Surgical robot positioning method and system, surgical robot and storage medium

Abstract

The invention relates to the technical field of medical instruments, and provides a positioning method and system for a surgical robot, the surgical robot and a storage medium, and the method comprises the steps: obtaining the joint bending angle of each joint detected at this time, and obtaining the first detection data of the joint bending angle corresponding to each joint; according to the second adjustment data of the previous joint angle of each joint, obtaining first estimation data of the current joint bending angle of each joint; according to the first detection data of the current joint bending angle of each joint and the first estimation data of the current joint bending angle, determining first adjustment data of the joint angle corresponding to each joint; according to the first adjustment data of the joint angle and the length of the operation arm, the orientation parameter and the movement parameter of the tip of the operation arm are obtained, so that joint angle adjustment data can be determined by combining the detection data and the estimation data of the joint bending angle, and the detection data of the joint bending angle is calibrated; and the accuracy of positioning the surgical robot and moving the operating arm is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a positioning method and system for a surgical robot, a surgical robot, and a storage medium. Background Art

[0002] Articulated surgical robots use robotic arms to mimic the movements of human arms and are configured with rotary joints to enable the robotic arms to move flexibly. Existing surgical robots use strain gauges to sense the bending stress of joints, position the robotic arms, and feed the data back to the control system to control the next operation of the robotic arms. However, in practical applications, the detection data of strain gauges is susceptible to environmental noise interference such as temperature, resulting in inaccurate detection data, and further causing positioning deviation of the robotic arms, affecting the accuracy of the movement of the robotic arms. Summary of the Invention

[0003] To solve or at least partially solve the above technical problems, the present application provides a positioning method for a surgical robot, which is applied to a surgical robot. The surgical robot includes an operating arm, and the operating arm includes a plurality of joint modules connected to each other. Strain gauges are respectively provided at each joint where the joint modules are connected;

[0004] The method includes:

[0005] Obtain the joint bending angles of each joint in the current detection to obtain first detection data of the joint bending angles corresponding to each joint, where the joint bending angles are determined by the resistance parameters detected by the strain gauges at the corresponding joints;

[0006] Obtain first estimated data of the joint bending angles of each joint in the current detection according to second adjustment data of the joint angles of each joint in the previous time;

[0007] Determine first adjustment data of the joint angles corresponding to each joint in the current time according to the first detection data of the joint bending angles of each joint and the first estimated data of the joint bending angles;

[0008] Obtain the orientation parameters and movement parameters of the tip of the operating arm according to the first adjustment data of the joint angles corresponding to each joint and the length of the operating arm.

[0009] Optionally, at least two strain gauges are installed on each joint. The step of obtaining the joint bending angles of each joint in the current detection to obtain first detection data of the joint bending angles corresponding to each joint includes:

[0010] Obtain the resistance parameters detected by each strain gauge corresponding to each joint in the current detection to obtain first resistance parameter data;

[0011] Determine the joint bending yaw angle and joint bending pitch angle corresponding to each joint according to the first resistance parameter data, and use the joint bending yaw angle and joint bending pitch angle corresponding to each joint as the first detection data of the joint bending angle corresponding to the joint.

[0012] Optionally, the surgical robot further includes a motor for driving the operating arm. Obtaining the first estimated data of the joint bending angle of each joint this time according to the second adjustment data of the joint angle of each joint last time includes:

[0013] Obtain the motor input angle data of the motor;

[0014] Determine the first estimated data of the joint bending angle corresponding to each joint according to the motor input angle data, the second adjustment data of the joint angle corresponding to each joint, and the preset calibration parameters, and obtain the first estimated data of the joint bending angle corresponding to each joint this time. The preset calibration parameters include kinematic parameters and motor shaft parameters.

[0015] Optionally, determining the first adjustment data of the joint angle corresponding to each joint this time according to the first detection data of the joint bending angle of each joint this time and the first estimated data of the joint bending angle includes:

[0016] Calculate the bending angle covariance according to the first estimated data of the joint bending angle of each joint this time;

[0017] Obtain the measurement noise covariance of the strain gauge;

[0018] Determine the Kalman gain according to the bending angle covariance, the measurement noise covariance, and the preset strain gauge parameters;

[0019] Determine the first adjustment data of the joint angle corresponding to each joint according to the first estimated data of the joint bending angle of each joint this time, the first detection data of the joint bending angle, and the Kalman gain, and obtain the first adjustment data of the joint angle corresponding to each joint.

[0020] Optionally, obtaining the orientation parameter and movement parameter of the tip of the operating arm according to the first adjustment data of the joint angle corresponding to each joint and the length of the operating arm includes:

[0021] Determine the spatial transformation matrix of two adjacent joint modules from the joint module at the tip position to the joint module at the distal end and then to the joint module at the proximal end according to the first adjustment data of the joint angle corresponding to each joint and the length of the operating arm, and obtain the spatial transformation matrix corresponding to each joint;

[0022] Determine the orientation parameters and movement parameters of the tip according to the spatial transformation matrices corresponding to the respective joints.

[0023] An embodiment of the present application further provides a positioning system for a surgical robot.

[0024] Applied to a surgical robot, the positioning system of the surgical robot includes an operating arm; the operating arm includes a plurality of joint modules connected to each other, and strain gauges are respectively provided at each joint where the joint modules are connected; the operating arm is connected to a central processing unit, and the central processing unit is configured to:

[0025] Obtain the joint bending angles of each joint in the current detection to obtain first detection data of the joint bending angles corresponding to each joint, where the joint bending angles are determined according to the resistance parameters detected by the strain gauges corresponding to the joints.

[0026] Obtain first estimated data of the joint bending angles of each joint in the current time according to the second adjustment data of the joint angles of each joint in the previous time.

[0027] Determine first adjustment data of the joint angles corresponding to each joint in the current time according to the first detection data of the joint bending angles of each joint in the current time and the first estimated data of the joint bending angles.

[0028] Obtain the orientation parameters and movement parameters of the tip of the operating arm according to the first adjustment data of the joint angles corresponding to each joint and the length of the operating arm.

[0029] An embodiment of the present application further provides a surgical robot.

[0030] The surgical robot includes an operating arm; the operating arm includes a plurality of joint modules connected to each other, and strain gauges are respectively provided at each joint where the joint modules are connected; the operating arm is connected to a central processing unit, and the central processing unit is configured to:

[0031] Obtain the joint bending angles of each joint in the current detection to obtain first detection data of the joint bending angles corresponding to each joint, where the joint bending angles are determined according to the resistance parameters detected by the strain gauges corresponding to the joints.

[0032] Obtain first estimated data of the joint bending angles of each joint in the current time according to the second adjustment data of the joint angles of each joint in the previous time.

[0033] Determine first adjustment data of the joint angles corresponding to each joint in the current time according to the first detection data of the joint bending angles of each joint in the current time and the first estimated data of the joint bending angles.

[0034] Based on the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm, obtain the orientation parameters and movement parameters of the tip of the robotic arm.

[0035] An embodiment of the present application also provides a computer-readable storage medium storing program instructions, which, when executed by a computer, cause the computer to execute the positioning method of the surgical robot described above.

[0036] An embodiment of the present application also provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in any one of the positioning methods of the surgical robot as described in the embodiments of the present application. This computer program product can be a software installation package.

[0037] In the embodiment of the present application, by obtaining the joint bending angles of each joint in the current detection, the first detection data of the joint bending angles corresponding to each joint is obtained, and the joint bending angle is determined according to the resistance parameters detected by the strain gauges corresponding to the joints; according to the second adjustment data of the joint angles of each joint in the previous time, the first estimated data of the joint bending angles of each joint in the current time is obtained; according to the first detection data of the joint bending angles of each joint in the current time and the first estimated data of the joint bending angles, the first adjustment data of the joint angles corresponding to each joint in the current time is determined; based on the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm, the orientation parameters and movement parameters of the tip of the robotic arm are obtained. In this way, the joint angle adjustment data can be determined by combining the detection data and estimated data of the joint bending angles, calibrating the detection data of the joint bending angles, reducing the influence of noise such as temperature on the detection results, and ensuring the accuracy of the positioning of the position and direction of the tip of the robotic arm. Description of the Drawings

[0038] To more clearly illustrate the embodiments of the present application, the relevant drawings will be briefly introduced below. It can be understood that the drawings described below are only used to illustrate some embodiments of the present application, and those of ordinary skill in the art can also obtain many other technical features and connection relationships not mentioned in this text based on these drawings.

[0039] Figure 1 It is a partial structural schematic diagram of a surgical robot provided by an embodiment of the present application;

[0040] Figure 2 It is a Wheatstone bridge circuit in a strain gauge provided by an embodiment of the present application;

[0041] Figure 3 It is a demonstration schematic diagram of installing strain gauges on a robotic arm provided by an embodiment of the present application;

[0042] Figure 4 A schematic diagram for demonstrating the bending angle of a joint provided by an embodiment of the present application;

[0043] Figure 5 A schematic flowchart of a positioning method for a surgical robot provided by an embodiment of the present application. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0045] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present application and the accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0046] Referring to "embodiments" herein means that specific features, structures, or characteristics described in conjunction with the embodiments can be included in at least one embodiment of the present application. The phrase shown at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0047] Next, the technical solutions in the embodiments of the present application will be described in detail in conjunction with the accompanying drawings in the embodiments of the present application.

[0048] Embodiment 1

[0049] As Figures 1 - 4 shown, an embodiment of the present application provides a surgical robot, Figure 1 which is a partial structural schematic diagram of a surgical robot provided by an embodiment of the present application. The surgical robot 100 includes an operating arm 10; the operating arm includes a plurality of joint modules 11, the joint modules are connected by joints, and strain gauges 12 are respectively arranged at each joint where the joint modules are connected; the operating arm is connected to the central processing unit 30.

[0050] Among them, the operating arm 10 of the surgical robot 100 is composed of a plurality of joint modules 11 hinged together. Strain gauges are provided at each joint between the joint modules to sense the angular changes of the joints. Through the central processing unit, the operation of the operating arm can be controlled according to the angular changes sensed by the strain gauges, so as to achieve the closed-loop precise control of the surgical robot.

[0051] A controller module 20 is provided on the operating arm. The controller module is connected to the strain gauge 12. The controller module includes a microcontroller 21, an analog-to-digital converter 22, and a storage unit 23.

[0052] Among them, the analog-to-digital converter is used to perform analog-to-digital conversion on the data detected by the strain gauge; the storage unit is used to save the data detected by the strain gauge; the microcontroller is used to encode the data detected by the strain gauge and send the encoded data to the central processing unit through the communication link.

[0053] The operating arm is detachably provided on the surgical robot. As a detachable basic component, a controller module can be provided at one end of the operating arm. The controller module can include a microcontroller 21, an analog-to-digital converter 22, and a storage unit 23. The strain gauges corresponding to each joint simultaneously transmit the detection data to the analog-to-digital converter. The analog-to-digital converter transmits the converted data to the microcontroller, and the microcontroller encodes it and transmits the encoded data to the central processing unit. Optionally, the controller module can also include a compensation temperature sensor 24 for performing thermal drift compensation to reduce the influence of temperature noise on the detection result and improve the accuracy of the detection result.

[0054] Among them, as Figure 3 shown, more than 3 strain gauges can be installed at each joint, and the angular bending transformation of the joint can be detected more accurately.

[0055] The surgical robot further includes a motor, and the motor is used to drive the operating arm 10.

[0056] The robotic arm 10 can also be controlled by an external system.

[0057] Among them, the central processing unit 30 is used for:

[0058] Obtain the joint bending angles of each joint in the current detection to obtain the first detection data of the joint bending angles corresponding to each joint. The joint bending angle is determined by the resistance parameters detected by the strain gauge at the corresponding joint;

[0059] According to the second adjustment data of the joint angles of each joint in the previous time, obtain the first estimated data of the joint bending angles of each joint in the current time;

[0060] Determine the first adjustment data of the joint angles corresponding to each joint this time according to the first detection data of the joint bending angles of each joint this time and the first estimation data of the joint bending angles.

[0061] Obtain the orientation parameters and movement parameters of the tip of the robotic arm according to the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm.

[0062] Among them, the strain gauge is a very small plate composed of multiple resistors, forming a bridge circuit, as Figure 2 shown. Figure 2 The Wheatstone bridge circuit in a strain gauge provided by an embodiment of the present application. When the strain gauge bends or stretches, the resistance between the resistance legs of the bridge changes, and the ratio of the resistance difference is usually linearly related to the bending angle or elongation rate. Use a Wheatstone bridge with an optional amplifier to amplify and measure the resistance difference in the bridge, and use an analog-to-digital converter for digitization to detect the bending angle data of the joint.

[0063] Among them, the second adjustment data refers to the adjustment data of the joint angles of each joint in the previous time. The movement parameter can be the translation parameter of the tip. The joint angle adjustment data can be determined by combining the detection data and estimation data of the joint bending angles. Determine the first adjustment data of the joint angles corresponding to the strain gauge this time according to the first detection data of the joint bending angles corresponding to each joint this time and the first estimation data of the joint bending angles, and calibrate the detection data of the joint bending angles to ensure the accuracy of the positioning of the orientation parameters and movement parameters of the robotic arm.

[0064] Optionally, more than 2 small strain gauges can be installed on each joint of the surgical robot. As Figures 3 - 4 shown, by installing more than 3 small strain gauges on each joint of the surgical robot, two joint bending angles θ and ψ in the transverse plane can be calculated. The pitch angle θ is the angle between the axial vector and the XY plane; the yaw angle ψ is the angle between the axial vector and the XZ plane.

[0065] Optionally, in terms of obtaining the first estimation data of the joint bending angles of each joint this time according to the second adjustment data of the joint angles of each joint in the previous time, the central processing unit is specifically used for:

[0066] Obtain the motor input angle data of the motor;

[0067] Determine the first estimation data of the joint bending angles corresponding to each joint according to the motor input angle data, the second adjustment data of the joint angles corresponding to each joint in the previous time, and the preset calibration parameters, and obtain the first estimation data of the joint bending angles corresponding to each joint this time. The preset calibration parameters include kinematic parameters and motor shaft parameters.

[0068] The motor input angle data is the angle of the motor encoder. For a single joint, the bending angle is linearly related to the encoder angle of the motor. Therefore, the first estimated data of the joint bending angle can be calculated from the encoder angle of the motor using preset calibration parameters. Among them, all preset calibration parameters and variables are calibrated and monitored by the central processing unit. Therefore, the best estimated values of the bending angles of two joints can be found.

[0069] Among them, the kinematic parameters and the motor shaft parameters, which are the parameters of the motor itself, are constants that do not change with time.

[0070] Optionally, in terms of determining the first adjustment data of the joint angles corresponding to each joint this time according to the first detection data of the joint bending angles of each joint this time and the first estimated data of the joint bending angles, the central processing unit is specifically used for:

[0071] Calculate the bending angle covariance according to the first estimated data of the joint bending angles of each joint this time;

[0072] Obtain the measurement noise covariance of the strain gauge;

[0073] Determine the Kalman gain according to the bending angle covariance, the measurement noise covariance and the preset strain gauge parameters;

[0074] Determine the first adjustment data of the joint angles corresponding to each joint according to the first estimated data of the joint bending angles of each joint this time, the first detection data of the joint bending angles and the Kalman gain, and obtain the first adjustment data of the joint angles corresponding to each joint.

[0075] Optionally, in terms of obtaining the orientation parameters and movement parameters of the tip of the manipulator according to the first adjustment data of the joint angles corresponding to each joint and the manipulator length, the central processing unit is specifically used for:

[0076] Determine the spatial transformation matrices of two adjacent joint modules from the joint module at the tip position to the joint module at the distal end and then to the joint module at the proximal end according to the first adjustment data of the joint angles corresponding to each joint and the manipulator length, and obtain the spatial transformation matrices corresponding to each joint;

[0077] Determine the position and orientation of the tip position according to the spatial transformation matrices corresponding to each joint.

[0078] Among them, the manipulator is composed of multiple articulated joint modules. Once the two joint angles of each articulated joint are adjusted and in place, the orientation parameters and movement parameters of the tip of the manipulator can be calculated using the kinematic chain and the joint lengths.

[0079] For the surgical robot of the present application, the joint bending angles of each joint in the current detection are obtained to get the first detection data of the joint bending angles corresponding to each joint. The joint bending angle is determined according to the resistance parameter detected by the strain gauge corresponding to the joint; according to the second adjustment data of the joint angles of each joint in the previous time, the first estimated data of the joint bending angles of each joint in the current time are obtained; according to the first detection data of the joint bending angles of each joint in the current time and the first estimated data of the joint bending angles, the first adjustment data of the joint angles corresponding to each joint in the current time are determined; according to the first adjustment data of the joint angles corresponding to each joint and the manipulator arm length, the orientation parameters and movement parameters of the tip of the manipulator arm are obtained. In this way, the joint angle adjustment data can be determined by combining the detection data and estimated data of the joint bending angles, calibrating the detection data of the joint bending angles, reducing the influence of noise such as temperature on the detection result, and ensuring the accuracy of the position and direction positioning of the tip of the manipulator arm.

[0080] Embodiment 2

[0081] As Figure 5 shown Figure 5 is a schematic flowchart of a positioning method for a surgical robot provided by an embodiment of the present application. An embodiment of the present application proposes a positioning method for a surgical robot, which is applied to a surgical robot. The surgical robot includes a manipulator arm, and the manipulator arm includes a plurality of joint modules connected to each other. A strain gauge is respectively arranged at each joint where the joint modules are connected; the method includes the following steps:

[0082] 101. Obtain the joint bending angles of each joint in the current detection to get the first detection data of the joint bending angles corresponding to each joint. The joint bending angle is determined according to the resistance parameter detected by the strain gauge corresponding to the joint;

[0083] Among them, when the joints connecting the respective joint modules of the robotic arm are bent or extended, the bridge circuit on the strain gauge arranged at the joint can detect the resistance parameter, and then the joint bending angle data can be determined. Therefore, the first detection data of the joint bending angles of each joint can be obtained. For example, if three strain gauges are installed on a joint, two joint bending angles, the pitch angle θ and the yaw angle ψ, of the corresponding joint can be determined, so as to obtain the first detection data of the joint bending angles corresponding to each joint.

[0084] 102. According to the second adjustment data of the joint angles of each joint in the previous time, obtain the first estimated data of the joint bending angles of each joint in the current time;

[0085] Among them, the first estimated data of the joint bending angles in the current time can be estimated by combining the second adjustment data of the joint angles in the previous period of time.

[0086] 103. Determine the first adjustment data of the joint angles corresponding to each joint this time according to the first detection data of the joint bending angles of each joint this time and the first estimated data of the joint bending angles.

[0087] Specifically, by determining the first adjustment data of the joint angles this time according to the first detection data of the joint bending angles and the first estimated data of the joint bending angles, the first detection data of the joint bending angles can be calibrated, improving the accuracy of the manipulator positioning.

[0088] 104. Obtain the orientation parameters and movement parameters of the tip of the manipulator according to the first adjustment data of the joint angles corresponding to each joint and the manipulator arm length.

[0089] Among them, the manipulator is composed of multiple joint modules hinged together. Once the two joint angles at each hinged joint are adjusted and in place, the position and orientation of the tip of the manipulator can be calculated using the kinematic chain and joint lengths.

[0090] The positioning method of the surgical robot of the present application obtains the first detection data of the joint bending angles corresponding to each joint by obtaining the joint bending angles detected by each joint this time. The joint bending angles are determined according to the resistance parameters detected by the strain gauges corresponding to the joints; obtain the first estimated data of the joint bending angles of each joint this time according to the second adjustment data of the joint angles of each joint in the previous time; determine the first adjustment data of the joint angles corresponding to each joint this time according to the first detection data of the joint bending angles of each joint this time and the first estimated data of the joint bending angles; obtain the orientation parameters and movement parameters of the tip of the manipulator according to the first adjustment data of the joint angles corresponding to each joint and the manipulator arm length. In this way, the joint angle adjustment data can be determined by combining the detection data and estimated data of the joint bending angles, calibrating the detection data of the joint bending angles, reducing the influence of noise such as temperature on the detection results, and ensuring the accuracy of the positioning of the position and orientation of the tip of the manipulator.

[0091] Embodiment III

[0092] In order to accurately control the manipulator of the surgical robot, the detection data can be fused with a Kalman filter, an extended Kalman filter, or an unscented Kalman filter, and the linear quadratic equation LQE algorithm can be used to calculate the first adjustment data of the joint angles corresponding to each joint, so as to more accurately determine the orientation parameters and movement parameters of the tip of the manipulator, and achieve precise positioning and accurate control of the surgical robot.

[0093] The second embodiment of the present application also proposes a positioning method for a surgical robot. The method of the second embodiment is a further improvement of the method of the first embodiment. The main improvement lies in that in the second embodiment of the present application, at least two strain gauges are installed on each of the joints, and obtaining the joint bending angles of each joint in this detection to obtain the first detection data of the joint bending angles corresponding to each joint includes:

[0094] Obtaining the resistance parameters of each strain gauge corresponding to each joint in this detection to obtain the first resistance parameter data;

[0095] Determining the joint bending yaw angle and the joint bending pitch angle corresponding to each joint according to the first resistance parameter data, and taking the joint bending yaw angle and the joint bending pitch angle corresponding to each joint as the first detection data of the joint bending angle corresponding to the joint.

[0096] As Figure 4 shown, in specific implementation, two joint bending angles θ and ψ in the transverse plane can be calculated. The pitch angle θ is the angle between the axial vector and the XY plane; the yaw angle ψ is the angle between the axial vector and the XZ plane. By determining the pitch angle θ and the yaw angle ψ of the two joint bending angles corresponding to the corresponding joint, the first detection data of the joint bending angle corresponding to each joint can be obtained.

[0097] Optionally, the surgical robot further includes a motor, and the motor is used to drive the operating arm. Obtaining the first estimated data of the joint bending angles of each joint in this time according to the second adjustment data of the joint angles of each joint in the previous time includes:

[0098] Obtaining the motor input angle data of the motor;

[0099] Determining the first estimated data of the joint bending angle corresponding to each joint according to the motor input angle data, the second adjustment data of the joint angles corresponding to each joint in the previous time and the preset calibration parameters, and obtaining the first estimated data of the joint bending angles corresponding to each joint in this time. The preset calibration parameters include kinematic parameters and motor shaft parameters.

[0100] In specific implementation, the robotic arm can be driven by a motor, and the angle of the encoder of the motor can be obtained to obtain the motor input angle data. For a single joint, the bending angle is linearly related to the angle of the encoder of the motor. Therefore, the first estimated data of the joint bending angle can be calculated from the angle of the encoder of the motor using the preset calibration parameters. Among them, all preset calibration parameters and variables are calibrated and monitored by the central processing unit. Therefore, the best estimated values of the two joint bending angles can be found. Among them, the calculation formula of the first estimated data of the joint bending angle is as follows:

[0101] Xn|n―1 = AX n―1|n―1 + BU n Equation 1

[0102] X(n|n - 1) represents the estimated value of the bending angle corresponding to the nth joint this time. A and B are the kinematic parameters and motor shaft parameters of the surgical robot, both of which are constants that do not change with time. Un is the motor input angle at the nth moment this time.

[0103] Optionally, according to the first detection data of the joint bending angle of each joint this time and the first estimated data of the joint bending angle, determine the first adjustment data of the joint angle corresponding to each joint this time, including:

[0104] Calculate the bending angle covariance according to the first estimated data of the joint bending angle of each joint this time;

[0105] Obtain the measurement noise covariance of the strain gauge;

[0106] Determine the Kalman gain according to the bending angle covariance, the measurement noise covariance and the preset strain gauge parameters;

[0107] Determine the first adjustment data of the joint angle corresponding to each joint according to the first estimated data of the joint bending angle of each joint this time, the first detection data of the joint bending angle and the Kalman gain, and obtain the first adjustment data of the joint angle corresponding to each joint.

[0108] In a specific implementation, the formula for calculating the Kalman gain according to the bending angle covariance, the measurement noise covariance and the preset strain gauge parameters is as follows:

[0109] K n = P n|n―1 H T (HP n|n―1 H T + R k ) Equation 2

[0110] Where, Kn is the Kalman gain of the Kalman filter, the extended Kalman filter or the unscented Kalman filter, P_(n|n - 1) is the covariance of the estimated value of the bending angle of the corresponding joint at the nth moment this time, Rk is the strain gauge measurement noise covariance, and H is the strain gauge parameter, which is a constant that does not change with time.

[0111] Where, the formula for determining the first adjustment data of the joint angle corresponding to each joint according to the first estimated data of the joint bending angle, the first detection data of the joint bending angle and the Kalman gain is as follows:

[0112] X n|n = X n|n―1 + Kn (Z n ―Hx n|n―1 ) Formula 3

[0113] Wherein, X(n|n) is the bending angle adjustment value corresponding to the n-th joint this time, and Zn is the detected value of the bending angles of the two joints of the strain gauge at the current moment n.

[0114] Optionally, according to the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm, the orientation parameters and movement parameters of the tip of the robotic arm are obtained, including:

[0115] Determine the spatial transformation matrices of two adjacent joint modules in pairs from the joint module at the tip position to the joint module at the distal end and then to the joint module at the proximal end according to the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm, to obtain the spatial transformation matrices corresponding to each joint;

[0116] Determine the orientation parameters and movement parameters of the tip according to the spatial transformation matrices corresponding to each joint.

[0117] Wherein, the robotic arm is composed of multiple joint modules hinged together. Once the two joint angles of each hinged joint are adjusted and in place, the tip position and direction of the robotic arm can be calculated using the kinematic chain and the joint lengths.

[0118] For example, for the tip position, joint module 1 and joint module 2 are represented by c, b, and a respectively. Sab represents the spatial transformation matrix from the distal joint module b to the proximal joint module a.

[0119]

[0120] Where Rxx is the element of the rotation matrix from b to a, and T is the translation vector from joints b and a. If the robotic arm is a rigid link and the translation vector is a constant parameter, then the end 6-dof information of c in the platform coordinate system is equal to SabSbcSc, where Sc is the rotation vector of the tip position, literally Sc.

[0121]

[0122] The positioning method of the surgical robot of the present application calculates the bending angle covariance by using the first estimated data of the joint bending angle of each joint in this time; obtains the measurement noise covariance of the strain gauge; determines the Kalman gain according to the bending angle covariance, the measurement noise covariance and the preset strain gauge parameters; determines the first adjustment data of the joint angle corresponding to each joint according to the first estimated data of the joint bending angle of each joint in this time, the first detected data of the joint bending angle and the Kalman gain, obtains the first adjustment data of the joint angle corresponding to each joint, and calculates the first adjustment data of the joint angle corresponding to each joint by using the linear quadratic equation LQE algorithm, so as to more accurately determine the position and direction of the tip of the operating arm, reduce the influence of noise such as temperature on the detection result, and realize the precise positioning and accurate control of the surgical robot.

[0123] Embodiment IV

[0124] The fourth embodiment of the present application proposes a positioning system for a surgical robot. The fourth embodiment is consistent with the system of the first embodiment and the method of the second embodiment. Specifically, in the fourth embodiment, the positioning system of the surgical robot is applied to the surgical robot. The positioning system of the surgical robot includes an operating arm; the operating arm includes a plurality of joint modules connected to each other, and strain gauges are respectively arranged at each joint where the joint modules are connected; the operating arm is connected to a central processing unit, and the central processing unit is used for:

[0125] Obtain the joint bending angles detected by each joint in this detection, and obtain the first detected data of the joint bending angles corresponding to each joint. The joint bending angle is determined by the resistance parameter detected by the strain gauge at the corresponding joint;

[0126] According to the second adjustment data of the joint angles of each joint in the previous time, obtain the first estimated data of the joint bending angles of each joint in this time;

[0127] According to the first detected data of the joint bending angles of each joint in this time and the first estimated data of the joint bending angles, determine the first adjustment data of the joint angles corresponding to each joint in this time;

[0128] According to the first adjustment data of the joint angles corresponding to each joint and the length of the operating arm, obtain the orientation parameters and movement parameters of the tip of the operating arm.

[0129] Optionally, a controller module is arranged on the operating arm. The controller module is connected to the strain gauge. The controller module includes a microcontroller, a digital-to-analog converter and a storage unit. Among them,

[0130] The digital-to-analog converter is used to perform analog-to-digital conversion on the data detected by the strain gauge;

[0131] The storage unit is used to save the data detected by the strain gauge;

[0132] The microcontroller is used to encode the data detected by the strain gauge and send the encoded data to the central processing unit through a communication link.

[0133] Optionally, the surgical robot further includes a motor, and the motor is used to drive the operating arm. In terms of obtaining the first estimated data of the joint bending angle of each joint this time according to the second adjustment data of the previous joint angle of each joint, the central processing unit is specifically used for:

[0134] Obtain the motor input angle data of the motor;

[0135] Determine the first estimated data of the joint bending angle corresponding to each joint according to the motor input angle data, the second adjustment data of the previous joint angle corresponding to each joint, and preset calibration parameters, so as to obtain the first estimated data of the joint bending angle corresponding to each joint this time. The preset calibration parameters include kinematic parameters and motor shaft parameters.

[0136] Optionally, in terms of determining the first adjustment data of the joint angle corresponding to each joint this time according to the first detection data of the joint bending angle of each joint this time and the first estimated data of the joint bending angle, the central processing unit is specifically used for:

[0137] Calculate the bending angle covariance according to the first estimated data of the joint bending angle of each joint this time;

[0138] Obtain the measurement noise covariance of the strain gauge;

[0139] Determine the Kalman gain according to the bending angle covariance, the measurement noise covariance, and preset strain gauge parameters;

[0140] Determine the first adjustment data of the joint angle corresponding to each joint according to the first estimated data of the joint bending angle of each joint this time, the first detection data of the joint bending angle, and the Kalman gain, so as to obtain the first adjustment data of the joint angle corresponding to each joint.

[0141] Optionally, in terms of obtaining the orientation parameters and movement parameters of the tip of the operating arm according to the first adjustment data of the joint angle corresponding to each joint and the length of the operating arm, the central processing unit is specifically used for:

[0142] Determine the joint modules from the joint module at the tip position to the distal joint module and then to the proximal joint module until the spatial transformation matrices of pairwise adjacent joint modules among the proximal joint modules, based on the first adjustment data of the joint angles corresponding to each joint and the manipulator arm length, to obtain the spatial transformation matrices corresponding to each joint;

[0143] Determine the orientation parameters and movement parameters of the tip based on the spatial transformation matrices corresponding to each joint.

[0144] Among them, the specific structure and specific operations in the positioning system of this surgical robot are consistent with the specific implementation steps of the aforementioned surgical robot and positioning method, and will not be elaborated here.

[0145] The positioning system of the surgical robot in this application obtains the first detection data of the joint bending angles corresponding to each joint by acquiring the joint bending angles detected for each joint in this detection. The joint bending angles are determined based on the resistance parameters detected by the strain gauges corresponding to the joints; obtain the first estimated data of the joint bending angles of each joint in this time according to the second adjustment data of the joint angles of each joint in the previous time; determine the first adjustment data of the joint angles corresponding to each joint in this time according to the first detection data and the first estimated data of the joint bending angles of each joint in this time; obtain the orientation parameters and movement parameters of the tip of the manipulator arm according to the first adjustment data of the joint angles corresponding to each joint and the manipulator arm length. In this way, the joint angle adjustment data can be determined by combining the detection data and the estimated data of the joint bending angles, calibrating the detection data of the joint bending angles, and ensuring the accuracy of the tip position and direction positioning of the manipulator arm.

[0146] The embodiment of this application also provides a computer-readable storage medium storing program instructions, and when the program instructions are executed by a computer, the computer is caused to execute the positioning method of the aforementioned surgical robot.

[0147] The embodiment of this application also provides a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in any one of the positioning methods of the surgical robot as recorded in the embodiment of this application. This computer program product can be a software installation package.

[0148] Although the present application has been described in connection with various embodiments, those skilled in the art will understand and realize other variations of the disclosed embodiments by referring to the accompanying drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit may implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0149] Those skilled in the art should understand that the embodiments of the present application may be provided as a method, apparatus (device), or computer program product. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The computer program is stored / distributed in a suitable medium, provided together with other hardware or as part of the hardware, or may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (devices), and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable vehicle and pedestrian trajectory analysis devices to produce a machine, such that the instructions executed by the processor of the computer or other programmable vehicle and pedestrian trajectory analysis devices produce a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0151] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable vehicle and pedestrian trajectory analysis devices to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0152] These computer program instructions can also be loaded onto a computer or other programmable vehicle trajectory analysis device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, thereby providing instructions for implementing the process Figure 1 one process or multiple processes and / or blocks Figure 1 steps for the functions specified in one block or multiple blocks.

[0153] Although the present application has been described in conjunction with specific features and their embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are merely exemplary illustrations of the present application defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A positioning method for a surgical robot, applied to a surgical robot, the surgical robot including an operating arm, the operating arm including a plurality of joint modules connected to each other, and strain gauges being respectively provided at each joint where the joint modules are connected; the method includes: Obtaining the joint bending angles detected in this detection for each joint, obtaining first detection data of the joint bending angles corresponding to each joint, where the joint bending angles are determined by the resistance parameters detected by the strain gauges at the corresponding joints; Obtaining first estimated data of the joint bending angles of each joint in this time according to second adjustment data of the joint angles of each joint in the previous time; Determining first adjustment data of the joint angles corresponding to each joint in this time according to the first detection data of the joint bending angles of each joint in this time and the first estimated data of the joint bending angles; Obtaining the orientation parameters and movement parameters of the tip of the operating arm according to the first adjustment data of the joint angles corresponding to each joint and the length of the operating arm.

2. The positioning method of the surgical robot according to claim 1, characterized in that, At least two strain gauges are installed on each of the joints; The obtaining the joint bending angles detected in this detection for each joint, obtaining first detection data of the joint bending angles corresponding to each joint, includes: Obtaining the resistance parameters detected by each strain gauge corresponding to each joint in this time, obtaining first resistance parameter data; Determining the joint bending yaw angle and the joint bending pitch angle corresponding to each joint according to the first resistance parameter data, and taking the joint bending yaw angle and the joint bending pitch angle corresponding to each joint as the first detection data of the joint bending angles corresponding to the joint.

3. The positioning method of the surgical robot according to claim 1, wherein The surgical robot further includes a motor, and the motor is used to drive the operating arm; The obtaining first estimated data of the joint bending angles of each joint in this time according to second adjustment data of the joint angles of each joint in the previous time includes: Obtaining the motor input angle data of the motor; Determining first estimated data of the joint bending angles corresponding to each joint according to the motor input angle data, the second adjustment data of the joint angles corresponding to each joint in the previous time, and preset calibration parameters, obtaining first estimated data of the joint bending angles corresponding to each joint in this time, where the preset calibration parameters include kinematic parameters and motor shaft parameters.

4. The positioning method of the surgical robot according to any one of claims 1-3, characterized in that The determining first adjustment data of the joint angles corresponding to each joint in this time according to the first detection data of the joint bending angles of each joint in this time and the first estimated data of the joint bending angles includes: Calculating the bending angle covariance according to the first estimated data of the joint bending angles of each joint in this time; Obtaining the measurement noise covariance of the strain gauges; Determining the Kalman gain according to the bending angle covariance, the measurement noise covariance, and preset strain gauge parameters; Determining first adjustment data of the joint angles corresponding to each joint according to the first estimated data of the joint bending angles of each joint in this time, the first detection data of the joint bending angles, and the Kalman gain, obtaining first adjustment data of the joint angles corresponding to each joint.

5. The positioning method of the surgical robot according to any one of claims 1-3, characterized in that Obtaining the orientation parameters and movement parameters of the tip of the robotic arm based on the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm includes: Determining the spatial transformation matrices of two adjacent joint modules from the joint module at the tip position to the joint module at the distal end and then to the joint module at the proximal end according to the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm, so as to obtain the spatial transformation matrices corresponding to each joint; Determining the orientation parameters and movement parameters of the tip according to the spatial transformation matrices corresponding to each joint.

6. A positioning system for a surgical robot, characterized in that, Applied to a surgical robot, the positioning system of the surgical robot includes a robotic arm; the robotic arm includes a plurality of joint modules connected to each other, and strain gauges are respectively arranged at each joint where the joint modules are connected; the robotic arm is connected to a central processing unit, and the central processing unit is used for: Obtaining the first detection data of the joint bending angles corresponding to each joint by acquiring the joint bending angles detected at each joint in this detection, where the joint bending angles are determined according to the resistance parameters detected by the strain gauges corresponding to the joints; Obtaining the first estimated data of the joint bending angles of each joint in this time according to the second adjustment data of the joint angles of each joint in the previous time; Determining the first adjustment data of the joint angles corresponding to each joint in this time according to the first detection data of the joint bending angles of each joint in this time and the first estimated data of the joint bending angles; Obtaining the orientation parameters and movement parameters of the tip of the robotic arm based on the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm.

7. The positioning system of the surgical robot according to claim 6, characterized in that, A controller module is arranged on the robotic arm, and the controller module is connected to the strain gauges. The controller module includes a microcontroller, an analog-to-digital converter, and a storage unit, where The analog-to-digital converter is used for performing analog-to-digital conversion on the data detected by the strain gauges; The storage unit is used for storing the data detected by the strain gauges; The microcontroller is used for encoding the data detected by the strain gauges and sending the encoded data to the central processing unit through a communication link.

8. The positioning system of the surgical robot according to claim 6 or 7, characterized in that, The surgical robot further includes a motor, and the motor is used for driving the robotic arm. In terms of obtaining the first estimated data of the joint bending angles of each joint in this time according to the second adjustment data of the joint angles of each joint in the previous time, the central processing unit is specifically used for: Obtaining the motor input angle data of the motor; Determining the first estimated data of the joint bending angles corresponding to each joint according to the motor input angle data, the second adjustment data of the joint angles corresponding to each joint in the previous time, and preset calibration parameters, so as to obtain the first estimated data of the joint bending angles corresponding to each joint in this time, where the preset calibration parameters include kinematic parameters and motor shaft parameters.

9. A surgical robot, characterized in that, The surgical robot includes a robotic arm; the robotic arm includes a plurality of joint modules connected to each other, and strain gauges are respectively arranged at each joint where the joint modules are connected; the robotic arm is connected to a central processing unit, and the central processing unit is used for: Obtain the joint bending angles of each joint in this detection, and obtain the first detection data of the joint bending angles corresponding to each joint. The joint bending angle is determined according to the resistance parameters detected by the strain gauge corresponding to the joint; According to the second adjustment data of the joint angles of each joint in the previous time, obtain the first estimated data of the joint bending angles of each joint in this time; According to the first detection data of the joint bending angles of each joint in this time and the first estimated data of the joint bending angles, determine the first adjustment data of the joint angles corresponding to each joint in this time; According to the first adjustment data of the joint angles corresponding to each joint and the length of the robotic arm, obtain the orientation parameters and movement parameters of the tip of the robotic arm.

10. A computer-readable storage medium storing program instructions, characterized in that, When the program instructions are executed by a computer, the computer is caused to execute the positioning method of the surgical robot according to any one of claims 1 to 5.

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