Motion control method, device and equipment of end tool and medium

Abstract

The invention relates to a motion control method and device of an end tool, equipment and a medium. Comprising the steps that when external force and external torque borne by an end tool in the current period are obtained, if the control mode of the end tool is a locking mode, the resilience force and resilience torque of the end tool in the current period are determined; determining a recommended path boundary and a recommended attitude boundary based on the position, the preset recommended path, the attitude and the preset recommended attitude of the end tool in the current period; according to the external force, the resilience force, the external moment and the resilience moment, the control force and the control moment of the end tool in the current period are determined; and with the recommended path boundary and the recommended attitude boundary as limiting conditions, based on the control force and the control moment, the motion position and the motion attitude of the end tool in the current period are controlled. Therefore, the motion control mode does not depend on naked eye observation and hand feeling operation of the user, the effect of guiding the user to operate the surgical robot is achieved, and the operation execution effect of the surgical robot is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robot motion control, and in particular to a method, device, equipment and medium for motion control of an end tool. Background Art

[0002] Most current surgical robots perform operations from the perspective of safety and flexibility, that is, while ensuring the safety and flexibility of the surgical robot, a larger operating space is given to the operating user.

[0003] When the operator uses the end tool of the surgical robot to perform an operation, within the operating space allowed by the end tool of the surgical robot, how to use the end tool of the surgical robot to perform the operation needs to rely on the operator's naked eye observation and manual operation. The operator's fatigue level, individual differences among patients and the operator's limited field of view may all affect the operating effect of the surgical robot. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a motion control method, device, equipment and medium for an end tool.

[0005] In a first aspect, the present disclosure provides a motion control method for an end tool, comprising:

[0006] In response to the external force and external torque applied to the end tool in the current cycle, determining a control mode of the end tool;

[0007] If the control mode of the end tool is a locking mode, determining the rebound force and rebound torque of the end tool in the current cycle;

[0008] Determine a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and determine a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture;

[0009] Determine the control force of the end tool in the current cycle according to the external force and the rebound force, and determine the control torque of the end tool in the current cycle according to the external torque and the rebound torque;

[0010] The motion position and motion posture of the end tool in the current cycle are controlled based on the control force of the current cycle and the control torque of the current cycle, with the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as restriction conditions.

[0011] In a second aspect, the present disclosure provides a motion control device for an end tool, comprising:

[0012] A first determination module, configured to determine a control mode of the end tool in response to an external force and an external torque applied to the end tool in a current cycle;

[0013] A second determination module, configured to determine the rebound force and rebound torque of the end tool in a current cycle if the control mode of the end tool is a locking mode;

[0014] A third determining module is used to determine a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and to determine a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture;

[0015] a fourth determination module, configured to determine the control force of the end tool in the current cycle according to the external force and the rebound force, and to determine the control torque of the end tool in the current cycle according to the external torque and the rebound torque;

[0016] The motion control module is used to control the motion position and motion posture of the end tool in the current cycle based on the control force of the current cycle and the control torque of the current cycle, taking the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as constraint conditions.

[0017] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the device comprising:

[0018] one or more processors;

[0019] a storage device for storing one or more programs,

[0020] When one or more programs are executed by one or more processors, the one or more processors implement the method provided in the first aspect.

[0021] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method provided in the first aspect is implemented.

[0022] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0023] A motion control method, device, equipment and medium for an end tool according to an embodiment of the present disclosure include: determining a control mode of the end tool in response to an external force and an external torque applied to the end tool in a current cycle; if the control mode of the end tool is a locking mode, determining a rebound force and a rebound torque of the end tool in the current cycle; determining a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and determining a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture; determining a control force of the end tool in the current cycle based on the external force and the rebound force, and determining a control torque of the end tool in the current cycle based on the external torque and the rebound torque; and controlling the motion position and motion posture of the end tool in the current cycle based on the control force of the current cycle and the control torque of the current cycle, with the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as restriction conditions. Therefore, when the control mode of the robot's end tool is the locking mode, the recommended path boundary and the recommended posture boundary are periodically and dynamically determined, and the rebound force and rebound torque guidance are provided in each cycle to determine the control force and control torque, so as to realize the motion control of the end tool based on the recommended path boundary, recommended posture boundary, control force and control torque of each cycle. In this way, this motion control method does not rely on the operator's naked eye observation and hand feeling operation, but can also play the role of guiding the operator to operate the surgical robot, which is conducive to improving the operation execution effect of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0026] Figure 1 A funnel-shaped boundary provided for an embodiment of the present disclosure;

[0027] Figure 2 A conical boundary provided for an embodiment of the present disclosure;

[0028] Figure 3 A schematic flow chart of a motion control method of an end tool provided in an embodiment of the present disclosure;

[0029] Figure 4 A schematic structural diagram of a motion control device for an end tool provided in an embodiment of the present disclosure;

[0030] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0033] In the related art, when a surgical robot is used to replace a joint, when the end tool on the surgical robot is grinding the acetabulum, the position of the end tool of the surgical robot is required to be kept at Figure 1 The funnel-shaped boundary shown in the figure requires the end tool to maintain its posture within Figure 2 The conical boundaries shown are within the scope of the embodiment to ensure that the end tool will not injure the user's internal tissues when grinding the acetabulum.

[0034] However, the surgical robot is limited to the funnel-shaped boundary and the cone-shaped boundary. When controlling the movement of the end tool, how to operate the end tool still depends on the experience and feel of the operator. It can be seen that this end tool movement control method is highly dependent on the operator.

[0035] In the motion control process of the end tool, in order to reduce the dependence on the user, the following is combined Figure 3 The motion control method of the end tool provided in the embodiment of the present disclosure is described. In the embodiment of the present disclosure, the motion control method of the end tool can be executed by an electronic device. The electronic device can be a control device of a medical robot.

[0036] Figure 3 A schematic flow chart of a motion control method for an end tool provided in an embodiment of the present disclosure is shown.

[0037] like Figure 3 As shown, the motion control method of the end tool may include the following steps.

[0038] S310 , determining a control mode of the end tool in response to the external force and external torque applied to the end tool in the current cycle.

[0039] In this embodiment, during the periodic movement of the end tool of the surgical robot, the force sensor on the surgical robot collects the external force and external torque exerted on the end tool in each cycle in real time. When the electronic device obtains the external force and external torque, it starts the process of detecting the control mode of the end tool.

[0040] The external force may be understood as the force applied by the operating user to the end tool, and the external torque may be understood as the torque applied by the operating user to the end tool.

[0041] Among them, the control mode of the end tool can be set or switched based on the mode of the user in the human-computer interaction interface during the user operation.

[0042] Optionally, the control mode of the end tool includes a locking mode and an unlocking mode. The locking mode is a non-mandatory locking mode. In this mode, the rebound force or rebound torque is used to guide the end tool to move to a preset recommended path or a preset recommended posture. When the end tool moves to the preset recommended path or the preset recommended posture, the boundary of the virtual wall is changed to the boundary of the preset recommended path or the boundary of the preset recommended posture, and the changed virtual wall boundary is used to guide the end tool to continue to move along the preset recommended path or the preset recommended posture. In the unlocking mode, the end tool can move based on the position restriction boundary and posture restriction boundary designed for safety and flexibility.

[0043] S320: If the control mode of the end tool is the locking mode, determine the rebound force and rebound torque of the end tool in the current cycle.

[0044] In this embodiment, when the control mode of the end tool is a locking mode, the electronic device uses a rebound force or a rebound torque to guide the end tool to move to a preset recommended path or a preset recommended posture. When the end tool moves to the preset recommended path or the preset recommended posture, the boundary of the virtual wall is changed to the boundary of the preset recommended path or the boundary of the preset recommended posture, and the changed virtual wall boundary is used to guide the end tool to continue to move along the preset recommended path or the preset recommended posture.

[0045] The rebound force includes the magnitude of the rebound force and the direction of the rebound force. Specifically, the magnitude of the rebound force is determined according to the distance between the position and the preset recommended path, the preset maximum rebound force, and the radius corresponding to the preset position boundary of the end tool, and the direction of the rebound force is the direction of the line connecting the projection points of the position to the position on the recommended path.

[0046] The preset recommended path is a moving path pre-configured for the end tool. Optionally, the preset recommended path may be the central axis of the preset position boundary of the end tool. The preset position boundary may be understood as the maximum position boundary set based on flexibility and safety after considering obstacles encountered during the movement of the end tool.

[0047] Optionally, the preset recommended path for the end tool is Figure 1 The central axis of the preset position boundary of the funnel shape shown.

[0048] Optionally, the magnitude of the rebound force may be determined as follows:

[0049] Rebound force = preset maximum rebound force / radius corresponding to the preset position boundary * distance between the position and the preset recommended path

[0050] The rebound torque includes the magnitude of the rebound torque and the direction of the rebound torque. Specifically, the magnitude of the rebound torque is determined according to the angle between the posture and the preset recommended posture, the preset maximum rebound torque, and the angle corresponding to the preset posture boundary of the end tool, and the direction of the rebound torque is determined by cross-producting the posture and the preset recommended posture.

[0051] The preset recommended posture is a posture path pre-configured for the end tool. Optionally, the preset recommended posture can be the central axis of the preset posture boundary of the end tool. The preset posture boundary can be understood as the maximum posture boundary set based on flexibility and safety after considering the obstacles encountered during the movement of the end tool.

[0052] Exemplarily, the preset recommended posture of the end tool is Figure 2 The central axis of the preset pose boundary of the cone shape shown.

[0053] Optionally, the magnitude of the rebound moment can be determined as follows:

[0054] Rebound torque size = preset maximum rebound torque / angle corresponding to preset posture boundary * angle between posture and preset recommended posture

[0055] S330, based on the position of the end tool in the current cycle and the preset recommended path, determine the recommended path boundary of the end tool in the current cycle, and based on the posture of the end tool in the current cycle and the preset recommended posture, determine the recommended posture boundary of the end tool in the current cycle.

[0056] In this embodiment, the electronic device monitors the position of the end tool in the current cycle, and obtains the preset recommended path planned for the end tool, so as to determine the recommended path boundary of the end tool in the current cycle based on the position and the preset recommended path, that is, to determine the position limit boundary of the end tool in the current cycle; similarly, the electronic device monitors the posture of the end tool in the current cycle, and obtains the preset recommended posture planned for the end tool, so as to determine the recommended posture boundary of the end tool in the current cycle based on the posture and the preset recommended posture, that is, to determine the posture limit boundary of the end tool in the current cycle.

[0057] Among them, the specific implementation method of "determining the recommended path boundary of the terminal tool in the current cycle based on the position of the terminal tool in the current cycle and the preset recommended path" in S330 includes but is not limited to the following methods: judging whether the distance between the position and the preset recommended path is less than a preset distance threshold; if the distance is less than the preset distance threshold, the edge where the preset recommended path is located is used as the recommended path boundary of the current cycle; if the distance is not less than the preset distance threshold, the preset position boundary of the terminal tool is used as the recommended path boundary of the current cycle.

[0058] The preset distance threshold is a preset distance used to determine the boundary of the recommended path. Optionally, the preset distance threshold may be a minimum value.

[0059] It can be understood that if the distance between the position and the preset recommended path is less than the preset distance threshold, it means that the position is close to the preset recommended path, and the edge where the preset recommended path is located is used as the recommended path boundary of the current cycle; on the contrary, if the distance between the position and the preset recommended path is not less than the preset distance threshold, it means that the position is far away from the preset recommended path and may be closer to the maximum position boundary set for flexibility and safety (i.e., the preset position boundary), and the preset position boundary is used as the recommended path boundary of the current cycle.

[0060] For example, the preset recommended path is Figure 1 If the electronic device determines that the position of the end tool in the current cycle is consistent with the central axis of the funnel-shaped boundary shown in FIG. Figure 1 If the distance between the central axis of the funnel-shaped boundary (i.e., the preset recommended path) is less than the preset distance threshold, it means that the location is close to Figure 1 The central axis of the funnel-shaped boundary can be directly Figure 1 The edge where the central axis of the funnel-shaped boundary is located is used as the recommended path boundary of the end tool in the current cycle; on the contrary, if the electronic device determines that the position of the end tool in the current cycle is consistent with Figure 1 If the distance between the central axis of the funnel-shaped boundary (i.e., the preset recommended path) is not less than the preset distance threshold, it means that the location is far away from Figure 1 The central axis of the funnel-shaped boundary may be closer to the funnel-shaped boundary (i.e., the preset position boundary), so Figure 1 The middle funnel-shaped boundary is used as the recommended path boundary for the end tool in the current cycle.

[0061] Among them, the specific implementation method of "determining the recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and the preset recommended posture" in S330 includes but is not limited to the following methods: judging whether the angle between the posture and the preset recommended posture is less than the preset angle threshold; if the angle is less than the preset angle threshold, the edge corresponding to the preset recommended posture is used as the recommended posture boundary of the current cycle; if the angle is not less than the preset angle threshold, the preset posture boundary of the end tool is used as the recommended posture boundary of the current cycle.

[0062] The preset angle threshold is a preset angle used to determine the boundary of the recommended posture. Optionally, the preset angle threshold may be a minimum value.

[0063] It can be understood that if the angle between the posture and the preset recommended posture is less than the preset angle threshold, it means that the posture is close to the preset recommended posture, and the edge where the preset recommended posture is located is used as the recommended posture boundary of the current period; on the contrary, if the angle between the posture and the preset recommended posture is not less than the preset angle threshold, it means that the posture is far away from the preset recommended posture, and may be closer to the maximum posture boundary set for flexibility and safety (i.e., the preset posture boundary), and the preset posture boundary is used as the recommended posture boundary of the current period.

[0064] For example, the preset recommended posture is Figure 2 If the electronic device determines that the posture of the end tool in the current cycle is consistent with the central axis of the conical boundary shown in FIG. Figure 2 If the angle between the central axis of the middle cone boundary (i.e. the preset recommended posture) is less than the preset angle threshold, it means that the posture is close to Figure 2 The central axis of the cone boundary can be directly Figure 2 The edge of the central axis of the conical boundary is used as the recommended posture boundary of the end tool in the current cycle; on the contrary, if the electronic device determines that the posture of the end tool in the current cycle is different from Figure 2 If the angle between the central axis of the middle cone boundary (i.e. the preset recommended posture) is not less than the preset angle threshold, it means that the posture is far away from Figure 2 The central axis of the middle cone boundary may be closer to the cone boundary (i.e. the preset posture boundary), so Figure 2 The middle conical boundary is used as the recommended posture boundary of the end tool in the current cycle.

[0065] Therefore, the distance between the position and the preset recommended path and the preset distance threshold are combined to flexibly determine the recommended path boundary of the end tool in the current cycle in different ways. At the same time, the angle between the posture and the preset recommended posture and the preset angle threshold are combined to flexibly determine the recommended posture boundary of the end tool in the current cycle in different ways. Thus, the posture constraint condition of the end tool in the current cycle is obtained, so that the end tool moves in the current cycle with the posture constraint condition.

[0066] S340: Determine the control force of the end tool in the current cycle according to the external force and the rebound force, and determine the control torque of the end tool in the current cycle according to the external torque and the rebound torque.

[0067] In this embodiment, the electronic device determines the control force by combining the actual force and virtual force received by the end tool, and determines the control torque by combining the actual torque and virtual torque received by the end tool, so as to use the rebound force and rebound torque as a guide to determine the control force and control torque of the end tool in the current cycle.

[0068] Among them, the specific implementation method of S340 includes but is not limited to the following methods: adding the external force to the rebound force to obtain the control force of the end tool in the current cycle; adding the external torque to the rebound torque to obtain the control torque of the end tool in the current cycle.

[0069] Among them, the control force and control torque are the force and torque used to plan the posture of the end tool.

[0070] S350: Taking the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as constraint conditions, based on the control force of the current cycle and the control torque of the current cycle, the motion position and motion posture of the end tool in the current cycle are controlled.

[0071] In this embodiment, after the electronic device obtains the control force and control torque of the current cycle, it plans the posture of the end tool based on the control force and control torque of the current cycle, calculates the control posture according to the recommended posture boundary (including the recommended path boundary and the recommended posture boundary) and the planned posture, that is, pulls back out of the wall, and controls the movement of the end tool according to the control posture.

[0072] Among them, the specific implementation method of S350 includes but is not limited to the following methods: utilizing the control force of the current cycle and the control torque of the current cycle to perform position planning and posture planning for the end tool in the current cycle, and determine the planned position and planned posture of the end tool in the current cycle; according to the planned position and planned posture, within the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle, control the motion position and motion posture of the end tool in the current cycle.

[0073] Specifically, first, the electronic device calls the force control algorithm to perform posture planning on the control force of the current cycle and the control torque of the current cycle, so as to determine the planned position based on the control force, and determine the planned posture based on the control torque; then, the electronic device calculates the control posture (including the control position and the control posture) according to the recommended posture boundary (including the recommended path boundary and the recommended posture boundary) and the planned posture (including the planned position and the planned posture), that is, pulls back out of the wall, and controls the movement of the end tool according to the control posture.

[0074] It should be noted that if the end tool encounters an obstacle during its movement, and the resistance generated by the obstacle is greater than the rebound force, the resistance and the rebound force offset each other, and the end tool stops moving to avoid squeezing through and injuring the user.

[0075] Through the above method, the experience of the operating user can be quantified into a preset recommended path and a preset recommended posture, so that the end tool moves within the recommended path boundary and the recommended posture boundary. In addition, this method can guide the operating user to control the movement of the end tool through force control, thereby shortening the learning cycle of the operating user and reducing dependence on the operating user.

[0076] A motion control method for an end tool according to an embodiment of the present disclosure includes: determining a control mode of the end tool in response to an external force and an external torque applied to the end tool in a current cycle; if the control mode of the end tool is a locking mode, determining a rebound force and a rebound torque of the end tool in the current cycle; determining a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and determining a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture; determining a control force of the end tool in the current cycle according to the external force and the rebound force, and determining a control torque of the end tool in the current cycle according to the external torque and the rebound torque; and controlling the motion position and motion posture of the end tool in the current cycle based on the control force of the current cycle and the control torque of the current cycle, with the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as restriction conditions. Therefore, when the control mode of the robot's end tool is the locking mode, the recommended path boundary and the recommended posture boundary are periodically and dynamically determined, and the rebound force and rebound torque guidance are provided in each cycle to determine the control force and control torque, so as to realize the motion control of the end tool based on the recommended path boundary, recommended posture boundary, control force and control torque of each cycle. In this way, this motion control method does not rely on the operator's naked eye observation and hand feeling operation, but can also play the role of guiding the operator to operate the surgical robot, which is conducive to improving the operation execution effect of the surgical robot.

[0077] In some embodiments, after executing S310, the method further includes:

[0078] S360: If the control mode of the end tool is the unlocking mode, the preset position boundary of the end tool is used as the recommended path boundary of the current cycle, and the preset posture boundary of the end tool is used as the recommended posture boundary of the current cycle.

[0079] It can be understood that when the electronic device determines that the control mode is the unlocking mode, the maximum position boundary (i.e., the preset position boundary) set based on flexibility and safety can be directly used as the recommended path boundary for the current cycle, and the maximum posture boundary (i.e., the preset posture boundary) set based on flexibility and safety can be directly used as the recommended posture boundary for the current cycle, without the need to use complex methods to determine the recommended path boundary and the recommended posture boundary.

[0080] S370: Using the external force as the control force of the end tool in the current cycle, and using the external torque as the control torque of the end tool in the current cycle.

[0081] It can be understood that since the end tool does not need to consider the effect of rebound force in the unlocking mode, the electronic device directly uses the external force as the control force of the end tool in the current cycle, and uses the external torque as the control torque of the end tool in the current cycle, and then returns to execute S350 to realize the control of the movement of the end tool in the unlocking mode.

[0082] In this way, when the end tool is in unlocking mode, the preset position boundary and preset posture boundary set based on flexibility and safety are used as restriction conditions, and the movement of the end tool is automatically controlled directly according to the external force and external torque.

[0083] The present disclosure also provides a motion control device for an end tool for implementing the motion control method of the end tool. Figure 4 In the disclosed embodiment, the motion control device of the end tool may be an electronic device, wherein the electronic device may be a control device of a medical robot.

[0084] Figure 4 A schematic structural diagram of a motion control device for an end tool provided in an embodiment of the present disclosure is shown.

[0085] like Figure 4 As shown, the motion control device 400 of the end tool may include:

[0086] A first determination module 410 is used to determine a control mode of the end tool in response to the external force and external torque applied to the end tool in a current cycle;

[0087] A second determination module 420 is configured to determine the rebound force and rebound torque of the end tool in a current cycle if the control mode of the end tool is a locking mode;

[0088] A third determining module 430 is used to determine a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and to determine a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture;

[0089] A fourth determination module 440 is used to determine the control force of the end tool in the current cycle according to the external force and the rebound force, and to determine the control torque of the end tool in the current cycle according to the external torque and the rebound torque;

[0090] The motion control module 450 is used to control the motion position and motion posture of the end tool in the current cycle based on the control force of the current cycle and the control torque of the current cycle, with the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as constraints.

[0091] A motion control device for an end tool according to an embodiment of the present disclosure includes: determining a control mode of the end tool in response to an external force and an external torque applied to the end tool in a current cycle; determining a rebound force and a rebound torque of the end tool in the current cycle if the control mode of the end tool is a locking mode; determining a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and determining a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture; determining a control force of the end tool in the current cycle based on the external force and the rebound force, and determining a control torque of the end tool in the current cycle based on the external torque and the rebound torque; and controlling a motion position and a motion posture of the end tool in the current cycle based on the control force of the current cycle and the control torque of the current cycle, with the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as restriction conditions. Therefore, when the control mode of the robot's end tool is the locking mode, the recommended path boundary and the recommended posture boundary are periodically and dynamically determined, and the rebound force and rebound torque guidance are provided in each cycle to determine the control force and control torque, so as to realize the motion control of the end tool based on the recommended path boundary, recommended posture boundary, control force and control torque of each cycle. In this way, this motion control method does not rely on the operator's naked eye observation and hand feeling operation, but can also play the role of guiding the operator to operate the surgical robot, which is conducive to improving the operation execution effect of the surgical robot.

[0092] In some embodiments of the present disclosure, the resilience of the end tool in the current cycle includes the magnitude of the resilience and the direction of the resilience;

[0093] The magnitude of the rebound force is determined based on the distance between the position and the preset recommended path, the preset maximum rebound force, and the radius corresponding to the preset position boundary of the end tool, and the direction of the rebound force is the direction of the line connecting the projection points of the position to the position on the recommended path.

[0094] In some embodiments of the present disclosure, the rebound torque of the end tool in the current cycle includes the rebound torque magnitude and the rebound torque direction;

[0095] The magnitude of the rebound torque is determined according to the angle between the posture and the preset recommended posture, the preset maximum rebound torque and the angle corresponding to the preset posture boundary of the end tool, and the direction of the rebound torque is determined by cross-producting the posture and the preset recommended posture.

[0096] In some embodiments of the present disclosure, the third determination module 430 includes:

[0097] A first judging unit, configured to judge whether the distance between the position and the preset recommended path is less than a preset distance threshold;

[0098] A first determining unit, configured to use the edge of the preset recommended path as the recommended path boundary of the current cycle if the distance is less than the preset distance threshold;

[0099] The second determining unit is configured to use a preset position boundary of the end tool as a recommended path boundary of the current cycle if the distance is not less than the preset distance threshold.

[0100] In some embodiments of the present disclosure, the third determination module 430 includes:

[0101] A second judgment unit, used to judge whether the angle between the posture and the preset recommended posture is less than a preset angle threshold;

[0102] A third determining unit, configured to use the edge corresponding to the preset recommended posture as the recommended posture boundary of the current period if the angle is less than the preset angle threshold;

[0103] The fourth determining unit is configured to use a preset posture boundary of the end tool as a recommended posture boundary of the current cycle if the angle is not less than the preset angle threshold.

[0104] In some embodiments of the present disclosure, the fourth determining module 440 includes:

[0105] A first adding unit, configured to add the external force to the rebound force to obtain a control force of the end tool in the current cycle;

[0106] The second adding unit is used to add the external torque and the rebound torque to obtain the control torque of the end tool in the current cycle.

[0107] In some embodiments of the present disclosure, the motion control module 450 includes:

[0108] A planning unit, used to perform position planning and posture planning for the end tool in the current cycle by using the control force of the current cycle and the control torque of the current cycle, and determine the planned position and planned posture of the end tool in the current cycle;

[0109] The motion control unit is used to control the motion position and motion posture of the end tool in the current cycle according to the planned position and the planned posture, within the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle.

[0110] In some embodiments of the present disclosure, the device further includes:

[0111] a fifth determining module, configured to use a preset position boundary of the end tool as a recommended path boundary of the current cycle, and a preset posture boundary of the end tool as a recommended posture boundary of the current cycle if the control mode of the end tool is an unlocking mode;

[0112] The sixth determination module is used to use the external force as the control force of the end tool in the current cycle, and use the external torque as the control torque of the end tool in the current cycle.

[0113] In some embodiments of the present disclosure, the preset recommended path of the end tool is the central axis of a preset position boundary of a funnel shape, and the preset posture path of the end tool is the central axis of a preset posture boundary of a cone shape.

[0114] It should be noted that Figure 4 The motion control device 400 of the end tool shown can perform Figure 3 The various steps in the method embodiment shown in the figure are implemented Figure 3 The various processes and effects in the method embodiment shown are not described in detail here.

[0115] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present disclosure is shown.

[0116] like Figure 5 As shown, the electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0117] Specifically, the processor 501 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0118] The memory 502 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 502 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 502 may be inside or outside the integrated gateway device. In a particular embodiment, the memory 502 is a non-volatile solid-state memory. In a particular embodiment, the memory 502 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM) or a flash memory, or a combination of two or more of these.

[0119] The processor 501 reads and executes the computer program instructions stored in the memory 502 to perform the steps of the end tool motion control method provided in the embodiment of the present disclosure.

[0120] In one example, the electronic device may further include a transceiver 503 and a bus 504. Figure 5 As shown, the processor 501, the memory 502 and the transceiver 503 are connected via a bus 504 and communicate with each other.

[0121] The bus 504 includes hardware, software, or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 504 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0122] The following is an embodiment of a computer-readable storage medium provided in an embodiment of the present disclosure. The computer-readable storage medium and the motion control method of the end tool in the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the computer-readable storage medium, please refer to the embodiment of the motion control method of the end tool in the above-mentioned embodiments.

[0123] This embodiment provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute a motion control method for an end tool. The method includes:

[0124] In response to the external force and external torque applied to the end tool in the current cycle, determining a control mode of the end tool;

[0125] If the control mode of the end tool is a locking mode, determining the rebound force and rebound torque of the end tool in the current cycle;

[0126] Determine a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and determine a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture;

[0127] Determine the control force of the end tool in the current cycle according to the external force and the rebound force, and determine the control torque of the end tool in the current cycle according to the external torque and the rebound torque;

[0128] The motion position and motion posture of the end tool in the current cycle are controlled based on the control force of the current cycle and the control torque of the current cycle, with the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as restriction conditions.

[0129] Of course, the storage medium containing computer executable instructions provided by the embodiment of the present disclosure is not limited to the above method operations, and the computer executable instructions can also execute related operations in the motion control method of the end tool provided by any embodiment of the present disclosure.

[0130] Through the above description of the implementation methods, the technical personnel in the relevant field can clearly understand that the present disclosure can be implemented with the help of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure can be 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 a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions to enable a computer cloud platform (which can be a personal computer, server, or network cloud platform, etc.) to execute the motion control method of the end tool provided by each embodiment of the present disclosure.

[0131] Note that the above are only preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A motion control method for an end tool, characterized in that: include: In response to the external force and external torque applied to the end tool in the current cycle, determining a control mode of the end tool; If the control mode of the end tool is a locking mode, determining the rebound force and rebound torque of the end tool in the current cycle; Determine a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and determine a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture; Determine the control force of the end tool in the current cycle according to the external force and the rebound force, and determine the control torque of the end tool in the current cycle according to the external torque and the rebound torque; Taking the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as restriction conditions, based on the control force of the current cycle and the control torque of the current cycle, the motion position and motion posture of the end tool in the current cycle are controlled.

2. The method according to claim 1, characterized in that The resilience of the end tool in the current cycle includes the magnitude and direction of the resilience; The magnitude of the rebound force is determined based on the distance between the position and the preset recommended path, the preset maximum rebound force, and the radius corresponding to the preset position boundary of the end tool, and the direction of the rebound force is the direction of the line connecting the projection points of the position to the position on the recommended path.

3. The method according to claim 1, characterized in that The rebound torque of the end tool in the current cycle includes the rebound torque magnitude and the rebound torque direction; The magnitude of the rebound torque is determined according to the angle between the posture and the preset recommended posture, the preset maximum rebound torque and the angle corresponding to the preset posture boundary of the end tool, and the direction of the rebound torque is determined by cross-producting the posture and the preset recommended posture.

4. The method according to claim 1, characterized in that: The determining, based on the position of the end tool in the current cycle and the preset recommended path, of the recommended path boundary of the end tool in the current cycle includes: Determining whether the distance between the location and the preset recommended path is less than a preset distance threshold; If the distance is less than the preset distance threshold, the edge where the preset recommended path is located is used as the recommended path boundary of the current cycle; If the distance is not less than the preset distance threshold, the preset position boundary of the end tool is used as the recommended path boundary of the current cycle.

5. The method according to claim 1, characterized in that The step of determining a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture includes: Determining whether the angle between the posture and the preset recommended posture is less than a preset angle threshold; If the angle is less than the preset angle threshold, the edge corresponding to the preset recommended posture is used as the recommended posture boundary of the current cycle; If the angle is not less than the preset angle threshold, the preset posture boundary of the end tool is used as the recommended posture boundary of the current cycle.

6. The method according to claim 1, characterized in that The step of determining the control force of the end tool in the current cycle according to the external force and the rebound force, and determining the control torque of the end tool in the current cycle according to the external torque and the rebound torque, comprises: Adding the external force to the rebound force to obtain the control force of the end tool in the current cycle; The external torque is added to the rebound torque to obtain the control torque of the end tool in the current cycle.

7. The method according to claim 1, characterized in that The method of controlling the motion position and motion posture of the end tool in the current cycle based on the control force of the current cycle and the control torque of the current cycle with the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as restriction conditions includes: Performing position planning and posture planning for the end tool in the current cycle by using the control force of the current cycle and the control torque of the current cycle, and determining a planned position and a planned posture of the end tool in the current cycle; According to the planned position and the planned posture, the motion position and the motion posture of the end tool in the current cycle are controlled within the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle.

8. The method according to any one of claims 1 to 7, characterized in that: Also includes: If the control mode of the end tool is the unlocking mode, the preset position boundary of the end tool is used as the recommended path boundary of the current cycle, and the preset posture boundary of the end tool is used as the recommended posture boundary of the current cycle; The external force is used as the control force of the end tool in the current cycle, and the external torque is used as the control torque of the end tool in the current cycle.

9. The method according to any one of claims 1 to 7, characterized in that: The preset recommended path of the end tool is the central axis of the preset position boundary of the funnel shape, and the preset posture path of the end tool is the central axis of the preset posture boundary of the cone shape.

10. A motion control device for an end tool, characterized in that: include: A first determination module, configured to determine a control mode of the end tool in response to an external force and an external torque applied to the end tool in a current cycle; A second determination module, configured to determine the rebound force and rebound torque of the end tool in a current cycle if the control mode of the end tool is a locking mode; A third determining module is used to determine a recommended path boundary of the end tool in the current cycle based on the position of the end tool in the current cycle and a preset recommended path, and to determine a recommended posture boundary of the end tool in the current cycle based on the posture of the end tool in the current cycle and a preset recommended posture; a fourth determination module, configured to determine the control force of the end tool in the current cycle according to the external force and the rebound force, and to determine the control torque of the end tool in the current cycle according to the external torque and the rebound torque; The motion control module is used to control the motion position and motion posture of the end tool in the current cycle based on the control force of the current cycle and the control torque of the current cycle, taking the recommended path boundary of the current cycle and the recommended posture boundary of the current cycle as constraint conditions.

11. An electronic device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the method described in any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method according to any one of claims 1 to 9.

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