on the actual transmission ratio and the second position;

[0027] An average value of the first idle clearance and the second idle clearance is determined, and the average value is determined as the target idle clearance.

[0028] In a second aspect of the present application, a device for determining transmission idle stroke and transmission ratio of an instrument assembly is provided, comprising:

[0029] A control module is used to control the adapter to rotate by a preset angle in a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as the starting point, and obtains the position of the target joint after rotation and the actual joint angle of the target joint; wherein the first direction is opposite to the second direction; and the preset angle is greater than the angle corresponding to the target free-throw clearance between the active end and the driven end;

[0030] A determination module is used to determine the angular coefficient between the theoretical joint angle and the actual joint angle, and to determine the actual transmission ratio corresponding to the wire rope based on the angular coefficient and the theoretical transmission ratio; the angular coefficient represents the slope of the straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle; and is also used to determine the target idle clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation.

[0031] In a third aspect of the present application, a surgical robot is provided, comprising an instrument assembly and a control device; the instrument assembly comprises a motor, an adapter, a steel wire rope and a surgical instrument; the active end of the adapter is connected to the output shaft of the motor, and the driven end of the adapter is connected to the target joint in the surgical instrument through the steel wire rope; the control device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of any one of the above-mentioned embodiment methods when executing the program.

[0032] In a fourth aspect of the present application, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of any of the above-mentioned embodiment methods are implemented.

[0033] The embodiment of the present application provides a method for determining transmission idle stroke and transmission ratio of an instrument assembly, wherein the instrument assembly includes a motor, an adapter, a steel wire rope and a surgical instrument; the active end of the adapter is connected to the output shaft of the motor, and the driven end of the adapter is connected to the target joint in the surgical instrument through the steel wire rope; the method includes: controlling the adapter to rotate by a preset angle in a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as the starting point, and obtaining the position of the target joint after rotation and the actual joint angle of the target joint; wherein the first direction and the second direction are opposite; the preset angle is greater than the angle corresponding to the idle stroke gap between the active end and the driven end; determining the angular coefficient between the theoretical joint angle and the actual joint angle, and determining the actual transmission ratio of the steel wire rope based on the angular coefficient and the theoretical transmission ratio; the angular coefficient represents the slope of the straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle; determining the target idle stroke gap of the adapter based on the actual transmission ratio and the position of the target joint after rotation; in this way, data for calculating the target idle stroke gap and data for calculating the actual transmission ratio can be collected at the same time, and the idle stroke gap of the adapter and the actual transmission ratio of the steel wire rope can be calculated based on the collected data, which can improve the measurement efficiency, avoid multiple measurements, and reduce the measurement work intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A schematic diagram of the structure of an instrument assembly in a surgical robot provided in an embodiment of the present application;

[0036] Figure 2 A schematic flow chart of a method for determining transmission idle stroke and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the gear meshing relationship between the driving end and the driven end of an adapter provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the meshing relationship of gears between the driving end and the driven end of another adapter provided in an embodiment of the present application;

[0039] Figure 5 A flow chart of another method for determining transmission idle stroke and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0040] Figure 6 A flow chart of another method for determining transmission idle stroke and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0041] Figure 7 A flow chart of another method for determining transmission idle stroke and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0042] Figure 8 A flow chart of another method for determining transmission idle stroke and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0043] Fig. 9 A schematic diagram of the structure of a device for determining transmission idle stroke and transmission ratio of an instrument assembly provided in an embodiment of the present application;

[0044] Fig.10 A schematic diagram of the structure of a control device in a surgical robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application.

[0046] The instruments at the end of existing laparoscopic surgical robots are usually driven by motor reducers, adapters and wire ropes. The encoder cannot be directly installed at the joint at the end of the instrument, and can only be installed at the motor end. Therefore, when the encoder feeds back the actual angle, it feeds back the actual angle of the motor. At the same time, because the motor output end needs to be connected to the end of the instrument through mechanical gears and adapters for transmission, there will be a certain amount of idle clearance in the transmission process of these machines, and there is an error between the actual transmission ratio of the wire rope and the theoretical transmission ratio; therefore, when the angle of the motor end is measured to reach the theoretical position, the end of the instrument may not rotate to the theoretical angle, which will affect the position and posture accuracy of the end of the instrument. In order to improve the posture accuracy of the instrument, the transmission idle clearance and the actual transmission ratio can be measured for compensation and correction.

[0047] At present, in the process of measuring the transmission idle clearance and actual transmission ratio of the equipment, it is necessary to first measure the actual transmission ratio of the wire rope after the idle travel is fully consumed, and then measure the transmission idle clearance. However, this will lead to low measurement efficiency and increase the measurement workload when there are a lot of measurement data.

[0048] In order to solve the above technical problems. The present application provides a method for determining the transmission idle clearance and transmission ratio of an instrument component, which can simultaneously collect data for calculating the target idle clearance and the data for calculating the actual transmission ratio, and respectively calculate the idle clearance of the adapter and the actual transmission ratio of the wire rope based on the collected data, that is, the idle clearance of the adapter and the actual transmission ratio of the wire rope are obtained at the same time through one data collection, so that the target idle clearance of the adapter and the actual transmission ratio of the wire rope can be obtained without multiple measurements, which can improve the measurement efficiency and reduce the measurement workload.

[0049] Before describing the technical solution of the embodiment of the present application, the structure of the surgical robot to which the method for determining the transmission idle stroke and transmission ratio of the instrument assembly in the embodiment of the present application is applied will be described with reference to the accompanying drawings.

[0050] In some embodiments, a surgical robot includes an instrument assembly and a control device. Figure 1 This is a schematic diagram of the structure of an instrument assembly provided in an embodiment of the present application. Figure 1 As shown, the instrument assembly in the surgical robot includes a motor 11, an adapter 12, a wire rope 13 and a surgical instrument; the active end of the adapter 12 is connected to the output shaft of the motor 11, and the driven end of the adapter 12 is connected to the target joint 14 in the surgical instrument through the wire rope 13.

[0051] Exemplarily, the adapter 12 includes a driving end and a driven end. The driving end of the adapter 12 is transmitted to the driven end through gears. The driving end of the adapter 12 is connected to the output shaft of the motor 11 through the motor reducer 111, that is, the output shaft of the motor 11 is connected to the motor reducer 111, and the output shaft of the motor reducer 111 is connected to the driving end of the adapter 12.

[0052] In some embodiments, when the motor 11 rotates, the motor 11 drives the active end of the adapter 12 to rotate synchronously through the motor reducer 111. As the active end of the adapter 12 rotates, the driven end of the adapter 12 rotates synchronously with the active end of the adapter 12 through gear transmission, thereby driving the target joint 14 to move.

[0053] Exemplarily, the active end of the adapter 12 may be a gear, and the driven end may be a pulley. When the motor 11 rotates, the active gear corresponding to the active end of the adapter 12 is driven to rotate, and the driven gear corresponding to the driven end of the adapter 12 is driven to rotate through the gear transmission, and the pulley at the driven end rotates synchronously with the driven gear. Among them, a steel wire rope is wound between the pulley corresponding to the driven end of the adapter 12 and the joint pulley corresponding to the target joint, so that as the pulley corresponding to the driven end of the adapter 12 rotates, the joint pulley will rotate synchronously, so that the target joint 14 performs a corresponding action.

[0054] It should be noted that the specific structural relationship between the adapter 12, the motor 11 and the surgical instrument is prior art and will not be described in detail here.

[0055] Exemplarily, the target joint 14 may include at least one of a rotary joint, a wrist joint, and a pliers head joint. This embodiment of the present application does not limit this. In the following embodiments, the target joint 14 is taken as a pliers head joint for exemplary description.

[0056] In some embodiments, the control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a method for determining transmission idle stroke and transmission ratio of an instrument assembly as described in an embodiment of the present application is implemented.

[0057] Exemplarily, the control device may be coupled to the motor 11 , and the control device is used to control the rotation of the motor 11 .

[0058] In some embodiments, the control device may be a server or a terminal device. The terminal device may include at least one of a trolley (also referred to as a surgical robot), a personal computer, a laptop computer, a smart phone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present application.

[0059] The following is combined with Figure 2, the method for determining the transmission idleness and transmission ratio of the instrument assembly provided in the embodiment of the present application is described. It should be noted that the method for determining the transmission idleness and transmission ratio of the instrument assembly provided in the embodiment of the present application is applied to a control device. In the following embodiments, the method for determining the transmission idleness and transmission ratio of the instrument assembly is applied to a control device, and the control device is a surgical robot as an example for exemplary description. Figure 2 As shown, an embodiment of the present application provides a method for determining transmission idle stroke and transmission ratio of an instrument assembly, including S201-S203.

[0060] S201, controlling the adapter to rotate by preset angles in a first direction and a second direction respectively, so that the target joint rotates with the initial joint position as a starting point, and obtaining the position of the target joint after rotation and the actual joint angle of the target joint.

[0061] The first direction is opposite to the second direction. The preset angle is a preset value, which is greater than the angle corresponding to the target idle clearance between the active end and the driven end, so as to ensure that the idle clearance between the active end and the driven end can be filled when the active end rotates by the preset angle.

[0062] Exemplarily, the first direction may be a positive direction (also referred to as a clockwise direction), and the second direction may be a negative direction (also referred to as a counterclockwise direction), which is not limited in the embodiments of the present application.

[0063] In some embodiments, the surgical robot controls the motor to rotate in response to the measurement instruction, thereby controlling the active end of the adapter to rotate in the first direction or the second direction. As the active end of the adapter rotates, the passive end of the adapter will rotate synchronously and drive the target joint to perform corresponding actions through the transmission of the wire rope.

[0064] For example, the measurement instruction may be generated based on a selection operation triggered by a user on a control, or may be generated when a target joint of the surgical robot is subjected to an external force. This embodiment of the present application does not limit this.

[0065] In some embodiments, since the transmission of the adapter is generally gear transmission, the transmission idle distance of the device in the embodiment of the present application (also referred to as the target idle distance gap) can be understood as the gap between any tooth on the active end and the adjacent tooth on the driven end that meshes with the tooth. Figure 3 As shown, in the meshing relationship of the gears, one tooth meshes with two adjacent teeth. When the active end is in the initial position, any tooth ( Figure 3 A1 in the figure) and the adjacent tooth on the left side of the driven end ( Figure 3 There is a gap a between the teeth B1) and the adjacent teeth on the right side of the driven end ( Figure 3There is a gap b between the gears B2 in the figure, so the angle corresponding to the target idle clearance is a+b. In the following embodiments, for the convenience of explanation, the meshing relationship between the gears at the driving end and the driven end is equivalent to the following: Figure 4 The straight line form shown. Among them, Figure 4 The active end and the driven end are equivalent to adjacent meshing teeth; the position of the left side of the driven end is equivalent to the position of the target joint, the endpoints of the straight line represent the teeth, and the length of the straight line represents the tooth spacing (ie, idle travel).

[0066] like Figure 5 As shown, the transmission structure of the adapter is controlled by a motor to rotate by preset angles in the first direction and the second direction respectively, so that the target joint rotates with the initial position of the joint as the starting point, and the position of the target joint after rotation includes S501-S504.

[0067] S501 , controlling the adapter to rotate along a first direction by a preset angle, so that the target joint rotates from an initial joint position to a first joint position.

[0068] For example, Figure 4 As shown in a, let the initial position of the active end of any tooth (e.g., tooth D) of the active end of the adapter be x 1 When the idle distance between the left tooth (e.g., tooth E) and the driven end is a, the idle distance between the right tooth (e.g., tooth F) and the driven end is b, and the initial position of the target joint is x 1 '. The initial position of the target joint is the angle of the surgical instrument from the zero position to the current position, for example: 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, -60 degrees. The preset angle is Δx degrees. If S501 is executed, that is, the active end rotates Δx degrees in the positive direction (first direction), tooth D will push and fit tooth F, so that tooth E moves from the initial position x of the active end. 1 Rotate to the first active end position x 2 , the target joint changes from the initial joint position x 1 'Rotate to the first joint position x 2 '.

[0069] S502: Control the adapter to rotate along a second direction by a preset angle, so that the target joint rotates from the first joint position to the second joint position.

[0070] For example, Figure 4 As shown in b, when the active end rotates Δx degrees in the negative direction (second direction), that is, when tooth D rotates Δx degrees in the negative direction, tooth D will be close to tooth E, and tooth D will be moved from the first active end position x 2 Rotate to the second active end position x 3 , the target joint changes from the first joint position x 2 'Rotate to the second joint position x3 '.

[0071] S503: Control the adapter to continue rotating along the second direction by a preset angle, so that the target joint rotates from the second joint position to the third joint position.

[0072] For example, Figure 4 As shown in c, when the active end continues to rotate Δx degrees in the negative direction, that is, when tooth D continues to rotate Δx degrees in the negative direction, tooth D will be close to and push tooth E, and tooth D will move from the second active end position x 3 Rotate to the third active end position x 4 , the target joint is from the second joint position x 3 'Rotate to the third joint position x 4 '.

[0073] S504: Control the adapter to rotate along the first direction by a preset angle, so that the target joint rotates from the third joint position to the fourth joint position.

[0074] like Figure 4 As shown in d, when the active end rotates Δx degrees in the positive direction, that is, when tooth D rotates Δx degrees in the positive direction, tooth D will be close to and push tooth F, and tooth D will move from the third active end position x 4 Rotate to the fourth active end position x 5 , the target joint is from the third joint position x 4 'Rotate to the fourth joint position x 5 '.

[0075] In some embodiments, the first joint position, the second joint position, the third joint position, and the fourth joint position are all positions after the target joint is rotated.

[0076] In some embodiments, the actual joint angle of the target joint may be collected during the execution of S501-S504. The method for collecting the actual joint angle of the target joint is prior art and will not be described in detail herein.

[0077] For example, when executing S501-S504, the actual joint angle of the target joint collected may include the first joint position x 2 ', the second joint position x 3 ' and the fourth joint position x 5 '.

[0078] S202, determining an angular coefficient between a theoretical joint angle and an actual joint angle, and determining an actual transmission ratio of the wire rope based on the angular coefficient and the theoretical transmission ratio.

[0079] The angle coefficient represents the slope of the straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle. The theoretical joint angle is a preset value.

[0080] In some embodiments, the theoretical angle of the input end of the adapter is In t , the target joint (end joint of the instrument) theoretical output angle is O t , the target clearance is S t , the theoretical transmission ratio of the wire rope is i t ; The actual output angle of the target joint is O m , the actual transmission ratio of the wire rope is i m Then In t , O t , S t and i t The relationship between is shown in Formula 1. t , O m , S t and i m The relationship between is shown in Formula 2:

[0081] (In t -S t )i t =O t Formula 1

[0082] (In t -S t )i m =O m Formula 2

[0083] Dividing Formula 1 by Formula 2, we can get Formula 3:

[0084]

[0085] According to Formula 3, there is a linear relationship between the actual joint angle of the target joint and the theoretical joint angle, and the product of the slope of the straight line corresponding to the linear relationship and the theoretical transmission ratio is the actual transmission ratio. Therefore, the slope of the straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle can be determined first, and then the actual transmission ratio corresponding to the wire rope in the instrument assembly can be determined based on the angle coefficient and the theoretical transmission ratio.

[0086] In some embodiments, determining the angular coefficient between the theoretical joint angle and the actual joint angle includes: fitting the theoretical joint angle as the horizontal coordinate and the actual joint angle as the vertical coordinate to obtain the angular coefficient.

[0087] For example, the actual joint angle and the theoretical joint angle can be fitted by the least square method to obtain a linear function between the theoretical joint angle and the actual joint angle, thereby obtaining the corresponding angle coefficient; the actual joint angle and the theoretical joint angle can also be fitted by other methods, which are not limited in the embodiments of the present application. Since the least square method is a prior art, it will not be described here.

[0088] In some embodiments, based on the angular coefficient and the theoretical transmission ratio, determining the actual transmission ratio of the wire rope in the apparatus includes: determining the product of the angular coefficient and the theoretical transmission ratio as the actual transmission ratio.

[0089] For example, the actual transmission ratio of the wire rope can be obtained by Formula 4:

[0090]

[0091] in, is the angular coefficient, i t is the theoretical transmission ratio.

[0092] S203: Determine a target idle clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation.

[0093] The target idle clearance of the adapter refers to the idle clearance of the adapter finally determined after calculation.

[0094] In some embodiments, the target lost motion clearance of the adapter is determined based on the actual transmission ratio and the position of the target joint after rotation, including: determining the target lost motion clearance based on the actual transmission ratio, the fourth joint position and the second joint position.

[0095] In some embodiments, based on Figure 4 , the first active end position x 2 It can be expressed as formula 5:

[0096] x 2 =x 1 +Δx Formula 5

[0097] First joint position x 2 ' can be expressed as formula 6:

[0098] x 2 '=x 1 '+(Δx-b)im Formula 6

[0099] Second active end position x 3 It can be expressed as formula 7:

[0100] x 3 =x 2 -Δx Formula 7

[0101] Second joint position x 3 ' can be expressed as formula 8:

[0102] x 3 '=x 2 '-[(Δx-(a+b))]im Formula 8

[0103] The third active end position x 4 It can be expressed as formula 9:

[0104] x 4 =x 3 -Δx Formula 9

[0105] The third joint position x 4 ' can be expressed as formula 10:

[0106] x 4 '=x 3 '-Δxi m Formula 10

[0107] Fourth active end position x 5 It can be expressed as formula 11:

[0108] x 5 =x 4 +Δx Formula 11

[0109] Fourth joint position x 5 ' can be expressed as formula 12:

[0110] x 5 '=x 4 '+[Δx-(a+b)]im

[0111] Formula 12

[0112] Among them, the four joint positions x 5 'With the second joint position x 3 'Subtracting, we can get formula 13:

[0113] x 5 '-x 3 '=-(a+b)im Formula 13

[0114] In formula 5 to formula 13, a and b are the tooth spacings between any tooth on the active end and the adjacent tooth meshing with the tooth on the driven end, Δx is the preset angle, and i m is the actual transmission ratio.

[0115] It can be seen from formula 13 that the target clearance of the adapter is the fourth joint position x 5 'With the second joint position x 3Therefore, when determining the target idle clearance based on the actual transmission ratio and the fourth joint position and the second joint position, the difference between the fourth joint position and the second joint position can be determined first, and then the target idle clearance can be obtained by determining the ratio between the absolute value of the difference between the fourth joint position and the second joint position and the actual transmission ratio.

[0116] In some embodiments, Figure 6 As shown, determining the target idle clearance based on the actual transmission ratio, and the fourth joint position and the second joint position may include S601 - S602 .

[0117] S601. Determine a first difference between a fourth joint position and a second joint position.

[0118] In some embodiments, the fourth joint position is subtracted from the second joint position to obtain a first difference.

[0119] S602: Determine the ratio between the absolute value of the first difference and the actual transmission ratio as the target idle clearance.

[0120] In some embodiments, the first difference may be divided by the actual transmission ratio to obtain a corresponding quotient, and the quotient may be used as the target idle clearance.

[0121] In some embodiments, the initial joint position may be one or more.

[0122] For example, when there is only one initial joint position, S501-S504 can be executed once to obtain a set of actual joint angles and a set of free space gap data; when there are multiple initial joint positions, S501-S504 can be executed multiple times to obtain multiple sets of actual joint angles and multiple sets of free space gap data, and then the angle coefficients are obtained by fitting the multiple sets of actual joint angles with the corresponding theoretical joint angles, and the average value of the multiple free space gap data is determined as the final target free space gap. Each initial joint position corresponds to a set of actual joint angles and a set of free space gap data.

[0123] Exemplarily, the initial joint positions include 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and -60 degrees; by executing S501-S504, the target joint can be controlled to rotate from 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and -60 degrees respectively. As the target joint rotates, the actual joint angles of the target joints of 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and -60 degrees are collected, and the angle coefficient is fitted based on the collected multiple actual joint angles and the corresponding theoretical joint angles to obtain the actual transmission ratio of the wire rope; at the same time, the multiple idle clearances obtained when the target joint rotates from 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and -60 degrees are determined, and the average value of the multiple idle clearance data is determined as the target idle clearance. In this way, in the process of executing S501-S504, the data for calculating the target idle clearance and the data for calculating the actual transmission ratio can be collected at the same time, which can improve the measurement efficiency.

[0124] like Figure 7 As shown, in some embodiments, when the joint initial position includes the first joint initial position and the second joint initial position, the instrument transmission idle stroke and transmission ratio measurement method provided in the embodiment of the present application may include S701-S703.

[0125] S701, control the adapter to rotate by preset angles in a first direction and a second direction respectively, so that the target joint rotates with the first joint initial position as the starting point, obtains the first position of the target joint after rotation, and determines the first idle clearance of the adapter based on the actual transmission ratio and the first position.

[0126] S702, control the adapter to rotate by preset angles in the first direction and the second direction respectively, so that the target joint rotates with the second joint initial position as the starting point, obtains the second position of the target joint after rotation, and determines the second idle clearance of the adapter based on the actual transmission ratio and the second position.

[0127] S703: Determine an average value of the first idle clearance and the second idle clearance, and determine the average value as the target idle clearance.

[0128] Exemplarily, after obtaining the first idle clearance, the target joint can be rotated to the second joint initial position first, and then the active end can be controlled to rotate by preset angles in the first direction and the second direction respectively, so that the target joint rotates with the second joint initial position as the starting point, and the second idle clearance is determined based on the second position after the target joint is rotated.

[0129] In some embodiments, the first position and the second position of the target joint can be obtained by executing S501-S504, and the first idle clearance and the second idle clearance can be obtained by executing S601-S602.

[0130] It can be understood that after obtaining multiple idle clearances based on multiple initial joint positions, the average value of the multiple idle clearances is determined as the target idle clearance, which can improve the measurement accuracy.

[0131] like Figure 8 As shown, in some embodiments, the present application also provides a method for determining transmission idle stroke and transmission ratio of an instrument assembly, including S801-S807.

[0132] S801, the joint rotates forward by a preset angle from the initial joint position at the starting angle and then rotates to the first joint position.

[0133] For example, the target joint (also referred to as the joint) is moved from the initial joint position x 1 'Rotate forward by the preset angle and then rotate to the first joint position x 2 '.

[0134] S802: The joint rotates negatively from the first joint position by the same angle and then rotates to the second joint position.

[0135] For example, the target joint is moved from the first joint position x 2 'Rotate in the negative direction by the same preset angle and then rotate to the second joint position

[0136] x 3 .

[0137] S803: The joint continues to rotate in the negative direction from the second joint position by the same angle and then rotates to the third joint position.

[0138] For example, the target joint is shifted from the second joint position x 3 'Continue to rotate in the negative direction by the same preset angle and then rotate to the third joint position x 4 '.

[0139] S804: The joint continues to rotate forward from the third joint position by the same angle and then rotates to the fourth joint position.

[0140] For example, the target joint is located at the third joint position x 4 'Continue to rotate forward by the same preset angle and then rotate to the fourth joint position x 5 '.

[0141] S805. Record the first joint position, the second joint position and the fourth joint position to obtain actual joint angles.

[0142] For example, the first joint position x 2 ', the second joint position x 3 ' and the fourth joint position x 5 'The corresponding angle is the actual joint angle of the target joint.

[0143] S806. Calculate the difference between the second joint position and the fourth joint position to obtain the target clearance.

[0144] In some embodiments, when the actual transmission ratio is 1, the target backlash is equal to the difference between the second joint position and the fourth joint position.

[0145] S807. Fit the actual joint angle and the theoretical joint angle to obtain an actual transmission ratio.

[0146] Exemplarily, the slope of the straight line obtained by fitting the actual joint angle to the theoretical joint angle is the actual transmission ratio.

[0147] Corresponding to the aforementioned embodiment of the method for determining the transmission idleness and transmission ratio of an instrument component, the present application also provides an embodiment of a system for determining the transmission idleness and transmission ratio of an instrument component.

[0148] Reference Fig. 9 The present application provides a device for determining transmission idle stroke and transmission ratio of an instrument assembly, comprising:

[0149] The control module 901 is used to control the adapter to rotate by a preset angle in a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as the starting point, and obtains the position of the target joint after rotation and the actual joint angle of the target joint; wherein the first direction is opposite to the second direction; and the preset angle is greater than the angle corresponding to the target free-throw clearance between the active end and the driven end;

[0150] Determination module 902 is used to determine the angular coefficient between the theoretical joint angle and the actual joint angle, and determine the actual transmission ratio corresponding to the wire rope based on the angular coefficient and the theoretical transmission ratio; the angular coefficient represents the slope of the straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle; and is also used to determine the target idle clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation.

[0151] In some embodiments, the control module 901 is also used to control the adapter to rotate the preset angle along the first direction so that the target joint rotates from the initial position of the joint to the first joint position; control the adapter to rotate the preset angle along the second direction so that the target joint rotates from the first joint position to the second joint position; control the adapter to continue to rotate the preset angle along the second direction so that the target joint rotates from the second joint position to the third joint position; control the adapter to rotate the preset angle along the first direction so that the target joint rotates from the third joint position to the fourth joint position; wherein the first joint position, the second joint position, the third joint position, and the fourth joint position are all positions of the target joint after rotation.

[0152] In some embodiments, the determination module 902 is further configured to determine the target idle clearance based on the actual transmission ratio, the fourth joint position and the second joint position.

[0153] In some embodiments, the determination module 902 is further used to determine a first difference between the four-joint position and the second joint position; and determine the ratio between the absolute value of the first difference and the actual transmission ratio as the target idle clearance.

[0154] In some embodiments, the determination module 902 is further used to perform fitting using the theoretical joint angle as the abscissa and the actual joint angle as the ordinate to obtain the angular coefficient.

[0155] In some embodiments, the determination module 902 is further configured to determine the product of the angular coefficient and the theoretical transmission ratio as the actual transmission ratio.

[0156] In some embodiments, the joint initial position includes a first joint initial position and a second joint initial position; the control module 901 is further used to control the adapter to rotate by a preset angle along the first direction and the second direction respectively, so that the target joint rotates with the first joint initial position as the starting point, and obtains the first position of the target joint after rotation, and determines the first idle clearance of the adapter based on the actual transmission ratio and the first position; control the adapter to rotate by a preset angle along the first direction and the second direction respectively, so that the target joint rotates with the second joint initial position as the starting point, and obtains the second position of the target joint after rotation, and determines the second idle clearance of the adapter based on the actual transmission ratio and the second position;

[0157] The determination module 902 is further configured to determine an average value of the first idle clearance and the second idle clearance, and determine the average value as the target idle clearance.

[0158] like Fig.10 As shown, a surgical robot provided by an embodiment of the present application includes an instrument assembly and a control device; the instrument assembly includes a motor, an adapter, a steel wire and a surgical instrument; the active end of the adapter is connected to the output shaft of the motor, and the driven end of the adapter is connected to the target joint in the surgical instrument through the steel wire; the motor is coupled to the control device, and the control device may include: a processor (processor) 1010, a communication interface (Communications Interface) 1020, a memory (memory) 1030 and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 can call the logic instructions in the memory 1030 to execute the above methods.

[0159] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the switchgear mechanical state monitoring method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, rotating hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0160] In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented to perform the above methods when executed by a processor.

[0161] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0162] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining transmission idle stroke and transmission ratio of an instrument assembly, characterized in that: The instrument assembly includes a motor, an adapter, a steel wire rope and a surgical instrument; the active end of the adapter is connected to the output shaft of the motor, and the driven end of the adapter is connected to the target joint in the surgical instrument through the steel wire rope; The method comprises: Controlling the adapter to rotate by a preset angle in a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as the starting point, and obtaining the position of the target joint after rotation and the actual joint angle of the target joint; wherein the first direction and the second direction are opposite; and the preset angle is greater than the angle corresponding to the idle clearance between the active end and the driven end; Determine an angular coefficient between a theoretical joint angle and the actual joint angle, and determine an actual transmission ratio of the wire rope based on the angular coefficient and the theoretical transmission ratio; the angular coefficient represents the slope of a straight line corresponding to a linear relationship between the theoretical joint angle and the actual joint angle; A target backlash of the adapter is determined based on the actual transmission ratio and the position of the target joint after rotation.

2. The method according to claim 1, characterized in that The step of controlling the adapter to rotate by a preset angle in a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as a starting point, and obtaining the position of the target joint after rotation, comprises: Controlling the adapter to rotate along the first direction by the preset angle so that the target joint rotates from the joint initial position to a first joint position; Controlling the adapter to rotate along the second direction by the preset angle so that the target joint rotates from the first joint position to the second joint position; Controlling the adapter to continue rotating along the second direction by the preset angle, so that the target joint rotates from the second joint position to a third joint position; The adapter is controlled to rotate along the first direction by the preset angle so that the target joint rotates from the third joint position to the fourth joint position; wherein the first joint position, the second joint position, the third joint position, and the fourth joint position are all positions of the target joint after rotation.

3. The method according to claim 2, characterized in that The step of determining the target idle clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation includes: The target lost motion clearance is determined based on the actual transmission ratio, the fourth joint position and the second joint position.

4. The method according to claim 3, characterized in that The determining the target idle clearance based on the actual transmission ratio and based on the fourth joint position and the second joint position comprises: determining a first difference between the four joint positions and the second joint position; The ratio between the absolute value of the first difference and the actual transmission ratio is determined as the target idle clearance.

5. The method according to claim 1, characterized in that: The determining of the angle coefficient between the theoretical joint angle and the actual joint angle comprises: The theoretical joint angle is used as the abscissa and the actual joint angle is used as the ordinate for fitting to obtain the angular coefficient.

6. The method according to claim 1 or 5, characterized in that: The step of determining the actual transmission ratio of the steel wire rope based on the angular coefficient and the theoretical transmission ratio comprises: The actual transmission ratio is determined by multiplying the angular coefficient by the theoretical transmission ratio.

7. The method according to claim 1, characterized in that The joint initial positions include a first joint initial position and a second joint initial position; The method further comprises: Controlling the adapter to rotate by preset angles in the first direction and the second direction respectively, so that the target joint rotates with the first joint initial position as a starting point, obtaining a first position of the target joint after rotation, and determining a first idle clearance of the adapter based on the actual transmission ratio and the first position; Controlling the adapter to rotate by preset angles in the first direction and the second direction respectively, so that the target joint rotates with the second joint initial position as a starting point, obtaining a second position of the target joint after the rotation, and determining a second idle clearance of the adapter based on the actual transmission ratio and the second position; An average value of the first idle clearance and the second idle clearance is determined, and the average value is determined as the target idle clearance.

8. A device for determining transmission idle stroke and transmission ratio of an instrument assembly, characterized in that: include: A control module is used to control the adapter to rotate by a preset angle in a first direction and a second direction respectively, so that the target joint rotates with the initial position of the joint as the starting point, and obtains the position of the target joint after rotation and the actual joint angle of the target joint; wherein the first direction is opposite to the second direction; and the preset angle is greater than the angle corresponding to the target free-throw clearance between the active end and the driven end; A determination module is used to determine the angular coefficient between the theoretical joint angle and the actual joint angle, and to determine the actual transmission ratio corresponding to the wire rope based on the angular coefficient and the theoretical transmission ratio; the angular coefficient represents the slope of the straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle; and is also used to determine the target idle clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation.

9. A surgical robot, characterized in that: Includes instrument components and controls; The instrument assembly includes a motor, an adapter, a steel wire and a surgical instrument; the active end of the adapter is connected to the output shaft of the motor, and the driven end of the adapter is connected to the target joint in the surgical instrument through the steel wire; The control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to any one of claims 1 to 7 when executing the program.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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