Boundary force control method and device based on gravity balance, equipment and medium

Abstract

The invention provides a boundary force control method and device based on gravitational equilibrium, equipment and a medium, and relates to the technical field of medical instruments. The method comprises the steps that current position information of a joint in a mechanical arm of a master console is obtained, and whether the joint enters a preset limiting buffer area or not is judged based on the information; and if so, dynamically generating a boundary force for preventing the joint from moving towards the mechanical hard limit based on the current position information and the gravitational equilibrium force of the joint. The boundary force is dynamically generated based on the current position information by setting the limiting buffer area room and taking the gravity balance force as the basis, it is ensured that generation of the boundary force is naturally matched with the joint load, and the reliability problem caused by parameter mismatching is reduced; meanwhile, as the boundary force directly derives from internal force adjustment, when the joint retreats from the limiting buffer area, the impedance force can be smoothly converged along with the position change, the residual interference force of traditional control is effectively eliminated, and therefore the reliability of preventing the joint from colliding with the hard limiting area is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and in particular to a boundary force control method and device based on gravity balance, equipment and medium. BACKGROUND

[0002] In minimally invasive surgery, a user controls a mechanical arm to complete fine surgical operations through a master console of a minimally invasive surgical robot. The mechanical arm is usually composed of multiple joints, and each joint is provided with a mechanical hard stop for the safety of the mechanical structure and the stability of the system. However, the user may unintentionally drive one or more joints to their mechanical hard stops due to misoperation or inertia during operation. Since the minimally invasive surgical robot needs to continuously counteract the gravity and friction of the joints during operation, the shaking or impact force generated by the joint collision may be transmitted to the patient end through the mechanical structure, directly affecting the stability and safety of the surgical operation. Therefore, how to provide smooth impedance force when approaching the mechanical hard stop to avoid collision, while ensuring the continuity and stability of the operation, is a technical problem that needs to be solved in the field of surgical robot control.

[0003] In related technologies, a scheme based on impedance control or a scheme based on traditional proportional-integral-derivative (PID) control is usually used to construct a boundary impedance to solve the above problem. Specifically, the scheme based on impedance control sets a virtual buffer interval before the mechanical hard stop, and virtually sets the buffer interval as a spring-damper system. The position deviation between the joint position and the position of the boundary of the buffer interval is calculated in real time, and the corresponding impedance force is generated according to the preset stiffness and damping parameters to simulate the physical buffer effect and prevent the joint from further moving. The scheme based on traditional PID control directly maps the position error signal of the joint in the buffer interval through the linear combination of the proportional, integral and derivative three links to the impedance force output for controlling the movement of the joint. However, both of the above schemes have the problem of low reliability when preventing the joint from colliding with the hard stop. SUMMARY

[0004] The present application provides a boundary force control method and device based on gravity balance to improve the problem of low reliability when preventing the joint from colliding with the hard stop by using the scheme in related technologies.

[0005] In a first aspect, the present application provides a boundary force control method based on gravity balance, applied to a master console of a minimally invasive surgical robot, which comprises:

[0006] obtaining current position information of a joint in a mechanical arm of the master console;

[0007] Determine whether the joint enters the preset limit buffer interval based on the current position information, the limit buffer interval being between the free movement interval of the joint and the mechanical hard limit of the joint.

[0008] In a case where it is determined that the joint enters the limit buffer interval, dynamically generate a boundary force for preventing the joint from moving towards the mechanical hard limit based on the current position information and a gravity balance force of the joint, wherein the gravity balance force is a force for canceling the gravity of the joint in the force control mode.

[0009] In a possible implementation, the dynamically generating the boundary force for preventing the joint from moving towards the mechanical hard limit based on the current position information and the gravity balance force of the joint includes: determining an increment coefficient based on an excitation function and the current position of the joint in the limit buffer interval; multiplying the increment coefficient and the gravity balance force of the joint to obtain an impedance force; obtaining a movement speed of the joint and generating a speed damping force opposite to the direction of the movement speed based on the movement speed; and adding the impedance force and the speed damping force to obtain the boundary force.

[0010] In a possible implementation, the determining the increment coefficient based on the excitation function and the current position of the joint in the limit buffer interval includes: determining a normalized position parameter according to the positional relationship between the current position of the joint in the limit buffer interval and the start point of the limit buffer interval; inputting the normalized position parameter into the excitation function to obtain a corresponding output value from the excitation function as the increment coefficient, wherein the excitation function is configured to output 0 when the normalized position parameter is 0, and continuously and monotonically increase the output value from 0 to 1 when the normalized position parameter continuously increases in the range of 0 to 1.

[0011] In a possible implementation, the limit buffer interval is divided into a plurality of continuous subintervals, and an interval start coefficient and an interval slope are predefined for each subinterval, and the determining the increment coefficient based on the excitation function and the current position of the joint in the limit buffer interval includes: determining a target subinterval in which the joint is located according to the current position of the joint in the limit buffer interval; obtaining the interval start coefficient and the interval slope corresponding to the target subinterval; and determining the increment coefficient according to the local offset of the current position in the target subinterval, the interval start coefficient and the interval slope corresponding to the target subinterval, wherein the interval start coefficient and the interval slope of each subinterval are cooperatively configured to jointly form a continuous and monotonically increasing piecewise linear trajectory of the increment coefficient in the limit buffer interval, with the start point being 0 and the end point being 1.

[0012] In a possible implementation, the motion speed of the joint is acquired, and a speed damping force opposite to the direction of the motion speed is generated based on the motion speed, including: acquiring an instantaneous speed of the joint moving towards the mechanical hard limit; multiplying the instantaneous speed by a damping gain coefficient to generate the speed damping force, the damping gain coefficient being dynamically determined based on the current load of the joint and / or an incremental coefficient.

[0013] In a possible implementation, the boundary force control method based on gravity balance further includes: acquiring a work condition selection instruction of the user; determining a target work condition based on the work condition selection instruction, and judging whether the target work condition matches a currently effective work condition; if not, dynamically adjusting the interval range size of the limit buffer interval and / or the maximum amplitude of the boundary force according to a preset work condition-parameter mapping relationship.

[0014] In a second aspect, the present application provides a boundary force control device based on gravity balance, applied to a master console of a minimally invasive surgical robot, and the device includes:

[0015] An acquisition module is configured to acquire current position information of a joint in a mechanical arm of the master console;

[0016] A judgment module is configured to judge, based on the current position information, whether the joint enters a preset limit buffer interval, the limit buffer interval being between a free motion range of the joint and a mechanical hard limit of the joint;

[0017] A processing module is configured to, in a case where it is determined that the joint enters the limit buffer interval, dynamically generate, based on the current position information and a gravity balance force of the joint, a boundary force for preventing the joint from moving towards the mechanical hard limit; the gravity balance force is a force for canceling the gravity of the joint in a force control mode.

[0018] In a third aspect, the present application provides an electronic device, including: a processor, and a memory in communication connection with the processor;

[0019] The memory is configured to store computer execution instructions;

[0020] The processor is configured to execute the computer execution instructions stored in the memory, so as to implement the method of any one of the first aspect.

[0021] In a fourth aspect, the present application provides a computer readable storage medium, the computer readable storage medium storing computer execution instructions, the computer execution instructions being executed to implement the method of any one of the first aspect.

[0022] In a fifth aspect, the present application provides a computer program product, including a computer program, the computer program being executed to implement the method of any one of the first aspect.

[0023] The boundary force control method, device, equipment, and medium based on gravity balance provided in this application are applied to the main control console of a minimally invasive surgical robot. The method includes: acquiring the current position information of a joint in the robotic arm of the main control console; determining, based on the current position information, whether the joint has entered a preset limit buffer zone, the limit buffer zone being located between the joint's free movement zone and the joint's mechanical hard limit; if it is determined that the joint has entered the limit buffer zone, dynamically generating a boundary force to prevent the joint from moving towards the mechanical hard limit based on the current position information and the joint's gravity balance force; wherein, the gravity balance force is a force used to counteract the joint's own weight in force control mode. In this process, a limiting buffer zone is established between the joint's free movement zone and its mechanical hard limit. Based on the gravitational balance force used to counteract its own weight, boundary forces are dynamically generated according to the current position information. This ensures that the generation of boundary forces naturally matches the joint load, reducing reliability issues caused by parameter mismatch in traditional impedance control. Simultaneously, it eliminates the real-time calculation stage of the complex virtual spring-damping system, significantly reducing computational complexity and cost. Furthermore, since the boundary force originates directly from internal force adjustment rather than external mapping, the impedance force smoothly converges with position changes when the joint exits the limiting buffer zone, effectively eliminating residual interference forces generated by the integral element in traditional PID control. In summary, the proposed solution provides smooth, stable, and residual impedance forces when approaching the mechanical hard limit, effectively preventing collisions while ensuring the continuity and safety of the surgical procedure, thus significantly improving the control robustness and operational reliability of the joint near the mechanical hard limit. Attached Figure Description

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

[0025] Figure 1 A schematic flowchart of a boundary force control method based on gravity balance provided for an exemplary embodiment of this application;

[0026] Figure 2 Another schematic flowchart of a boundary force control method based on gravity balance provided for an exemplary embodiment of this application;

[0027] Figure 3 A schematic diagram of a boundary force control device based on gravity balance provided for an exemplary embodiment of this application;

[0028] Figure 4 A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application.

[0029] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0030] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0031] The terms “first,” “second,” etc., used in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, products, or apparatus.

[0032] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0033] In related technologies, although impedance control-based schemes can construct boundary impedance forces by adjusting damping parameters, their control is complex and computationally expensive. Furthermore, they heavily rely on preset stiffness and damping parameters, resulting in poor adaptability to varying joint loads. Inappropriate parameters may lead to reduced reliability. On the other hand, schemes based on traditional PID control are more sensitive and demanding in setting controller parameters (especially the integral term). Crucially, due to the inherent characteristics of the integral term, the controller will still maintain a non-zero residual output force after the joint exits the impedance boundary. This unexpected and persistent residual force is considered a harmful external interference in delicate surgical procedures, directly affecting the continuity and safety of the surgical process.

[0034] To address the aforementioned issues, this application provides a boundary force control scheme based on gravity balance. By establishing a limit buffer zone before the mechanical hard limit as a safety barrier, and transforming the gravity balance force used for gravity compensation within the system into the basis for constructing the boundary force, when a joint is detected entering this buffer zone, a boundary force is dynamically generated based on the joint's current position information and its gravity balance force to prevent the joint from moving towards the mechanical hard limit. This ensures that the generation of the boundary force naturally matches the joint load, reducing reliability issues caused by parameter mismatch in traditional impedance control. Simultaneously, it eliminates the need for real-time calculations of a complex virtual spring-damping system, significantly reducing computational complexity and cost. Furthermore, since the boundary force originates directly from internal force adjustment rather than external mapping, the impedance force can smoothly converge with position changes when the joint exits the limit buffer zone, effectively eliminating residual interference forces generated by the integral element in traditional PID control. In summary, the solution proposed in this application can provide smooth, stable and residual resistance when approaching mechanical hard limits, effectively preventing collisions while ensuring the continuity and safety of the surgical procedure, thereby significantly improving the control robustness and operational reliability of the joint near mechanical hard limits.

[0035] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0036] Figure 1 This is a flowchart illustrating a boundary force control method based on gravity balance, provided as an exemplary embodiment of this application. The boundary force control method based on gravity balance provided in this embodiment is applied to the main control console of a minimally invasive surgical robot. Figure 1 As shown, the boundary force control method based on gravity equilibrium includes the following steps:

[0037] S101. Obtain the current position information of the middle joint of the robotic arm on the main control panel.

[0038] In this context, the main control console refers to the input device directly operated by the surgeon in the minimally invasive surgical robot system. It is usually one or more biomimetic robotic arms used to transmit the surgeon's hand movement commands to the patient's slave hand. The joints refer to the kinematic pairs that make up the main control console robotic arm, usually including rotary joints and prismatic joints. Each joint has a specific degree of freedom within its range of motion. The current position information refers to the physical quantity that describes the position of the joint on its motion axis, which is measured in real time by sensors (such as high-precision encoders, rotary transformers, or grating rulers). It is usually expressed as an angle (for rotary joints) or a displacement (for prismatic joints).

[0039] For example, the main control console uses sensors, such as high-precision absolute position encoders, installed at each joint of the main control console's robotic arm to read and calculate the absolute angle of each joint in real time (e.g., the current angle of joint 1 is...). This position information is sampled and transmitted to the main control console at a fixed control cycle (e.g., 1 kHz) as the basis for determining the joint state and boundary forces.

[0040] S102. Based on the current position information, determine whether the joint has entered the preset limit buffer zone, which is located between the joint's free movement zone and the joint's mechanical hard limit.

[0041] Among them, the limit buffer zone is a virtual area preset before the mechanical hard limit. This area is the range of action that begins to intervene and generate boundary forces. Its purpose is to provide a smooth force feedback buffer before a physical collision occurs. The free movement zone refers to the normal working area where the joint can move freely without triggering any boundary resistance forces. The mechanical hard limit is a physical stop device set to prevent the joint movement from exceeding the safe range. It is the absolute physical limit of the joint movement.

[0042] For example, suppose the mechanical hard limit of a joint is θ_limit= The preset limit buffer space is [ , ); Compare the real-time joint position θ_current obtained in step S101 with this interval; if θ_current < If the joint is in the free movement zone, it is determined that no additional force is applied to the joint; if ≤θ_current< If the condition is met, it is determined that the joint has entered the limit buffer zone, and the boundary force generation step in step S103 is triggered.

[0043] S103. When it is determined that the joint has entered the limit buffer zone, based on the current position information and the gravity balance force of the joint, a boundary force is dynamically generated to prevent the joint from moving toward the mechanical hard limit; wherein, the gravity balance force is a force used to counteract the weight of the joint itself in force control mode.

[0044] Among them, the boundary force is the final composite force generated to prevent the joint from colliding with the mechanical hard limit, and its direction is opposite to the direction of movement toward the hard limit; dynamic generation means that the magnitude and change of the boundary force are not fixed, but are calculated continuously and smoothly based on the real-time position and motion state of the joint in the buffer zone; the gravity balance force is specifically the compensating force or compensating torque that the system determines and outputs in real time in force control mode to counteract the sagging effect caused by the weight of the robotic arm linkage and the joint itself. This force makes the doctor feel that the robotic arm is in a "weightless" state during operation.

[0045] For example, once a joint is determined to have entered a limit buffer zone, a control factor starting from 0 and continuously changing with position is determined based on the joint's real-time position within the buffer zone using a preset control strategy. This control factor reflects the "weight" of the joint's approach to danger. Then, this control factor is coupled with the joint's current gravitational balance force (e.g., multiplication or other functional relationship) to generate a positional resistance force. This force essentially partially and progressively "restores" the gravity offset by the system, causing the operator to feel an increasingly strong resistance preventing movement towards the mechanical hard limit. Since this force originates from the gravitational balance force, its magnitude matches the joint's real-time load. Correspondingly, to ensure a smooth and vibration-free control process, the joint's movement speed is considered, generating a stabilizing force component (e.g., damping force) related to the movement speed. This component's direction is opposite to the movement direction, used to absorb kinetic energy and suppress overshoot and oscillation. Furthermore, the positional resistance force and the stabilizing force component are synthesized to obtain a boundary force, which is output to the joint's actuator. The boundary force is smooth and stable, and when the joint exits the buffer zone, it disappears completely as the control factor returns to zero, without generating any residual interference.

[0046] The boundary force control method based on gravity balance provided in this application establishes a limit buffer zone between the joint's free movement zone and its mechanical hard limit. Based on the gravity balance force used to counteract its own weight, the boundary force is dynamically generated according to the current position information. This ensures that the generated boundary force naturally matches the joint load, reducing reliability issues caused by parameter mismatch in traditional impedance control. It also eliminates the real-time calculation step of the complex virtual spring-damping system, significantly reducing computational complexity and cost. Furthermore, since the boundary force originates directly from internal force adjustment rather than external mapping, the impedance force can smoothly converge with position changes when the joint exits the limit buffer zone, effectively eliminating residual interference forces generated by the integral element in traditional PID control. In summary, the solution of this application can provide smooth, stable, and residual impedance forces when approaching the mechanical hard limit, effectively preventing collisions while ensuring the continuity and safety of the surgical procedure, thereby significantly improving the control robustness and operational reliability of the joint near the mechanical hard limit.

[0047] In some embodiments, based on the current position information and the gravitational balance force of the joint, a boundary force is dynamically generated to prevent the joint from moving toward a mechanical hard limit. This includes: determining an increment coefficient based on the excitation function and the current position of the joint within the limit buffer zone; multiplying the increment coefficient by the gravitational balance force of the joint to obtain an impedance force; obtaining the joint's movement velocity and generating a velocity damping force in the opposite direction to the movement velocity; and adding the impedance force and the velocity damping force to obtain the boundary force.

[0048] For example, based on the joint's current position within the limiting buffer zone, an incremental coefficient k between 0 and 1 is obtained according to a predetermined mapping rule. For instance, at the entrance of the limiting buffer zone, k=0; at the midpoint of the limiting buffer zone, k=0.5; and when about to touch the mechanical hard stop, k=1. Accordingly, the joint's inherent gravity balancing force F_gravity (e.g., 10N) is obtained, and the resistive force is determined. When k=0.5, the resistance force is 5N, and its direction is the same as the direction of gravity. It acts as a resistance that prevents the joint from moving further in the limiting direction.

[0049] In some embodiments, obtaining the joint's motion velocity and generating a velocity-damping force opposite to the motion velocity based on the motion velocity includes: obtaining the instantaneous velocity of the joint moving toward a mechanical hard limit; multiplying the instantaneous velocity by a damping gain coefficient to generate a velocity-damping force, wherein the damping gain coefficient is dynamically determined based on the joint's current load and / or incremental coefficient.

[0050] For example, based on sensors at the joint, such as a high-precision absolute position encoder, the instantaneous velocity v (e.g., 0.1 m / s) of the joint toward the hard limit is read and calculated in real time. This velocity is then multiplied by a preset damping gain coefficient B (e.g., 50 N·s / m) to obtain the velocity-damping force. The direction of the velocity damping force is opposite to the direction of motion. Furthermore, combining the two forces, for example, F_boundary = F_impedance + F_damping = 5N + (-5N) = 0N, in this case, since the velocity damping force exactly cancels out the resistance force, the operator will temporarily not feel the thrust. However, once the speed is reduced, for example to 0.05 m / s, the resistance force remains at 5N, the damping force drops to -2.5N, and the resultant force becomes 2.5N. This dynamic adjustment mechanism ensures effective buffering during rapid movement and precise force feedback at low speeds, thus providing a dynamic and stable blocking effect that is related to both position and speed.

[0051] Regarding the damping gain coefficient, one implementation method dynamically determines it based on the current load of the joint. The greater the load, the greater the inertia, requiring a stronger damping force to suppress motion overshoot and oscillation. Specifically, the current load M (in kg) of the joint is estimated in real time using a joint torque sensor, and then the damping gain coefficient is determined according to a preset mapping relationship, for example... Where B_base is the base damping coefficient (e.g., 30 N·s / m), and k_m is the load gain coefficient (e.g., 10 N·s / m / kg). For example, when the joint load M increases from 1 kg to 2 kg, the damping gain B increases from 30 + 10 * 1 = 40 N·s / m to... This allows for the automatic provision of greater damping force when the load increases, effectively suppressing swaying that may be caused by increased inertia and ensuring a smooth braking process.

[0052] In another implementation, the damping gain coefficient is dynamically determined based on an incremental coefficient k. Since the incremental coefficient k reflects the depth of the joint within the limiting buffer zone, the closer to the mechanical hard limit, the greater the resistance and the correspondingly stronger the damping force should be to cope with potentially higher approach velocities and further suppress end jitter. Specifically, the incremental coefficient k is directly used to modulate the damping gain coefficient, for example... Where γ is the position modulation factor (e.g., 1.5). For example, when the joint is at the buffer inlet (k=0), When the joint extends to the midpoint of the buffer zone (k=0.5), This mechanism allows the damping force to increase synergistically as the joint approaches the hard limit, achieving a smoother and more stable deceleration process in conjunction with the resistance force.

[0053] In another implementation, the damping gain coefficient is determined dynamically based on the combined load and incremental coefficients. Optimal damping configuration is achieved by comprehensively considering load inertia and position state. For example... For example, when a heavily loaded (M=2kg) joint moves to the midpoint of the buffer zone (k=0.5), if the parameters are the same as above, then... This implementation method can accurately match the real-time dynamic needs of the system, ensuring optimal buffering and braking effects under various complex operating conditions. By introducing a dynamic determination mechanism for the damping gain coefficient, it effectively overcomes the limitations of fixed-parameter damping, achieving intelligent damping adjustment that adapts to load and position. This not only further eliminates speed abrupt changes and residual oscillations during braking, but also significantly enhances robustness to different surgical instruments (loads) and operating speeds, thus providing users with a stable and reliable force interaction experience.

[0054] This embodiment uses the inherent gravitational balance force of the system as the impedance base and achieves smooth adjustment of the impedance force through position-related incremental coefficients. This results in a natural match between the output torque and the joint load, effectively improving the control instability problem caused by model simplification and parameter mismatch in traditional impedance control. Simultaneously, combined with a velocity feedforward damping compensation mechanism, it effectively suppresses motion oscillations near the boundary. This control strategy based on dynamic reconstruction of the system's internal forces enables continuous convergence of torque to zero when the joint exits the buffer zone, effectively eliminating the residual disturbance torque caused by integral saturation in traditional PID control. This creates a stable and undisturbed dynamic force field near the mechanical hard limit, ensuring both collision avoidance reliability and the continuity and force control accuracy of the surgical procedure.

[0055] In some embodiments, the increment coefficient is determined based on the activation function and the current position of the joint within the limiting buffer zone, including: determining a normalized position parameter based on the positional relationship between the current position of the joint within the limiting buffer zone and the starting point of the limiting buffer zone; inputting the normalized position parameter to the activation function to obtain the corresponding output value from the activation function as the increment coefficient; wherein the activation function is configured such that: when the normalized position parameter is 0, the output value is 0; when the normalized position parameter continuously increases within the range of 0 to 1, the output value continuously and monotonically increases from 0 to 1.

[0056] For example, suppose the limiting buffer zone of a joint physically extends from angle θ_start (e.g., 150°) to θ_end (e.g., 170°). When the joint moves to 155°, its normalized position parameter P = (current position - interval start) / (interval end - interval start) = (155 - 150) / (170 - 150) = 0.25. This shows that regardless of the actual physical range of the buffer zone, it is uniformly mapped to the mathematical interval [0, 1]. Correspondingly, inputting this normalized parameter P into a predefined activation function yields the increment coefficient k. The design of this function directly determines the feel of operation and the dynamic response characteristics of the system.

[0057] Accordingly, embodiments of this application provide a variety of optional function forms to adapt to different clinical needs. Specifically, in one implementation, the function can be a simple linear function, such as k=P, with an output increment coefficient k=0.25. This implementation can provide impedance with a constant growth rate.

[0058] In another implementation, to achieve a smoother start and end point, a nonlinear function, such as a cubic function k=P³, can be used. In this case, with an input P=0.25, the resulting increment coefficient k=0.015625. This value is much smaller than that of a linear function, making the resistance increase very slowly in the initial stage of the buffer, thus resulting in a gentler surgical feel. Through this implementation, the increment coefficient increases extremely slowly in the initial stage of the buffer, making the resistance almost imperceptible and providing the surgeon with ample operational margin. As the hard limit approaches, the coefficient increases rapidly, achieving decisive braking. This "soft-then-hard" characteristic greatly enhances the gentleness and precision of the operation.

[0059] In another implementation, the function can also be a sigmoid function, which satisfies the following formula:

[0060]

[0061] Where α is the steepness factor and β is the offset, assuming α=12, β=0.5, and input P=0.25, then the output k≈0.05. Through this implementation, the function's derivative is close to zero at the start and end points, with smooth transitions in between. This completely eliminates any minor abrupt changes in force perception at the boundaries between buffer zones, achieving seamless entry and exit, and providing a higher level of operational stability.

[0062] In some embodiments, the limiting buffer zone is divided into multiple continuous sub-intervals, and each sub-interval has a predefined interval start coefficient and interval slope. Based on the activation function and the current position of the joint within the limiting buffer zone, the increment coefficient is determined, including: determining the target sub-interval where the joint is located based on the current position of the joint within the limiting buffer zone; obtaining the interval start coefficient and interval slope corresponding to the target sub-interval; determining the increment coefficient based on the local offset of the current position within the target sub-interval, the interval start coefficient and interval slope corresponding to the target sub-interval; wherein, the interval start coefficient and interval slope of each sub-interval are coordinated to form a continuous and monotonically increasing piecewise linear trajectory of the increment coefficient within the limiting buffer zone from a starting point of 0 to an ending point of 1.

[0063] For example, the entire limit buffer zone (normalized position 0~1) is divided into two sub-intervals, such as interval A corresponding to normalized position 0~0.6 and interval B corresponding to normalized position 0.6~1.0. Key parameters are predefined for each sub-interval, where the starting coefficient S_A=0 and the slope K_A=0.5 for interval A; the starting coefficient S_B=0.3 and the slope K_B=1.75 for interval B. The starting coefficient 0.3 of interval B is determined by the output value of interval A at the boundary point (S_A+K_A×0.6=0+0.5×0.6=0.3), while the slope K_B=1.75 is calculated by ensuring that the output of interval B at the end point is 1, which is (1-0.3) / (1.0-0.6)=1.75. This parameter configuration ensures that the output values ​​of each sub-interval are continuous at the connection point.

[0064] Accordingly, when the joint moves to the normalized position P=0.25, it is identified that the current position P=0.25 is within interval A (0~0.6). The predefined parameters for interval A, the initial coefficient S_A=0 and the slope K_A=0.5, are called to determine the local offset within interval A: P - interval start point = 0.25 - 0 = 0.25. Then, the incremental coefficient is calculated based on the linear relationship: k = S_A + (K_A × local offset) = 0 + =0.125. This segmented approach allows for a gentler slope (K_A=0.5) in the first half of the buffer zone (interval A), resulting in a slow increase in the increment coefficient. For example, when P=0.25, k is only 0.125, corresponding to a smaller resistance, providing the operator with ample operational margin and a gentle force perception, suitable for precise position adjustments. In the second half (interval B), a steeper slope (K_B=1.75) is used, causing the increment coefficient to increase rapidly. For example, when P=0.8, k=0.3+1.75×(0.8-0.6)=0.65, significantly enhancing the resistance and creating a clear stopping effect, effectively preventing collisions. This segmented linear strategy achieves a "soft-then-hard" intelligent anti-collision mechanism: providing a gentle warning in the early stages to allow for precise operation, and establishing a firm barrier in the later stages to ensure safe braking. This customizable force growth curve satisfies the flexibility requirements of surgical operations while ensuring the system's reliability in hazardous areas, offering better adaptability to different operating conditions compared to a single linear or nonlinear function.

[0065] In this embodiment, by dividing the buffer zone into multiple sub-intervals and independently configuring the initial coefficient and interval slope for each interval, precise control and flexible customization of the boundary force growth law are achieved. This design allows the system to provide gentle force feedback with a smaller slope in the first half of the buffer zone, leaving sufficient margin for fine operation; while in the second half near the hard limit, a clear stopping effect is established with a larger slope, forming a gradient tactile experience of "soft first, hard later". Moreover, the parameters of each sub-interval are coordinated to ensure that the incremental coefficient increases continuously and monotonically, which not only eliminates the jitter that may be caused by sudden changes in force output, but also ensures real-time control efficiency through simplified calculation of piecewise linearization. Ultimately, while maintaining the smoothness of operation, it achieves graded warning and reliable prevention of collision risks.

[0066] In some embodiments, the boundary force control method based on gravity balance further includes: obtaining the user's working condition selection instruction; determining the target working condition based on the working condition selection instruction, and determining whether the target working condition matches the currently effective working condition; if they do not match, dynamically adjusting the range size of the limit buffer zone and / or the maximum amplitude of the boundary force according to the preset working condition-parameter mapping relationship.

[0067] The condition-parameter mapping relationship is determined based on various typical surgical conditions and their corresponding combinations of control parameters. For example, Table 1 provides an example of the condition-parameter mapping relationship provided in an exemplary embodiment of this application.

[0068]

[0069] Among them, the precision operation mode is suitable for delicate surgeries such as vascular anastomosis and nerve separation; the rapid positioning mode is suitable for operations such as instrument repositioning and field of view adjustment; and the safety protection mode is suitable for teaching mode or high-risk area operations.

[0070] Accordingly, when a command is received via the user interface to switch from, for example, "delicate operation mode" to, for example, "rapid positioning mode", the following process is executed: the command is parsed to identify the target mode as "rapid positioning mode"; compared with the currently effective "delicate operation mode", it is confirmed that parameter switching needs to be performed; according to the preset mode-parameter mapping relationship, the angle range between the limit buffers is smoothly transitioned from 8° to 4°, and the maximum amplitude of the boundary force is gradually adjusted from 6N to 12N; furthermore, after all parameters have been adjusted, "rapid positioning mode is ready" is displayed on the user interface, and the doctor mode switching is prompted by tactile feedback (e.g., slight vibration).

[0071] In this embodiment, by establishing a preset working condition-parameter mapping relationship, the control parameters of the boundary force can be intelligently switched according to different surgical needs (such as delicate operation, rapid positioning, or safety protection). Upon receiving a working condition switching command, the range size between the limit buffer zones and the maximum amplitude of the boundary force can be dynamically adjusted. This provides a loose and gentle boundary protection to reduce interference during delicate operation, achieves efficient alerts through a compact range and moderate amplitude during rapid positioning, or ensures high reliability with a wide range and high amplitude in safety protection mode. This on-demand adjustable flexible boundary control strategy significantly enhances the adaptability of the surgical robot to different surgical procedures and operating habits while ensuring collision protection functions, effectively improving the overall system's intelligence level and clinical applicability.

[0072] Figure 2 Another schematic flowchart of a boundary force control method based on gravity balance provided for an exemplary embodiment of this application. Figure 2 As shown, the boundary force control method based on gravity equilibrium includes the following steps:

[0073] S201. Obtain the current position information of the joints in the robotic arm on the main control panel.

[0074] S202. Based on the current position information, determine whether the joint has entered the preset limit buffer zone, which is located between the joint's free movement zone and the joint's mechanical hard limit.

[0075] If so, execute S203;

[0076] If not, proceed with S201.

[0077] S203. Determine the normalized position parameters based on the positional relationship between the current position of the joint within the limit buffer zone and the starting point of the limit buffer zone.

[0078] S204. Input the normalized position parameters into the excitation function to obtain the corresponding output value from the excitation function as the increment coefficient.

[0079] The activation function is configured such that when the normalized position parameter is 0, the output value is 0; when the normalized position parameter increases continuously from 0 to 1, the output value increases continuously and monotonically from 0 to 1.

[0080] S205. Multiply the incremental coefficient by the gravitational balance force of the joint to obtain the resistance force.

[0081] S206. Obtain the joint's motion velocity and generate a velocity damping force in the opposite direction to the motion velocity based on the motion velocity.

[0082] S207. Add the resistance force and the velocity damping force to obtain the boundary force.

[0083] Furthermore, the boundary force is output to the joint's actuator. This boundary force is smooth and stable, and it disappears completely when the joint exits the buffer as the control factor returns to zero, without generating any residual interference.

[0084] In summary, this application has at least the following advantages:

[0085] First, by establishing a limiting buffer zone between the joint's free movement zone and its mechanical hard limit, and using the gravitational balance force to counteract its own weight as a basis, the boundary force is dynamically generated based on the current position information. This ensures that the generation of the boundary force naturally matches the joint load, reducing reliability issues caused by parameter mismatch in traditional impedance control. Simultaneously, it eliminates the real-time calculation stage of the complex virtual spring-damping system, significantly reducing computational complexity and cost. Furthermore, since the boundary force originates directly from internal force adjustment rather than external mapping, the impedance force smoothly converges with position changes when the joint exits the limiting buffer zone, effectively eliminating residual interference forces generated by the integral element in traditional PID control. In summary, the proposed solution provides smooth, stable, and residual impedance forces when approaching the mechanical hard limit, effectively preventing collisions while ensuring the continuity and safety of the surgical procedure, thus significantly improving the control robustness and operational reliability of the joint near the mechanical hard limit.

[0086] Second, by using the system's inherent gravitational balance force as the impedance base and achieving smooth adjustment of the impedance force through position-related incremental coefficients, the output torque is naturally matched with the joint load, effectively improving the control instability problem caused by model simplification and parameter mismatch in traditional impedance control. Simultaneously, combined with a velocity feedforward damping compensation mechanism, motion oscillations near the boundary are effectively suppressed. This control strategy based on dynamic reconstruction of the system's internal forces can achieve continuous torque convergence to zero when the joint exits the buffer zone, effectively eliminating the residual disturbance torque caused by integral saturation in traditional PID control. This creates a stable and undisturbed dynamic force field in the vicinity of the mechanical hard limit, ensuring both collision avoidance reliability and the continuity and force control accuracy of the surgical procedure.

[0087] Third, by dividing the buffer zone into multiple sub-intervals and independently configuring the initial coefficient and interval slope for each interval, precise control and flexible customization of the boundary force growth law are achieved. This design allows the system to provide gentle force feedback with a smaller slope in the first half of the buffer zone, leaving sufficient margin for fine operation; while in the second half, which is close to the hard limit, a clear stopping effect is established with a larger slope, forming a gradient tactile experience of "soft first, hard later". Moreover, the parameters of each sub-interval are coordinated to ensure that the incremental coefficient increases continuously and monotonically, which not only eliminates the jitter that may be caused by sudden changes in force output, but also ensures real-time control efficiency through simplified calculation of piecewise linearization. Finally, while maintaining the smoothness of operation, it achieves graded early warning and reliable prevention of collision risks.

[0088] Fourth, by establishing a preset working condition-parameter mapping relationship, the control parameters of the boundary force can be intelligently switched according to different surgical needs (such as delicate operation, rapid positioning, or safety protection). Upon receiving a working condition switching command, the range size of the limit buffer zone and the maximum amplitude of the boundary force can be dynamically adjusted. This provides a loose and gentle boundary protection to reduce interference during delicate operation, achieves efficient alerts through a compact range and moderate amplitude during rapid positioning, or ensures high reliability with a wide range and high amplitude in safety protection mode. This on-demand adjustable flexible boundary control strategy significantly enhances the adaptability of the surgical robot to different surgical procedures and operating habits while ensuring collision protection functions, effectively improving the overall system's intelligence level and clinical applicability.

[0089] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0090] Figure 3 This is a schematic diagram of a boundary force control device based on gravity balance, provided as an exemplary embodiment of this application. The boundary force control device based on gravity balance provided in this embodiment is applied to the main control console of a minimally invasive surgical robot. Figure 3 As shown, the boundary force control device 30 based on gravity balance includes an acquisition module 31, a judgment module 32, and a processing module 33, wherein:

[0091] The acquisition module 31 is used to acquire the current position information of the joints in the robotic arm of the main control console;

[0092] The judgment module 32 is used to determine whether the joint has entered the preset limit buffer zone based on the current position information. The limit buffer zone is located between the free movement area of ​​the joint and the mechanical hard limit of the joint.

[0093] The processing module 33 is used to dynamically generate a boundary force to prevent the joint from moving toward the mechanical hard limit when it is determined that the joint has entered the limit buffer zone, based on the current position information and the gravity balance force of the joint; wherein, the gravity balance force is a force used to counteract the weight of the joint itself in force control mode.

[0094] In one possible implementation, the processing module 33 may be specifically used to: determine the incremental coefficient based on the excitation function and the current position of the joint within the limit buffer; multiply the incremental coefficient by the gravitational balance force of the joint to obtain the impedance force; obtain the movement speed of the joint and generate a velocity damping force in the opposite direction to the movement speed based on the movement speed; and add the impedance force and the velocity damping force to obtain the boundary force.

[0095] In one possible implementation, the processing module 33 can also be used to: determine a normalized position parameter based on the positional relationship between the current position of the joint within the limit buffer and the starting point of the limit buffer; input the normalized position parameter to the activation function to obtain the corresponding output value from the activation function as an incremental coefficient; wherein the activation function is configured such that: when the normalized position parameter is 0, the output value is 0; when the normalized position parameter continuously increases within the range of 0 to 1, the output value continuously and monotonically increases from 0 to 1.

[0096] In one possible implementation, the limiting buffer zone is divided into multiple continuous sub-intervals, and each sub-interval has a predefined interval start coefficient and interval slope. The processing module 33 can also be used to: determine the target sub-interval where the joint is located based on the current position of the joint in the limiting buffer zone; obtain the interval start coefficient and interval slope corresponding to the target sub-interval; determine the increment coefficient based on the local offset of the current position in the target sub-interval, the interval start coefficient and interval slope corresponding to the target sub-interval; wherein, the interval start coefficient and interval slope of each sub-interval are configured collaboratively to make the increment coefficient form a continuous and monotonically increasing piecewise linear trajectory from the starting point 0 to the ending point 1 in the limiting buffer zone.

[0097] In one possible implementation, the processing module 33 can also be used to: acquire the instantaneous velocity of the joint moving toward the mechanical hard limit; multiply the instantaneous velocity by the damping gain coefficient to generate a velocity damping force, wherein the damping gain coefficient is dynamically determined based on the current load and / or incremental coefficient of the joint.

[0098] In one possible implementation, the processing module 33 can also be used to: obtain the user's working condition selection instruction; determine the target working condition based on the working condition selection instruction, and determine whether the target working condition matches the currently effective working condition; if they do not match, dynamically adjust the size of the interval range between the limit buffer and / or the maximum amplitude of the boundary force according to the preset working condition-parameter mapping relationship.

[0099] The boundary force control device based on gravity balance provided in this application embodiment can execute the technical solution shown in the above-described boundary force control method embodiment based on gravity balance. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0100] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0101] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0102] It should be noted that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways; and it should be understood that the division of the various modules of the above device is only a logical functional division, and in actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can all be implemented in software through processing element calls; they can all be implemented in hardware; or some modules can be implemented by processing element calls to software, and some modules can be implemented in hardware. For example, a processing module can be a separately established processing element, or it can be integrated into a chip of the above device. Alternatively, it can be stored as program code in the memory of the above device, and its functions can be called and executed by a processing element of the above device. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit in the hardware of the processor element or by software instructions.

[0103] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-On-a-Chip (SOC).

[0104] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Video Discs, DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0105] Figure 4 A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application. For example... Figure 4 As shown, the electronic device 40 in this embodiment includes:

[0106] At least one processor 41; and a memory 42 communicatively connected to the at least one processor;

[0107] The memory 42 stores instructions that can be executed by at least one processor 41 to cause the electronic device to perform the method as described in any of the above embodiments.

[0108] Alternatively, the memory 42 can be either standalone or integrated with the processor 41.

[0109] The memory 42 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0110] The processor 41 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Specifically, when implementing the boundary force control method based on gravity balance described in the foregoing method embodiments, the electronic device may be, for example, an electronic device with processing capabilities such as a server.

[0111] Optionally, the electronic device may also include a communication interface 43. In specific implementations, if the communication interface 43, memory 42, and processor 41 are implemented independently, they can be interconnected via a bus to complete communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not imply that there is only one bus or one type of bus.

[0112] Optionally, in a specific implementation, if the communication interface 43, memory 42 and processor 41 are integrated on a single chip, then the communication interface 43, memory 42 and processor 41 can communicate through an internal interface.

[0113] The implementation principle and technical effects of the electronic device provided in this embodiment can be found in the foregoing embodiments, and will not be repeated here.

[0114] This application also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are executed, they are used to implement the method steps as described in the above method embodiments. The specific implementation methods and technical effects are similar, and will not be repeated here.

[0115] The aforementioned computer-readable storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0116] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in a gravity-balanced boundary force control device.

[0117] This application also provides a computer program product, including a computer program that, when executed, implements the method steps as described in the above method embodiments. The specific implementation and technical effects are similar and will not be repeated here.

[0118] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0119] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0120] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A boundary force control method based on gravity equilibrium, characterized in that, A main control console for a minimally invasive surgical robot, the method comprising: Obtain the current position information of the joints in the robotic arm of the main control console; Based on the current position information, it is determined whether the joint has entered a preset limit buffer zone, which is located between the free movement zone of the joint and the mechanical hard limit of the joint; When it is determined that the joint has entered the limiting buffer zone, a boundary force is dynamically generated based on the current position information and the gravity balance force of the joint to prevent the joint from moving toward the mechanical hard limit; wherein, the gravity balance force is a force used to counteract the weight of the joint itself in force control mode.

2. The boundary force control method based on gravity equilibrium according to claim 1, characterized in that, The step of dynamically generating boundary forces to prevent the joint from moving toward the mechanical hard limit based on the current position information and the gravity balance force of the joint includes: The increment coefficient is determined based on the excitation function and the current position of the joint within the limiting buffer zone; Multiplying the incremental coefficient by the gravitational balance force of the joint yields the resistance force; The motion velocity of the joint is obtained, and a velocity damping force opposite to the direction of the motion velocity is generated based on the motion velocity; The boundary force is obtained by adding the impedance force and the velocity damping force.

3. The boundary force control method based on gravity equilibrium according to claim 2, characterized in that, The determination of the increment coefficient based on the excitation function and the current position of the joint within the limiting buffer includes: Based on the positional relationship between the current position of the joint within the limiting buffer zone and the starting point of the limiting buffer zone, the normalized position parameters are determined; The normalized position parameter is input to the excitation function to obtain the corresponding output value from the excitation function as the increment coefficient; The activation function is configured such that when the normalized position parameter is 0, the output value is 0; and when the normalized position parameter continuously increases within the range of 0 to 1, the output value continuously and monotonically increases from 0 to 1.

4. The boundary force control method based on gravity balance according to claim 2, characterized in that, The limiting buffer zone is divided into multiple consecutive sub-intervals, and each sub-interval has a predefined interval start coefficient and interval slope. The determination of the increment coefficient based on the excitation function and the current position of the joint within the limiting buffer zone includes: Based on the current position of the joint within the limiting buffer zone, the target sub-interval in which the joint is located is determined; Obtain the interval starting coefficient and interval slope corresponding to the target sub-interval; The increment coefficient is determined based on the local offset of the current position within the target sub-interval, the interval start coefficient and the interval slope corresponding to the target sub-interval; The interval starting coefficient and interval slope of each sub-interval are configured in a coordinated manner so that the incremental coefficient forms a continuous and monotonically increasing piecewise linear trajectory from the starting point of 0 to the ending point of 1 within the limit buffer zone.

5. The boundary force control method based on gravity equilibrium according to claim 2, characterized in that, The step of acquiring the motion velocity of the joint and generating a velocity damping force in the opposite direction to the motion velocity includes: Obtain the instantaneous velocity of the joint moving toward the mechanical hard limit; The instantaneous velocity is multiplied by the damping gain coefficient to generate the velocity damping force, wherein the damping gain coefficient is dynamically determined based on the current load of the joint and / or the incremental coefficient.

6. The boundary force control method based on gravity equilibrium according to any one of claims 1 to 5, characterized in that, Also includes: Obtain the user's operating condition selection command; The target working condition is determined based on the working condition selection instruction, and it is determined whether the target working condition matches the currently effective working condition. If there is a mismatch, the size of the interval range between the limit buffer zones and / or the maximum amplitude of the boundary force will be dynamically adjusted according to the preset working condition-parameter mapping relationship.

7. A boundary force control device based on gravity balance, characterized in that, A main control console for a minimally invasive surgical robot, the device comprising: The acquisition module is used to acquire the current position information of the joints in the robotic arm of the main control console; The judgment module is used to determine, based on the current position information, whether the joint has entered a preset limit buffer zone, wherein the limit buffer zone is located between the free movement zone of the joint and the mechanical hard limit of the joint; The processing module is configured to, when it is determined that the joint has entered the limiting buffer zone, dynamically generate a boundary force to prevent the joint from moving toward the mechanical hard limit based on the current position information and the gravity balance force of the joint; wherein, the gravity balance force is a force used to counteract the weight of the joint itself in force control mode.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executed instructions; The processor is configured to execute the computer execution instructions to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed, it implements the method as described in any one of claims 1 to 6.

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