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

Abstract

An embodiment of the present application provides a method, device and surgical robot for determining the transmission idle motion and transmission ratio of an instrument assembly, the method comprising: controlling an adapter to rotate by preset angles in a first direction and a second direction, respectively, so that a target joint rotates with an 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; the first direction and the second direction are opposite; the preset angle is greater than the angle corresponding to the idle motion 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 wire rope based on the angular coefficient and the theoretical transmission ratio; determining the target idle motion 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 motion gap and data for calculating the actual transmission ratio can be collected at the same time, thereby improving measurement efficiency and reducing measurement workload.

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 assembly, and a surgical robot. Background Art

[0002] The instruments at the end of existing laparoscopic surgical robots are typically driven through a motor reducer, an adapter, and a wire rope. Encoders cannot be directly installed at the joints at the end of the instruments; they can only be installed at the motor end. Therefore, when the encoder reports the actual angle, it reports the actual angle of the motor. Furthermore, because the transmission from the motor output to the instrument end requires mechanical gears and adapters to be connected for transmission, there is a certain amount of backlash during these mechanical transmission processes, and there is an error between the actual and theoretical transmission ratios of the wire ropes. Therefore, when the angle at the motor end is measured to reach the theoretical position, the instrument end may not have rotated to the theoretical angle, which affects the position and attitude accuracy of the instrument end. To improve the position and attitude accuracy of the instrument, the backlash and actual transmission ratio can be measured for compensation and correction.

[0003] Currently, when measuring the transmission gap and actual transmission ratio of a machine, it is necessary to first measure the actual transmission ratio of the wire rope after the full idle travel is consumed, and then measure the transmission gap. However, this method results in low measurement efficiency and increases the measurement workload when there is a large amount 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 assembly, 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 lost motion and transmission ratio of an instrument assembly is provided. 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 a target joint in the surgical instrument via the steel wire rope. The method comprises:

[0006] 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, thereby 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 an angle corresponding to a backlash between the active end and the driven end;

[0007] determining an angular coefficient between a theoretical joint angle and the actual joint angle, and determining an actual transmission ratio of the wire rope based on the angular coefficient and the theoretical transmission ratio; wherein the angular coefficient represents a 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 along a first direction and a second direction by a preset angle 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, includes:

[0010] controlling the adapter to rotate along the first direction by the preset angle so that the target joint rotates from the initial joint 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 backlash of the adapter based on the actual transmission ratio and the position of the target joint after rotation includes:

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

[0016] In some embodiments, determining the target backlash 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 lost motion clearance.

[0019] In some embodiments, determining the angular 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 as the product of the angular coefficient and 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 backlash 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 backlash 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 lost motion and transmission ratio of an instrument assembly is provided, comprising:

[0029] a control module configured to 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 initial joint position as a starting point, thereby obtaining a position of the target joint after rotation and an actual joint angle of the target joint; wherein the first direction and the second direction are opposite to each other; and the preset angle is greater than an angle corresponding to a target backlash 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 free space 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 via 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] An embodiment of the present application provides a method for determining transmission lost motion and transmission ratio of an instrument assembly, wherein the instrument assembly includes a motor, an adapter, a wire rope, and a surgical instrument; an active end of the adapter is connected to an output shaft of the motor, and a driven end of the adapter is connected to a target joint in the surgical instrument via a wire rope; the method comprises: controlling the adapter to rotate by preset angles in a first direction and a second direction, respectively, so that the target joint rotates with an initial joint position as a starting point, thereby obtaining a position of the target joint after rotation and an actual joint angle of the target joint; wherein the first direction and the second direction are opposite; the preset angle is greater than an angle corresponding to a lost motion gap between the active end and the driven end; 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; 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; determining a target lost motion 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 lost motion gap and data for calculating the actual transmission ratio can be simultaneously collected, and the lost motion gap of the adapter and the actual transmission ratio of the wire rope can be calculated based on the collected data, thereby improving measurement efficiency, avoiding multiple measurements, and reducing measurement workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. 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 flow chart of a method for determining transmission lost motion and transmission ratio of an instrument 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 between the gears of 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 lost motion and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0040] Figure 6 A flowchart of another method for determining transmission lost motion and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0041] Figure 7 A flowchart of another method for determining transmission lost motion and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0042] Figure 8 A flowchart of another method for determining transmission lost motion and transmission ratio of an apparatus assembly provided in an embodiment of the present application;

[0043] Figure 9 A schematic diagram of the structure of a device for determining transmission lost motion and transmission ratio of an instrument assembly provided in an embodiment of the present application;

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

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

[0046] The instruments at the end of existing laparoscopic surgical robots are typically driven through a motor reducer, an adapter, and a wire rope. Encoders cannot be directly installed at the joints at the end of the instruments; they can only be installed at the motor end. Therefore, when the encoder reports the actual angle, it reports the actual angle of the motor. Furthermore, because the transmission from the motor output to the instrument end requires mechanical gears and adapters to be connected for transmission, there is a certain amount of backlash during these mechanical transmission processes, and there is an error between the actual and theoretical transmission ratios of the wire ropes. Therefore, when the angle at the motor end is measured to reach the theoretical position, the instrument end may not have rotated to the theoretical angle, which affects the position and attitude accuracy of the instrument end. To improve the position and attitude accuracy of the instrument, the backlash and actual transmission ratio can be measured for compensation and correction.

[0047] Currently, when measuring the transmission gap and actual transmission ratio of a machine, it is necessary to first measure the actual transmission ratio of the wire rope after the full idle travel is consumed, and then measure the transmission gap. However, this method results in low measurement efficiency and increases the measurement workload when there is a large amount 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 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 can be obtained simultaneously through one data collection. In this way, 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 measurement efficiency and reduce 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 backlash 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 an active end and a driven end. The active end of the adapter 12 is transmitted to the driven end through gears. The active 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 active 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 via 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] For example, the active end of the adapter 12 can be a gear, and the driven end can be a pulley. When the motor 11 rotates, it drives the active gear corresponding to the active end of the adapter 12 to rotate. The gear transmission drives the driven gear corresponding to the driven end of the adapter 12 to rotate, and the pulley at the driven end rotates synchronously with the driven gear. A 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. In this way, as the pulley corresponding to the driven end of the adapter 12 rotates, the joint pulley will rotate synchronously, causing the target joint 14 to perform a corresponding movement.

[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] For example, 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 is not limited to this. In the following embodiments, the target joint 14 is taken as a pliers head joint for example.

[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, the method for determining the transmission idle stroke and transmission ratio of the instrument assembly according to the 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 known as a surgical robot), a personal computer, a laptop computer, a smartphone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster consisting of multiple servers, which is not limited in this embodiment of the application.

[0059] The following is combined with Figure 2, the method for determining the transmission idle stroke and transmission ratio of the instrument assembly provided in the embodiment of the present application is explained. It should be noted that the method for determining the transmission idle stroke 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 idle stroke 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 illustrative explanation. 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 along a first direction and a second direction by preset angles 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 and the second direction are opposite to each other. 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 passive end, so as to ensure that the idle clearance between the active end and the passive end can be filled when the active end rotates by the preset angle.

[0062] For example, 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 in response to the measurement command, thereby controlling the active end of the adapter to rotate in a first direction or a second direction. As the active end of the adapter rotates, the passive end of the adapter rotates synchronously, driving the target joint to perform corresponding movements via the transmission of the wire rope.

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

[0065] In some embodiments, since the transmission of the adapter is generally a 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 of the active end ( Figure 3 A1 in the figure) and the adjacent tooth on the left 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 B2) in the target backlash, so the angle corresponding to the target backlash is a+b. In the following embodiments, for the convenience of explanation, the meshing relationship between the driving end and the driven end gears is equivalent to the following: Figure 4 The straight line form shown. 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 (i.e., the idle travel).

[0066] like Figure 5 As shown, the transmission structure of the adapter is controlled by a motor to rotate along the first direction and the second direction by a preset angle 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 is obtained includes S501-S504.

[0067] S501 : Control 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, assuming that the initial active end position of any tooth (such as tooth D) of the active end of the adapter is x1, the idle distance between it and the left tooth (such as tooth E) of the driven end is a, and the idle distance between it and the right tooth (such as tooth F) of the driven end is b, and the initial joint position of the target joint is x1'. The initial joint 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, when the active end rotates Δx degrees in the positive direction (first direction), tooth D will push and press against tooth F, so that tooth E rotates from the initial active end position x1 to the first active end position x2, and the target joint rotates from the initial joint position x1' to the first joint position x2'.

[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 rotate from the first active end position x2 to the second active end position x3, and the target joint will rotate from the first joint position x2' 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 stick to and push tooth E, and tooth D will rotate from the second active end position x3 to the third active end position x4. The target joint will rotate from the second joint position x3' to the third joint position x4'.

[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 stick to and push tooth F, and tooth D will rotate from the third active end position x4 to the fourth active end position x5, and the target joint will rotate from the third joint position x4' to the fourth joint position x5'.

[0075] In some embodiments, 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.

[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 here.

[0077] Illustratively, when executing S501 to S504 , the collected actual joint angle of the target joint may include at least one of the first joint position x2 ′, the second joint position x3 ′, and the fourth joint position x5 ′.

[0078] S202: Determine an angular coefficient between the 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.

[0079] The angular coefficient represents the slope of the 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 theoretical output angle of the target joint (end joint of the instrument) 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 tThe 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 Equation 3, the actual joint angle of the target joint is linearly related to the theoretical joint angle. The actual transmission ratio is the product of the slope of the line corresponding to this linear relationship and the theoretical transmission ratio. Therefore, the slope of the line corresponding to the linear relationship between the theoretical and actual joint angles can be determined first. Then, based on the angle coefficient and the theoretical transmission ratio, the actual transmission ratio corresponding to the wire rope in the instrument assembly can be determined.

[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 angles and theoretical joint angles can be fitted using the least squares method to obtain a linear function between the theoretical and actual joint angles, thereby obtaining the corresponding angular coefficients. Alternatively, the actual joint angles and theoretical joint angles can be fitted using other methods, which are not limited in the present embodiment. Since the least squares method is a prior art, it will not be described in detail here.

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

[0092] S203 : Determine a target backlash 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 through calculation.

[0094] In some embodiments, determining the target lost motion clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation includes: 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 x2 can be expressed as Formula 5:

[0096] x2=x1+Δx Formula 5

[0097] The first joint position x2' can be expressed as Formula 6:

[0098] x2'=x1'+(Δx-b)im Formula 6

[0099] The second active end position x3 can be expressed as formula 7:

[0100] x3=x2-Δx Formula 7

[0101] The second joint position x3' can be expressed as Formula 8:

[0102] x3'=x2'-[(Δx-(a+b))]im Formula 8

[0103] The third active end position x4 can be expressed as formula 9:

[0104] x4=x3-Δx Formula 9

[0105] The third joint position x4' can be expressed as formula 10:

[0106] x4'=x3'-Δxi m Formula 10

[0107] The fourth active end position x5 can be expressed as formula 11:

[0108] x5=x4+Δx Formula 11

[0109] The fourth joint position x5' can be expressed as Formula 12:

[0110] x5'=x4'+[Δx-(a+b)]im

[0111] Formula 12

[0112] Among them, the fourth joint position x5' is subtracted from the second joint position x3' to obtain formula 13:

[0113] x5'-x3'=-(a+b)im Formula 13

[0114] In formulas 5 to 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] Equation 13 shows that the target lost motion clearance of the adapter is the difference between the difference between the fourth joint position x5' and the second joint position x3' and the actual transmission ratio. Therefore, to determine the target lost motion clearance based on the actual transmission ratio and the fourth and second joint positions, the difference between the fourth and second joint positions can be determined first. The target lost motion clearance is then calculated by taking the ratio of the absolute value of this difference to the actual transmission ratio.

[0116] In some embodiments, as Figure 6 As shown, determining the target lost motion gap 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 the fourth joint position and the 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 backlash.

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

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

[0122] For example, if 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 lost motion clearance data. If 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 lost motion clearance data. Then, angular coefficients are obtained by fitting the multiple sets of actual joint angles with the corresponding theoretical joint angles, and the average of the multiple lost motion clearance data is determined as the final target lost motion clearance. Each initial joint position corresponds to a set of actual joint angles and a set of lost motion clearance data.

[0123] For example, the initial joint positions are assumed to include 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and -60 degrees. By executing steps 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 joint at 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and -60 degrees are collected. Based on the collected multiple actual joint angles and the corresponding theoretical joint angles, an angular coefficient is fitted to obtain the actual transmission ratio of the wire rope. Simultaneously, multiple freewheeling gaps are determined when the target joint rotates from 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and -60 degrees, and the average of the multiple freewheeling gap data is determined as the target freewheeling gap. Thus, during the execution of steps S501-S504, data for calculating the target freewheeling gap and data for calculating the actual transmission ratio can be simultaneously collected, thereby improving measurement efficiency.

[0124] like Figure 7 As shown, in some embodiments, when the joint initial positions include the first joint initial position and the second joint initial position, the instrument transmission backlash 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 initial position of the first joint 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 after the target joint rotates, 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 gap and the second idle gap, and determine the average value as the target idle gap.

[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 again 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 is understandable 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 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 to the first joint position.

[0133] Exemplarily, the target joint (also referred to as a joint) rotates from an initial joint position x1' in a positive direction by a preset angle and then rotates to a first joint position x2'.

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

[0135] For example, the target joint rotates from the first joint position x2' in the negative direction by the same preset angle to the second joint position x2'.

[0136] x3.

[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] Exemplarily, the target joint continues to rotate in the negative direction from the second joint position x3' by the same preset angle and then rotates to the third joint position x4'.

[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] Exemplarily, the target joint continues to rotate in the forward direction from the third joint position x4' by the same preset angle and then rotates to the fourth joint position x5'.

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

[0142] Exemplarily, the angles corresponding to the first joint position x2 ′, the second joint position x3 ′, and the fourth joint position x5 ′ are the actual joint angles 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 the actual transmission ratio.

[0146] For example, 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 lost motion and transmission ratio of an instrument component, the present application also provides an embodiment of a system for determining the transmission lost motion and transmission ratio of an instrument component.

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

[0149] A control module 901 is configured 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 joint position as a starting point, thereby 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 to each other; and the preset angle is greater than an angle corresponding to a target backlash 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 free space 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 joint position 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 backlash 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 configured 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 backlash.

[0154] In some embodiments, the determination module 902 is further configured 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 actual transmission ratio by multiplying the angular coefficient by the theoretical 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, 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, 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 gap and the second idle gap, and determine the average value as the target idle gap.

[0158] like Figure 10 As shown, an embodiment of the present application provides a surgical robot, including 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 via a 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 via 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 sold or used as an independent product. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the switchgear mechanical condition monitoring method described in each embodiment of the present invention. The aforementioned storage medium includes: a U disk, a rotating hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code.

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

[0161] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0162] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain 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 various embodiments of the present invention.

Claims

1. A method for determining transmission lost motion 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 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, thereby 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 an angle corresponding to a backlash between the active end and the driven end; determining an angular coefficient between a theoretical joint angle and the actual joint angle, and determining an actual transmission ratio of the wire rope based on the angular coefficient and the theoretical transmission ratio; wherein the angular coefficient represents a 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 along a first direction and a second direction by a preset angle, respectively, so that the target joint rotates with the initial position of the joint as a starting point, and obtaining a position of the target joint after rotation, includes: controlling the adapter to rotate along the first direction by the preset angle so that the target joint rotates from the initial joint 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 Determining the target backlash of the adapter based on the actual transmission ratio and the position of the target joint after rotation includes: The target backlash 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 lost motion clearance based on the actual transmission ratio and based on the fourth joint position and the second joint position includes: 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 lost motion clearance.

5. The method according to claim 1, wherein Determining the angular coefficient between the theoretical joint angle and the actual joint angle includes: 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 Determining the actual transmission ratio of the steel wire rope based on the angular coefficient and the theoretical transmission ratio includes: The actual transmission ratio is determined as the product of the angular coefficient and 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 backlash 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 backlash 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 configured 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 joint position as a starting point, thereby obtaining a position of the target joint after rotation and an actual joint angle of the target joint; wherein the first direction and the second direction are opposite to each other; and the preset angle is greater than an angle corresponding to a target backlash 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 free space 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: including instrument components and controls; 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 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, the steps of the method according to any one of claims 1 to 7 are implemented.

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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