Interventional surgery robot control system and method and storage medium

Abstract

The invention relates to an interventional operation robot control system and method and a storage medium. The system comprises a first controller, and the first controller obtains motion information of an instrument at the tail end of a mechanical arm; triggering a force feedback safety response according to the motion information; the force feedback safety response includes at least one of locking the master operator, disconnecting the master-slave enable control, a first clipping control, and a second clipping control. According to the interventional operation robot control system provided by the embodiment of the invention, the function implementation of the feedback information is considered, the safety judgment is carried out on the movement of the mechanical arm tail end instrument based on the feedback information, and the corresponding safety response is executed, so that the safety of master-slave control is improved. Besides, various safety response strategies are further provided for the interventional operation robot control system, so that safety response of the mechanical arm tail end instrument in different operation scenes is achieved, and reliability and comprehensiveness of safety control are improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a control system, method and storage medium for an interventional surgical robot. Background Technology

[0002] With the development of robotics technology, surgical robots are increasingly being used to assist doctors in performing interventional puncture procedures. In the control systems of these robots, master-slave control is incorporated to facilitate real-time adjustments to the posture of the surgical robotic arm and its end effector, enhancing the doctor's intuitive understanding. Simultaneously, to improve the sense of presence and obtain tactile information during the puncture process, master-slave force feedback is added to the master-slave control, allowing the doctor to actually feel the force applied to the end effector during the puncture, preventing contact with bone or other tissues and avoiding unnecessary harm to the patient.

[0003] However, traditional robot master-slave force feedback control has the problem of low safety. Summary of the Invention

[0004] Based on this, it is necessary to provide an interventional surgical robot control system, method, device, robot, computer equipment, computer-readable storage medium, and computer program product that can improve the control safety of the robotic arm under master-slave force feedback, addressing the aforementioned technical problems.

[0005] In a first aspect, this application provides an interventional surgical robot control system, which includes a first controller for performing the following steps:

[0006] Acquire motion information of the end effector of the robotic arm;

[0007] The force feedback safety response is triggered based on motion information; the force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control; the first limiting control includes transmitting a preset feedback force to the master manipulator, and the second limiting control includes transmitting a motion feedback force to the master manipulator, wherein the motion feedback force is related to the actual motion force of the end effector of the robotic arm.

[0008] In one embodiment, triggering a force feedback safety response based on motion information includes:

[0009] Based on motion information and preset abnormal judgment conditions, determine whether an abnormal touch event has occurred;

[0010] If an abnormal touch event occurs, at least one of the following actions will be executed: locking the master operator, disconnecting the master-slave enable control, and the first limit control.

[0011] If no abnormal touch event occurs, the second limit control is executed.

[0012] In one embodiment, determining whether an abnormal touch event has occurred based on motion information and preset abnormality determination conditions includes:

[0013] Determine whether the motion information meets the preset anomaly detection conditions;

[0014] If the preset abnormality judgment conditions are met, then an abnormal touch event is determined to have occurred.

[0015] In one embodiment, the motion information includes at least one of the following: the actual motion force of the robotic arm end effector, the rate of change of the actual motion force, the motion speed of the robotic arm end effector, the rate of change of the motion speed, and the motion feedback force corresponding to the actual motion force; the preset anomaly detection conditions include at least one of the following:

[0016] The actual motion force is greater than the first motion force threshold;

[0017] The rate of change of the actual kinetic force is greater than the threshold of the first rate of change of force.

[0018] The actual rate of change of the kinetic force is greater than the second rate of change threshold, and the kinetic speed is less than the first speed threshold;

[0019] The rate of change of the actual kinetic force is greater than the second force rate of change threshold, and the rate of change of the kinetic velocity is greater than the first velocity rate of change threshold;

[0020] The speed of motion is less than the second speed threshold, and the rate of change of the speed of motion is greater than the second rate of change threshold;

[0021] The motion feedback force is greater than the second motion force threshold;

[0022] Among them, the second force change rate threshold is less than the first force change rate threshold, the second velocity threshold is less than the first velocity threshold, and the second velocity change rate threshold is greater than the first velocity change rate threshold.

[0023] In one embodiment, after performing at least one of locking the master operator, disconnecting the master-slave enable control, and the first limiting control, the first controller is further configured to perform the following steps:

[0024] When the master operator is unlocked or in response to master-slave enable control, restrict the master operator from performing forward operations.

[0025] In one embodiment, the motion information includes the actual motion force of the end effector of the robotic arm, and a force feedback safety response is triggered based on the motion information, including:

[0026] Determine whether the actual motion force is greater than the third motion force threshold;

[0027] If the actual motion force is less than or equal to the third motion force threshold, then the first amplitude limiting control is executed;

[0028] If the actual motion force is greater than the third motion force threshold, then the second amplitude limiting control is executed.

[0029] In one embodiment, performing a second limiting control includes:

[0030] Extracting the actual motion force of the robotic arm's end effector from motion information;

[0031] The actual motion force is limited to obtain the motion feedback force corresponding to the actual motion force.

[0032] The motion feedback force is transmitted to the main controller.

[0033] In one embodiment, the actual motion force is limited to obtain the motion feedback force corresponding to the actual motion force, including:

[0034] If the current motion phase is the first motion phase, then the motion feedback force corresponding to the actual motion force is generated based on the actual motion force and the motion time parameters of the first motion phase.

[0035] In one embodiment, the actual motion force is limited to obtain the motion feedback force corresponding to the actual motion force, including:

[0036] If the current motion phase is the first motion phase, and the rate of change of the actual motion force is less than or equal to the threshold of the rate of change of the third force, then a motion feedback force corresponding to the actual motion force is generated based on the actual motion force and the motion time parameter of the first motion phase; the threshold of the rate of change of the second force is less than the threshold of the rate of change of the first force.

[0037] If the current motion phase is the first motion phase, and the rate of change of the actual motion force is greater than the threshold of the rate of change of the third force, then the motion feedback force corresponding to the actual motion force is generated based on the actual motion force, the actual motion force at the previous moment, and the motion time parameters of the second motion phase.

[0038] In one embodiment, the actual motion force is limited to obtain the motion feedback force corresponding to the actual motion force, including:

[0039] If the current motion phase is the second motion phase, and the rate of change of the actual motion force is greater than the threshold of the rate of change of the fourth force, then the motion feedback force corresponding to the actual motion force is generated based on the actual motion force, the actual motion force at the previous moment, and the motion time parameters of the second motion phase.

[0040] In one embodiment, the first controller is further configured to perform the following steps:

[0041] Determine whether the motion feedback force is greater than the actual motion force;

[0042] If the motion feedback force is greater than the actual motion force, then a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage.

[0043] Accordingly, the motion feedback force is transmitted to the main manipulator, including:

[0044] The new motion feedback force is transmitted to the main controller.

[0045] In one embodiment, the first controller is further configured to perform the following steps:

[0046] Determine whether the motion feedback force is greater than the fourth motion force threshold;

[0047] Accordingly, the motion feedback force is transmitted to the main manipulator, including:

[0048] If the motion feedback force is greater than the fourth motion force threshold, the motion feedback force will be transmitted to the main operator.

[0049] If the motion feedback force is less than or equal to the fourth motion force threshold, the preset feedback force will be transmitted to the main operator; if the preset feedback force is less than the fourth motion force threshold.

[0050] In one embodiment, the first controller is further configured to perform the following steps:

[0051] Determine whether the motion feedback force is greater than the fifth motion force threshold; the fifth motion force threshold is determined by the hand force applied to the main controller at the current moment, or by the standard for evaluating the magnitude of the motion feedback force;

[0052] Accordingly, the motion feedback force is transmitted to the main manipulator, including:

[0053] If the motion feedback force is less than or equal to the fifth motion force threshold, the motion feedback force is transmitted to the main operator.

[0054] If the motion feedback force is greater than the fifth motion force threshold, the force corresponding to the fifth motion force threshold will be transmitted to the main operator.

[0055] In one embodiment, the limiting process includes one of magnification mapping, reduction mapping, and original scale mapping; magnification mapping includes linear magnification mapping or nonlinear magnification mapping, and reduction mapping includes linear reduction mapping or nonlinear reduction mapping.

[0056] In one embodiment, the first controller is further configured to perform the following steps:

[0057] Obtain motion control commands; the motion control commands include the current position information of the end effector of the robotic arm;

[0058] When it is determined that the motion control command indicates the execution of a backward operation, and the backward distance indicated by the motion control command is greater than a preset distance threshold, the target position information of the robotic arm end effector is determined based on the position information of the robotic arm end effector at the current moment and the position information of the robotic arm end effector at the previous moment, and the movement of the robotic arm end effector is controlled based on the target position information of the robotic arm end effector.

[0059] Secondly, this application provides an interventional surgical robot control system, which includes a second controller for performing the following steps:

[0060] The motion feedback force determined based on the force feedback safety response is obtained and applied to the master manipulator. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The force feedback safety response is triggered based on the motion information of the end effector of the robotic arm. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0061] In one embodiment, the second controller is further configured to perform the following steps:

[0062] Determine whether the motion feedback force is greater than the current human hand force on the main controller;

[0063] Accordingly, the motion feedback force is applied to the main manipulator, including:

[0064] If the motion feedback force is less than or equal to the current hand force, then the motion feedback force will be applied to the main controller.

[0065] If the motion feedback force is greater than the current hand force, then the current hand force will be applied to the main controller.

[0066] In one embodiment, the second controller is further configured to perform the following steps:

[0067] The motion feedback force is displayed on the screen.

[0068] In one embodiment, applying motion feedback force to the master manipulator includes:

[0069] A control current is generated based on the motion feedback force and applied to the main controller.

[0070] Thirdly, this application also provides an interventional surgical robot control system, which includes a robotic arm end effector, a first controller, a second controller, and a main manipulator;

[0071] The first controller is used to acquire motion information of the end effector of the robotic arm and trigger a force feedback safety response based on the motion information. Based on the force feedback safety response, it sends a motion feedback force to the second controller. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0072] The second controller is used to receive motion feedback force and apply the motion feedback force to the main controller.

[0073] In one embodiment, the system also includes a needle insertion degree-of-freedom encoder and a force sensor, and the motion information includes the position information of the end effector of the robotic arm and the actual motion force;

[0074] The needle-feed degree-of-freedom encoder is used to collect the position information of the end effector of the robotic arm during its movement and send the position information to the first controller;

[0075] Force sensors are used to collect the actual motion force of the end effector of the robotic arm during its movement and send the actual motion force to the first controller.

[0076] In one embodiment, the first controller is further configured to perform position information filtering processing on the position information to obtain filtered position information and the movement speed of the end effector of the robotic arm; and to perform force information filtering processing on the actual motion force to obtain filtered actual motion force and the rate of change of actual motion force.

[0077] The first controller is also used to trigger a force feedback safety response based on the filtered position information, motion speed, filtered actual motion force, and the rate of change of the actual motion force.

[0078] In one embodiment, the first controller is further configured to perform force feedback safety control based on the filtered position information, motion speed, filtered actual motion force, and the rate of change of the actual motion force; the force feedback safety control includes at least one of locking the master operator, disconnecting master-slave enable control, and first amplitude limiting control.

[0079] The first controller is also used to perform force feedback limiting control based on the filtered actual motion force; the force feedback limiting control includes a second limiting control.

[0080] In one embodiment, the first controller is further configured to send a preset feedback force to the second controller when performing the first amplitude limiting control;

[0081] The first controller is also used to determine the motion feedback force based on the filtered actual motion force when performing the second amplitude limiting control, and to send the motion feedback force to the second controller.

[0082] In one embodiment, the system also includes a puncture encoder;

[0083] The puncture encoder is used to collect the initial motion information generated by the human hand force applied to the main manipulator and send the initial motion information to the second controller;

[0084] The second controller is used to send initial motion information to the first controller;

[0085] The first controller is used to convert the initial motion information into motion control commands for the end effector of the robotic arm, and to control the end effector of the robotic arm based on the motion control commands.

[0086] In one embodiment, the motion control commands include position commands and speed commands;

[0087] The first controller is used to filter the initial motion information, perform proportional mapping on the filtered initial motion information, and generate position commands.

[0088] The first controller is also used to differentiate the position command to obtain the speed command.

[0089] In one embodiment, the system also includes an end-effector control unit;

[0090] The first controller is used to send motion control commands to the end-effector control unit;

[0091] The end effector control unit is used to control the end effector of the robotic arm based on motion control commands.

[0092] Fourthly, this application also provides a control method for an interventional surgical robot, which is applied to the interventional surgical robot control system as described in the third aspect above. The system includes a robotic arm end effector, a first controller, a second controller, and a master manipulator. The method includes:

[0093] The first controller acquires motion information of the end effector of the robotic arm and triggers a force feedback safety response based on the motion information. Based on the force feedback safety response, a motion feedback force is sent to the second controller. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0094] The second controller receives the motion feedback force and applies it to the main manipulator.

[0095] Fifthly, this application also provides a control method for an interventional surgical robot, applied to a first controller in an interventional surgical robot control system; the method includes:

[0096] Acquire motion information of the end effector of the robotic arm;

[0097] The force feedback safety response is triggered based on motion information; the force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control; the first limiting control includes transmitting a preset feedback force to the master manipulator, and the second limiting control includes transmitting a motion feedback force to the master manipulator, wherein the motion feedback force is related to the actual motion force of the end effector of the robotic arm.

[0098] Sixthly, this application also provides a control method for an interventional surgical robot, applied to a second controller in an interventional surgical robot control system; the method includes:

[0099] The motion feedback force determined based on the force feedback safety response is obtained and applied to the master manipulator. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The force feedback safety response is triggered based on the motion information of the end effector of the robotic arm. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0100] Seventhly, this application also provides a control device for an interventional surgical robot, comprising:

[0101] The acquisition module is used to acquire motion information of the end effector of the robotic arm;

[0102] The trigger module is used to trigger a force feedback safety response based on motion information. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The first limiting control includes transmitting a preset feedback force to the master manipulator, and the second limiting control includes transmitting a motion feedback force to the master manipulator. The motion feedback force is related to the actual motion force of the end effector of the robotic arm.

[0103] Eighthly, this application also provides a control device for an interventional surgical robot, comprising:

[0104] The acquisition module is used to acquire the motion feedback force determined based on the force feedback safety response and apply the motion feedback force to the master manipulator. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The force feedback safety response is triggered based on the motion information of the end effector of the robotic arm. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0105] Ninthly, this application also provides a robot, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the interventional surgical robot control method in the fifth aspect above.

[0106] In a tenth aspect, this application also provides a computer device, including a main operator, a memory, and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the interventional surgical robot control method in the sixth aspect above.

[0107] In an eleventh aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the interventional surgical robot control methods in the fourth, fifth, and sixth aspects described above.

[0108] In a twelfth aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the interventional surgical robot control methods described in the fourth, fifth, and sixth aspects above.

[0109] The aforementioned interventional surgical robot control system, method, apparatus, robot, computer equipment, storage medium, and computer program products include a first controller. This first controller acquires motion information of the robotic arm's end effector and triggers a force feedback safety response based on this motion information. The force feedback safety response includes at least one of locking the master manipulator, disabling master-slave enable control, a first limiting control, and a second limiting control. The first limiting control involves transmitting a preset feedback force to the master manipulator, and the second limiting control involves transmitting a motion feedback force to the master manipulator. This motion feedback force is related to the actual motion force of the robotic arm's end effector. In other words, the interventional surgical robot control system proposed in this application not only considers the functional implementation of feedback information but also performs safety judgments on the motion of the robotic arm's end effector based on the feedback information and executes corresponding safety responses, thereby improving the safety of master-slave control. Furthermore, this application also provides multiple safety response strategies to achieve safe responses of the robotic arm's end effector under different operating scenarios, improving the reliability and comprehensiveness of safety control. Attached Figure Description

[0110] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0111] Figure 1 This is a schematic diagram of the control system of the interventional surgical robot in one embodiment;

[0112] Figure 2 This is a schematic diagram of the main operator in one embodiment;

[0113] Figure 3 This is a schematic diagram of the robotic arm in one embodiment;

[0114] Figure 4 This is a schematic diagram of the execution flow of the first controller in one embodiment;

[0115] Figure 5 This is a schematic diagram of the execution flow of the first controller in another embodiment;

[0116] Figure 6 This is a schematic diagram of the execution flow of the first controller in another embodiment;

[0117] Figure 7 This is a schematic diagram of the execution flow of the first controller in another embodiment;

[0118] Figure 8 This is a schematic diagram of the coordinate system of the end effector of a robotic arm in one embodiment;

[0119] Figure 9(a) is a flowchart illustrating the force feedback principle in one embodiment;

[0120] Figure 9(b) is a schematic diagram of the forces and torques of the main operator in one embodiment;

[0121] Figure 10 This is a schematic diagram of the execution flow of the first controller in another embodiment;

[0122] Figure 11 This is a schematic diagram of the execution flow of the second controller in one embodiment;

[0123] Figure 12 This is a schematic diagram of the execution flow of the second controller in another embodiment;

[0124] Figure 13 This is a schematic diagram of the complete execution flow of the interventional surgical robot control system in one embodiment;

[0125] Figure 14 This is a structural block diagram of the interventional surgical robot control device in one embodiment;

[0126] Figure 15 This is a structural block diagram of the interventional surgical robot control device in another embodiment;

[0127] Figure 16 This is a diagram of the internal structure of the robot in one embodiment;

[0128] Figure 17 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0129] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0130] With the development of robotics technology, surgical robots are increasingly being used to assist doctors in performing interventional puncture procedures. Interventional puncture procedures are based on imaging diagnostics and, under image guidance, are used for non-surgical treatment of diseases such as lung cancer, liver cancer, and transverse and mediastinal tumors, or to obtain histological, physiological, and biochemical materials to clarify the nature of the lesion. These procedures include puncture biopsy, ablation, and particle implantation. Among these, puncture biopsy is the gold standard for tumor diagnosis, while ablation and particle implantation have advantages such as being minimally invasive and having good prognostic effects for tumor treatment.

[0131] The main pain points of traditional interventional puncture procedures are radiation exposure, inaccurate puncture, and the need for repeated scanning for confirmation. While navigation-guided surgical robots are now available for interventional puncture, improving accuracy, they still cannot solve the problems of repeated scanning and offline adjustments. Furthermore, the relative positions of the puncture instruments to the lesion and surrounding tissues cannot be determined during the procedure. Additionally, the patient's breathing movements can cause the procedure to deviate from the planned path. This "blind puncture" results in low accuracy, high difficulty, and high risk.

[0132] With the development of robotics technology, a real-time image-guided master-slave control puncture robot system has emerged, effectively addressing the clinical pain points of traditional surgery and the clinical application problems of navigation-based surgical robots. In this type of robot control system, master-slave control is incorporated to facilitate real-time adjustments to the posture of the surgical arm and its end effector, enhancing the surgeon's intuitive understanding. Simultaneously, to improve the sense of presence and obtain tactile information during the puncture process, master-slave force feedback is added to the master-slave control system. This provides real-time feedback of the puncture force at the distal end, allowing the surgeon to actually feel the force applied during the puncture, thus avoiding contact with bone or other tissues and preventing unnecessary injury to the patient.

[0133] Existing master-slave force feedback schemes primarily focus on the functional implementation of force feedback. Few address aspects such as safety and convenience in practical use. In actual use, doctors have found anomalies in the force feedback effect, such as sudden force changes and insufficient force feedback accuracy. This makes it difficult for doctors to promptly assess the actual puncture scenario, resulting in low puncture efficiency, longer surgical cycles, and increased patient discomfort. For example, to achieve high-precision master-slave puncture, the slave needle insertion uses a position control mode, meaning the position of the slave needle tip is consistent with the position indicated by the master needle. When touching bony tissue, due to the high rigidity of the needle tip in position control mode (i.e., the tip position remains unchanged), the contact force between the needle tip and the bony tissue increases instantaneously (within 100ms) and is fed back to the master needle. The increased perceived force by the hand, after being processed by the brain, leads to further force application by the hand. This reaction process takes approximately 300-400ms for most people, resulting in an uncontrolled situation where the master needle rebounds with the hand while the slave needle rapidly withdraws, posing a certain safety risk. In addition, due to the presence of puncture force at the secondary end, the operator will subconsciously remove the force applied at the primary end at the end of the puncture, which will cause an imbalance in the primary end and a rebound, and the secondary end will also quickly withdraw the needle a certain distance, resulting in inaccurate puncture.

[0134] Based on this, this application proposes a highly safe interventional surgical robot control system. On the one hand, it performs safety control in scenarios where the puncture comes into contact with hard objects by comprehensively judging the motion information and position information of the end-effector (such as a puncture needle) during the puncture process. On the other hand, it realizes the detection and balance control of the force exerted by the human hand on the main manipulator through the transmission mechanism of the main manipulator, thereby solving the problem of puncture rebound caused by human reaction time and improving the accuracy and safety of puncture surgery.

[0135] This allows doctors to perceive the insertion of the needle into the patient's tissue based on tactile feedback. When dangerous tissues such as blood vessels or bones are touched, they can respond immediately, allowing doctors to more realistically feel the force feedback effect of the puncture.

[0136] The interventional surgical robot control system provided in this application embodiment can be applied to, for example... Figure 1 The interventional surgical robot environment shown includes a main control system in the operating room, which may include a main console display 11, a main controller 12, and a main operator 13. This system is used by doctors to control the surgical execution system in the operating room, perform preoperative surgical planning, and execute master-slave puncture procedures during the procedure. The surgical execution system in the scanning room may include a surgical robotic arm 21, a puncture tip 22, and a slave controller 23. This system is used for control and execution during the interventional puncture procedure, including precise positioning of the puncture needle insertion point and control of needle insertion.

[0137] For example, the human-machine interface component of the main control console system, namely the main operator 13, may include multiple operation interfaces, as shown in the reference. Figure 2 As shown. This may include, but is not limited to: a master manipulator needle insertion slip ring 131, which can move linearly up and down along a joystick 133 to perform puncture needle insertion and withdrawal operations; an enable button 132, which enables master-slave control, allowing the master manipulator to control the movement of the surgical robotic arm and end effector in master-slave control mode; a joystick 133, which allows the user to adjust the left-right and forward-backward postures, corresponding to intra-layer and inter-layer puncture needle posture adjustments during the puncture process, respectively; for example, the master manipulator 13 may also include a puncture release control, pressing which triggers the release of the puncture needle from the slave end puncture tip 22; it may also include a master-slave mode control, which allows for the selection and switching of puncture mode, intra-layer posture adjustment mode, inter-layer posture adjustment mode, and intra-layer / inter-layer posture adjustment mode; it may also include a master-slave quick-switch control, used to quickly switch from posture adjustment mode to puncture mode; in this embodiment, the type and number of operation interfaces on the master manipulator 13 are not specifically limited.

[0138] In addition, continue to refer to Figure 2 The master-slave force feedback works as follows: the force feedback motor 134 outputs a feedback torque, which is then applied to the human hand through the transmission structure and slip ring 131. Additionally, encoders 136a and 136b are installed at both ends of the coupling 135. When the feedback force and the human hand force act simultaneously on both ends of the coupling 135, torsional deformation occurs. This deformation can be detected by the encoders 136a and 136b at both ends of the coupling 135, thus obtaining the human hand force. Furthermore, encoder 136b is also used to detect the slip ring's movement distance, such as the slip ring's insertion depth.

[0139] It should be noted that the above Figure 2 This explanation is only intended as one operating structure of the main manipulator and is not intended to limit the structure of the main manipulator. For example, the needle insertion method of the main manipulator can be needle handle type in addition to slip ring, that is, the slip ring is removed, the enable button is set on the rocker, and the rocker moves along the axis to achieve puncture.

[0140] refer to Figure 3 The diagram shows a schematic of a surgical robot system in a scanning room. It includes a surgical robotic arm 21, which can be a multi-degree-of-freedom articulated robotic arm used for positioning and orientation within the surgical workspace; a puncture end cap 22, which, through an end-effector drive mechanism 221, fixes or releases end-effector instruments 31 such as puncture needles or ablation needles, and drives the end-effector instruments 31 to perform needle insertion or retraction operations; the fixed end of a force sensor 211 is mounted on the end of the surgical robotic arm 21, and the sensing end of the force sensor 211 is connected to the puncture end cap 22 via a flange interface.

[0141] It should be noted that the interventional surgical robot control system described above is only an example and is not intended to limit the structure of the interventional surgical robot control system. For example, this interventional surgical robot control system may include a master controller and a slave controller. The master controller and slave controller can be set at the master and slave ends respectively; the master controller and slave controller can also be the same controller, collectively referred to as the controller, that is, one controller is used to control the master end and the slave end. This same controller can be set at the master end or at the slave end; this same controller can obtain the execution commands from the master operator to control the end effector of the slave robotic arm to perform corresponding actions, and can also feed back the force from the slave end to the master operator to realize master-slave force feedback.

[0142] In an exemplary embodiment, the above-described interventional surgical robot control system may include a first controller, which may be the slave controller or the same controller as described above; such as Figure 4 As shown, the first controller can perform the following steps:

[0143] Step 401: Obtain motion information of the end effector of the robotic arm.

[0144] For example, the motion information of the end effector of the robotic arm may include, but is not limited to, at least one of the motion direction, motion speed, and motion force of the end effector; wherein, the motion direction of the end effector may include the needle insertion direction and the needle retraction direction, which can be determined according to the motion direction of the slip ring on the main manipulator, or according to the position information of the end effector detected by the needle insertion degree of freedom encoder; the motion speed of the end effector can be determined according to the motion speed of the slip ring, or indirectly determined according to the position information of the end effector detected by the needle insertion degree of freedom encoder, etc.; the motion force of the end effector can be acquired by a force sensor installed at the end of the robotic arm.

[0145] Specifically, during the process of controlling the movement of the end effector of the robotic arm in master-slave mode, the motion information of the end effector can be acquired in real time, so as to enable subsequent safe control of the movement of the end effector based on the motion information. For example, when acquiring the motion information of the end effector, the first controller can acquire different motion information of the end effector based on the acquisition devices set on the robotic arm for collecting different motion information; for example, the force sensor set on the end effector can be used to acquire the motion force of the end effector, and the motion direction or speed of the end effector can be acquired through the needle insertion degree of freedom encoder of the end effector.

[0146] Step 402: Trigger force feedback safety response based on motion information; force feedback safety response includes at least one of locking the master operator, disconnecting master-slave enable control, first limiting control and second limiting control.

[0147] Locking the master manipulator can be used to characterize the operational restrictions on the master manipulator. When the master manipulator is locked, it cannot move, and the user cannot operate it either. Disconnecting the master-slave enable control is used to characterize the restrictions on master-slave control. That is, when the master-slave enable control is disconnected, it indicates that the master manipulator is functionally disabled, and the user cannot control the slave robot or the end effector to perform any actions by operating the master manipulator.

[0148] Limiting control is used to characterize the limitation of the feedback information from the end effector of a robotic arm, preventing the feedback information from exceeding a safe range. For example, it controls the magnitude of the motion force of the end effector fed back to the main controller, preventing excessive motion force from causing a safety accident. Exemplarily, limiting control may include a first limiting control and a second limiting control. The first limiting control may include transmitting a preset feedback force to the main controller, and the second limiting control may include transmitting a motion feedback force to the main controller. This motion feedback force is related to the actual motion force of the end effector. Exemplarily, the preset feedback force can be 0. For example, when locking the main controller and / or disengaging the master-slave enable control, the first limiting control can be executed simultaneously, i.e., setting the force fed back to the main controller to 0; or, when it is determined that the actual motion force or motion feedback force of the end effector is less than a preset dead zone value, the first limiting control can be executed, i.e., setting the force fed back to the main controller to 0. Furthermore, the preset feedback force can also be other small feedback force values ​​besides 0, which are not specifically limited in this embodiment.

[0149] For example, different safety control conditions can be preset for different force feedback safety responses. Based on this, different force feedback safety responses can be triggered according to the motion information of the robotic arm end effector and different safety control conditions. For example: if the motion information determines that the robotic arm end effector meets the safety control condition of locking the master manipulator, the safety response of locking the master manipulator is executed; if the motion information determines that the robotic arm end effector meets the safety control condition of disconnecting the active enable control, the safety response of disconnecting the master-slave enable control is executed; if the motion information determines that the robotic arm end effector meets the safety control condition of the first amplitude limiting control, the safety response of the first amplitude limiting control is executed; if the motion information determines that the robotic arm end effector meets the safety control condition of the second amplitude limiting control, the safety response of the second amplitude limiting control is executed.

[0150] For example, in the event of executing a security response to lock the master operator, the first controller may generate a locking control command to lock the master operator.

[0151] For example, in the case of executing a security response that disconnects master-slave enable control, the master-slave enable control can be performed on either the slave end or the master end. For instance, in the case of disconnecting master-slave enable control, one scenario is that the slave end can continue to receive motion control commands sent by the master end, but the slave end does not execute the motion control commands. Another scenario is that the slave end does not receive motion control commands sent by the master end. In this case, the master end can send motion control commands to the slave end, but the slave end does not receive them, or the master end suspends sending motion control commands to the slave end.

[0152] For example, in the case of a safety response to the first amplitude limiting control, the first controller can transmit a preset feedback force to the main operator; in the case of a safety response to the second amplitude limiting control, the first controller can acquire the actual motion force of the end effector of the robotic arm, perform amplitude limiting processing on the actual motion force, and after amplitude limiting processing, feed back the amplitude-limited motion feedback force to the main operator.

[0153] It should be noted that the aforementioned force feedback safety responses can be executed independently or multiple responses can be executed simultaneously. For example, while locking the master operator, the master-slave enable control can also be disconnected; alternatively, the master operator can be locked alone, or the master-slave enable control can be disconnected alone. All of these methods can temporarily sever the control operation between the master and slave ends, ensuring the operational safety of both ends. Furthermore, the safety control conditions for each force feedback safety response can be the same or different; this application does not specifically limit this in its embodiments.

[0154] The aforementioned interventional surgical robot control system includes a first controller. The first controller acquires motion information of the robotic arm's end effector and triggers a force feedback safety response based on this motion information. The force feedback safety response includes at least one of locking the master manipulator, disabling master-slave enable control, a first limiting control, and a second limiting control. The first limiting control involves transmitting a preset feedback force to the master manipulator, and the second limiting control involves transmitting a motion feedback force to the master manipulator. This motion feedback force is related to the actual motion force of the robotic arm's end effector. In other words, the interventional surgical robot control system proposed in this application not only considers the functional implementation of feedback information but also performs safety judgments on the motion of the robotic arm's end effector based on the feedback information and executes corresponding safety responses, thereby improving the safety of master-slave control. Furthermore, this application also provides multiple safety response strategies to achieve safe responses of the robotic arm's end effector under different operating scenarios, improving the reliability and comprehensiveness of safety control.

[0155] In one exemplary embodiment, such as Figure 5 As shown, step 402 above may include steps 501 to 503. Wherein:

[0156] Step 501: Based on the motion information and preset abnormal judgment conditions, determine whether an abnormal touch event has occurred.

[0157] For example, in this example, anomaly determination conditions can be preset. These anomaly determination conditions can be conditions set for abnormal touch events, i.e., the end effector of the robotic arm touches during the movement of the device, and the touch is not a safe touch; for example, the puncture needle touches rigid tissues such as bone during the puncture process.

[0158] In one implementation, when the abnormal contact event includes an abnormal contact caused by the end effector of a robotic arm colliding with a hard object, and the motion information of the end effector includes at least one of the following: the actual motion force of the end effector, the rate of change of the actual motion force, the motion speed of the end effector, the rate of change of the motion speed, and the motion feedback force corresponding to the actual motion force, wherein the motion feedback force corresponding to the actual motion force can be a motion feedback force obtained after processing the actual motion force based on a first limiting control or a second limiting control; then, the corresponding preset abnormality determination condition may include at least one of the following:

[0159] First: When the end effector collides with a hard object, the actual motion force of the end effector will increase sharply. Therefore, the preset abnormality judgment condition may include: the actual motion force is greater than the first motion force threshold.

[0160] Second: When the end effector collides with a hard object, the rate of change of its force will also increase sharply. Therefore, the preset abnormality judgment condition may include: the rate of change of the actual motion force is greater than the first force change rate threshold.

[0161] Thirdly: When the end effector collides with a hard object, its rate of change of force will increase sharply, while its speed will decrease accordingly. Therefore, the preset abnormal judgment condition may include: the rate of change of the actual motion force of the end effector of the robotic arm is greater than the second rate of change of force threshold, and the speed of the end effector of the robotic arm is less than the first speed threshold.

[0162] Fourth: When the end effector collides with a hard object, its speed will change abruptly, and the rate of change of speed will also increase suddenly. Therefore, combining the rate of change of speed and the rate of change of force, the preset abnormal judgment condition can also include: the rate of change of the actual motion force of the end effector of the robotic arm is greater than the second rate of change of force threshold, and the rate of change of speed of the end effector of the robotic arm is greater than the first rate of change of speed threshold.

[0163] Fifth: When the end effector collides with a hard object and the needle retraction operation occurs, its movement speed is negative and the rate of change of speed during needle retraction is also large, indicating that a rebound phenomenon has occurred. Therefore, in combination with the movement speed and the rate of change of speed, the preset abnormal judgment condition can also include: the movement speed of the end effector of the robotic arm is less than the second speed threshold, and the rate of change of the movement speed of the end effector of the robotic arm is greater than the second rate of change threshold, etc.

[0164] Sixth: When the end effector collides with a hard object, the actual motion force of the end effector will increase sharply. Therefore, the motion feedback force after the amplitude is limited based on the actual motion force may also increase sharply. Therefore, the preset abnormal judgment condition may also include: the motion feedback force is greater than the second motion force threshold.

[0165] Among them, the second force change rate threshold is less than the first force change rate threshold, the second velocity threshold is less than the first velocity threshold, and the second velocity change rate threshold is greater than the first velocity change rate threshold. In addition, since the actual motion force and the motion feedback force can be converted based on different amplitude limiting strategies, the actual motion force can be greater than the motion feedback force, less than the motion feedback force, or even equal to the motion feedback force. Therefore, the relationship between the first motion force threshold corresponding to the actual motion force and the second motion force threshold corresponding to the motion feedback force is uncertain. In practical applications, the relationship between the first motion force threshold and the second motion force threshold can be specifically determined according to different amplitude limiting strategies.

[0166] For example, the aforementioned preset anomaly determination conditions may further include: the actual motion force of the robotic arm end effector is greater than a first motion force threshold, and the rate of change of the actual motion force is greater than a second force change rate threshold, and the motion speed is less than a first speed threshold; in addition, it may also include: the actual motion force of the robotic arm end effector is greater than a first motion force threshold, and the rate of change of the actual motion force is greater than a second force change rate threshold, and the rate of change of the motion speed is greater than a first speed change rate threshold, etc.

[0167] For example, when determining whether an abnormal contact event has occurred at the end device of the robotic arm based on the motion information of the end device and the preset abnormality judgment conditions, it can be determined whether the motion information of the end device of the robotic arm meets the preset abnormality judgment conditions. If the preset abnormality judgment conditions are met, it can be determined that an abnormal contact event has occurred at the end device of the robotic arm.

[0168] For example, when there are multiple preset anomaly determination conditions, an abnormal touch event can be determined to have occurred if the motion information of the end effector of the robotic arm satisfies at least one of the preset anomaly determination conditions; or an abnormal touch event can be determined to have occurred if the motion information of the end effector of the robotic arm satisfies all the preset anomaly determination conditions.

[0169] Step 502: If an abnormal touch event occurs, execute at least one of locking the master operator, disconnecting the master-slave enable control, and the first limit control.

[0170] In other words, when an abnormal contact event is determined to have occurred at the end effector of the robotic arm, in order to prevent safety accidents from occurring, the master controller can be locked, and / or the master-slave enable control can be disconnected, and / or a first limit control can be performed. This prevents potential safety accidents from occurring when the user controls the end effector to continue performing related operations through the master controller. In other words, by timely limiting the movement of the end effector, safety accidents caused by the operation of the end effector can be prevented.

[0171] For example, when an abnormal contact event is determined to have occurred at the end effector of the robotic arm, one or more of the following can be executed: locking the master manipulator, disabling master-slave enable control, and performing a first amplitude limiting control. For instance, the master manipulator can be locked only, master-slave enable control can be disabled only, or the first amplitude limiting control can be performed only; the master manipulator can be locked and master-slave enable control can be disabled, or the master manipulator can be locked and the first amplitude limiting control can be performed, or master-slave enable control can be disabled and the first amplitude limiting control can be performed simultaneously; the master manipulator can also be locked, master-slave enable control can be disabled, and the first amplitude limiting control can be performed simultaneously. For example, when performing the first amplitude limiting control, the motion feedback force can be set to 0, or the motion feedback force can be set to be less than a preset feedback force threshold. This ensures that when a hard object is touched, the feedback force felt by the user is as small as possible, or even non-existent, thereby improving the safety of the master hand and extending the lifespan of the motor in the master manipulator.

[0172] It should be noted that locking the master operator, disconnecting the master-slave enable control, and the first limiting control are all safety response operations for master-slave control in the event of an abnormal touch. In practical applications, one or more of these operations can be selected for execution based on actual usage requirements or control logic requirements; this application embodiment does not impose specific limitations on this. Furthermore, it should be noted that these three safety response operations are not limited to abnormal touch events. In other words, other unsafe operations besides abnormal touch events can also be handled using at least one of these three safety response operations. In other words, the execution of at least one of these three safety response operations does not necessarily indicate that an abnormal touch event has occurred.

[0173] Step 503: If no abnormal touch event occurs, execute the second limit control.

[0174] In other words, if no abnormal contact event occurs during the movement of the robotic arm's end effector, the feedback information acquired from the end effector can be limited before being fed back to the master controller. To put it another way, to prevent adverse effects on the master controller from the feedback of the end effector during safe movement, the feedback information can be processed to improve its safety and stability. For example, in force feedback, to prevent sudden force changes from the end effector from affecting the master controller, the feedback force can be limited. This ensures that the force felt by the user through the master controller is stable and easily controllable, preventing hand rebound or instability caused by sudden force changes, thus further improving the safety and stability of the master-slave control.

[0175] In this embodiment, the first controller determines whether an abnormal contact event has occurred at the end effector of the robotic arm based on motion information and preset abnormality judgment conditions. If an abnormal contact event occurs, at least one of locking the master manipulator, disconnecting the master-slave enable control, and the first limiting control is executed. If no abnormal contact event occurs, the second limiting control is executed. That is, in this embodiment, corresponding abnormality judgment conditions are set based on the contact safety event of the end effector, and different force feedback safety responses are adopted in both safe and unsafe motion scenarios of the end effector. This ensures safe control of the end effector in both scenarios, thereby comprehensively improving the motion safety of the end effector and enhancing the safety and reliability of the master-slave control.

[0176] In an exemplary embodiment, in the event of an abnormal contact event occurring at the end effector of a robotic arm, after executing at least one of locking the master manipulator, disabling master-slave enable control, and first limiting control, the first controller can further restrict the master manipulator from performing forward movement upon unlocking the master manipulator or responding to the master-slave enable control. At this point, an abnormal contact event has already occurred at the end effector of the robotic arm. If the master manipulator continues to control the end effector to perform forward movement, it may cause serious damage to the contacted object. Alternatively, if the contacted object is highly rigid, it may prevent the end effector from continuing to move forward, or even damage the end effector. Therefore, in this situation, the master manipulator can be restricted from performing forward movement, preventing the user from operating the master manipulator to continue moving forward.

[0177] For example, when restricting the master manipulator from performing forward operations, the master manipulator may be allowed to perform at least one of backward operations and attitude adjustment operations; if the master manipulator has performed a backward operation and / or attitude adjustment operation, it may be allowed to continue performing forward operations. Using the control system proposed in this example, after the robotic arm end-effector performs at least one of locking the master manipulator, disabling master-slave enable control, and first amplitude limiting control, the master manipulator can be restricted from performing forward operations upon unlocking the master manipulator or in response to master-slave enable control, thereby improving the motion safety of the robotic arm end-effector.

[0178] In one exemplary embodiment, such as Figure 6 As shown, when the above motion information includes the actual motion force of the robotic arm's end effector, step 402 may further include steps 601 to 603. Wherein:

[0179] Step 601: Determine whether the actual motion force is greater than the third motion force threshold.

[0180] The third motion force threshold can be used to characterize the dead zone value of the force, i.e. the preset dead zone value of the force mentioned above; therefore, the third motion force threshold is much smaller than the first motion force threshold mentioned above, and much smaller than the second motion force threshold mentioned above.

[0181] Step 602: If the actual motion force is less than or equal to the third motion force threshold, then execute the first amplitude limiting control.

[0182] Step 603: If the actual motion force is greater than the third motion force threshold, then execute the second amplitude limiting control.

[0183] For the first and second amplitude limiting controls, one implementation can distinguish them based on abnormal touch events: when an abnormal touch event occurs, the first amplitude limiting control is executed; otherwise, the second amplitude limiting control is executed. Another implementation can distinguish them based on the dead zone value of the force: when the actual motion force is less than or equal to a third motion force threshold, the first amplitude limiting control is executed; conversely, when the actual motion force is greater than the third motion force threshold, the second amplitude limiting control is executed.

[0184] It should be noted that the two implementation methods mentioned above can be used simultaneously. Generally, when the actual motion force is less than or equal to the dead zone value, there is a high probability that no abnormal contact event will occur. In this case, the first limiting control can be executed. When the actual motion force is greater than the dead zone value and no abnormal contact event occurs, the second limiting control can be executed. However, if an abnormal contact event occurs during the control process where the actual motion force is greater than the dead zone value, then the abnormal protection can be triggered, that is, at least one of locking the master operator, disconnecting the master-slave enable control, and the first limiting control can be executed.

[0185] In this example, the first or second amplitude limiting control is determined based on the relationship between the actual motion force and the dead zone value of the force. When the actual motion force is less than or equal to the third motion force threshold, the actual motion force may be too small for the human hand to perceive after motion force feedback. In this case, it is unnecessary to feed the actual motion force back to the master controller. Instead, the actual motion force or motion feedback force fed back to the master controller is set to 0. This eliminates the need for the master to convert the actual motion force or motion feedback force into a corresponding current and then apply the converted current to the master controller. This simplifies the master-slave feedback control process and improves the control efficiency of master-slave feedback.

[0186] In one exemplary embodiment, such as Figure 7 As shown, the aforementioned "second amplitude limiting control" may include steps 701 to 703. Wherein:

[0187] Step 701: Extract the actual motion force of the end effector of the robotic arm from the motion information.

[0188] The motion information of the end effector of the robotic arm can include the actual motion force of the end effector, which can refer to the force exerted on the end effector during its movement. For example, when the end effector is a puncture needle, the actual motion force can be the actual puncture force exerted on the needle tip during puncture.

[0189] In one implementation, refer to the above. Figure 3 As shown, the force sensor can be set between the end of the robotic arm and the flange, that is, the fixed end of the force sensor is assembled at the end of the robotic arm, and the sensing end of the force sensor is connected to the end instrument through the flange interface; for example, the sensing end of the force sensor can be connected to the puncture end through the flange interface, and the end instrument is driven to move through the end drive mechanism of the puncture end.

[0190] For example, taking the end-effector as a puncture needle, since the force sensor is installed at the quick-release flange of the robotic arm, and the point of force application during puncture is at the tip of the puncture needle, in order to obtain the accurate actual puncture force, force transformation is required to convert the force collected by the force sensor into the force at the tip of the puncture needle, that is, the puncture needle tip force.

[0191] refer to Figure 8 As shown, based on Figure 8 The established coordinate systems can be obtained from the coordinate system transformation formulas:

[0192] T sensor _ Tip =T sensor _ flange *T flange _ clutch *T clutch _ Tip (1)

[0193] Among them, T sensor_Tip Represents the coordinate system S of the end effector Tip In the force sensor coordinate system S Sensor The attitude matrix below; T sensor_flange Indicates the flange coordinate system S Flange In the force sensor coordinate system S Sensor The attitude matrix below; T flange_clutch Represents the coordinate system S of the end effector. Clutch In the flange coordinate system S Flange The attitude matrix below; T clutch_Tip Represents the coordinate system S of the end effector Tip In the coordinate system S of the end-drive mechanism Clutch The attitude matrix below.

[0194] Next, from the force spinor transformation formula, we can obtain:

[0195]

[0196] Among them, F Tip Represents the coordinate system S of the end effector Tip The force / torque component under the current; F sensor Represents the force / torque components in the force sensor coordinate system; Represents the coordinate system S of the end effector Tip To the force sensor coordinate system F sensor The adjoint transformation matrix of the attitude matrix.

[0197] After the transformation of the above formulas (1) and (2), the force component in the end-effector coordinate system can be obtained based on the data collected by the force sensor. This force component will be used as the original force for subsequent master-slave force feedback, that is, the actual motion force of the end-effector of the robotic arm.

[0198] Step 702: Limit the actual motion force to obtain the motion feedback force corresponding to the actual motion force.

[0199] Among them, amplitude limiting can be represented as constraining the magnitude of the actual motion force, thereby avoiding abnormal sudden changes in the feedback force.

[0200] For example, when the first controller receives the actual motion force, it can determine whether to limit the actual motion force according to the preset limiting processing conditions. If the preset limiting processing conditions are met, it means that the motion force has undergone an abnormal change and needs to be limited. If the preset limiting processing conditions are not met, it means that the motion force is the force under normal motion conditions and the actual motion force can be directly transmitted to the main operator as motion feedback force without limiting processing.

[0201] For example, when limiting the actual motion force, the actual motion force can also be limited according to a preset limiting rule or a preset limiting algorithm to obtain the motion feedback force corresponding to the actual motion force; for example, the limiting process can include one of magnification mapping, reduction mapping and original scale mapping; the magnification mapping can include linear magnification mapping or nonlinear magnification mapping, and the reduction mapping can also include linear reduction mapping or nonlinear reduction mapping; after the limiting process, the motion feedback force can be less than the actual motion force, greater than the actual motion force, or equal to the actual motion force.

[0202] It should be noted that the preset amplitude limiting rules or preset amplitude limiting algorithms can be the same or different in different motion stages or different motion environments of the robotic arm end effector, so as to achieve amplitude limiting in different motion scenarios and improve the accuracy of amplitude limiting.

[0203] Step 703: Transmit the motion feedback force to the main controller.

[0204] For example, when the first controller receives the motion feedback force after it has been limited, it can feed the motion feedback force back to the main controller.

[0205] For example, referring to Figure 9(a), a principle of force feedback is illustrated. When the first controller receives a motion feedback force, it can convert it into an electric current and apply it to the force feedback motor. The force feedback motor then feeds the motion feedback force back to the main operator, thereby realizing needle insertion force feedback.

[0206] Referring again to Figure 9(b), which illustrates the principle of converting motion feedback force into electric current. In the main operator... Figure 2 As shown in the structure, when the user controls the insertion or withdrawal of the puncture needle by moving the slip ring on the main controller up and down, the insertion and withdrawal operation of the main controller can be equivalent to a rope drive or belt drive. The relationship between the torque on the motor and the external force is as follows:

[0207]

[0208] Where M is the torque (i.e., force) on the motor, in Nm; d is the diameter of the rope pulley or belt pulley, i.e., the diameter of the slip ring transmission mechanism, in m; F is the motion feedback force, in N; and n is the efficiency of the rope drive or belt drive.

[0209] By calculating the above formula (3), the relationship between force and torque can be obtained. Then, the torque is divided by the torque constant to obtain the current, which is then applied to the torque feedforward of the main operator piercing motor.

[0210] In this embodiment, the first controller extracts the actual motion force of the robotic arm's end effector from the motion information and performs amplitude limiting processing on the actual motion force to obtain the motion feedback force corresponding to the actual motion force; then, the motion feedback force is transmitted to the master controller. That is, in this embodiment, when the robotic arm's end effector is moving normally, the actual motion force of the collected robotic arm end effector is limited, thereby avoiding abnormal sudden changes in the feedback force, improving the safety of the feedback, and thus improving the safety of the master-slave control.

[0211] In an exemplary embodiment, after the first controller extracts the actual motion force of the robotic arm end effector from the motion information in step 701 above, the first controller can also filter the extracted actual motion force. Based on this, step 702 above can also include: limiting the amplitude of the filtered actual motion force to obtain the motion feedback force corresponding to the actual motion force.

[0212] For example, when there are large force fluctuations in the original force sensor data, the force components transformed into the end-device coordinate system need to be filtered in order to reduce the fluctuations. Since the delay requirements of the master-slave force feedback of interventional puncture are high, large delays will lead to doctor's misoperation. Therefore, considering all factors, a nonlinear method can be selected for filtering the force components. Compared with the traditional low-pass filter, it has a smaller delay and can obtain the force change rate information.

[0213] First, we define the fastest control synthesis function fhan(x1,x2,r,h), which is mainly used for fast tracking of the force transformation rate. Its algorithm formula is as follows:

[0214]

[0215] Where x1 is the filtered actual motion force (e.g., the filtered instrument needle tip force); x2 is the rate of change of the filtered actual motion force (e.g., the rate of change of the filtered instrument needle tip force); r is the filtering factor, used to adjust the degree of filtering; h is the time constant of the discrete system; d is the regional transition coefficient; d0 is the regional transition coefficient step size; y is the differential relation expression; a0 is the isotime zone function coefficient; a is the isotime zone function expression; sign() represents the sign function, when the value in () is > 0, sign() = 1, when the value in () is = 0, sign() = 0, and when the value in () is < 0, sign() = -1.

[0216] Based on the above, the discretized force filter form can be obtained as follows:

[0217]

[0218] Where F(k) represents the force at time k before being processed by the force feedback scheme, and is called the actual motion force; x1(k) represents the actual motion force at time k after filtering; x2(k) represents the rate of change of the actual motion force at time k after filtering; r is the filtering factor, used to adjust the degree of filtering; h is the time constant of the discrete system; fh represents the output value of the fastest control synthesis function; x1(k+1) represents the actual motion force at time k+1 after filtering; x2(k+1) represents the rate of change of the actual motion force at time k+1 after filtering.

[0219] After calculation using the above formulas (4) and (5), the force components and the rate of change of force in the coordinate system of the end effector after coordinate transformation and filtering can be obtained, namely the actual motion force and the rate of change of the actual motion force, which can be used for subsequent force feedback schemes.

[0220] In this embodiment, by filtering the acquired actual motion force, the problem of inaccurate data caused by fluctuations in the force sensor can be reduced, the detection accuracy of the actual motion force can be improved, thereby improving the accuracy of force feedback and the security of master-slave control.

[0221] In an exemplary embodiment, the limiting of the actual motion force in step 702 above may include the following situations.

[0222] The first scenario: When the end effector (such as a puncture needle) passes through the skin surface, a sudden increase in puncture force may cause a change in feedback force, resulting in a rebound of the hand. Assuming that the puncture process is defined as the first motion stage of the end effector, then when the current motion stage of the robotic arm end effector is the first motion stage, the actual motion force of the robotic arm end effector collected within the first motion stage can be limited. For example, when the current motion stage is the first motion stage, the motion feedback force corresponding to the actual motion force can be generated based on the actual motion force and the motion time parameter of the first motion stage.

[0223] For example, immediately after entering the master-slave puncture process, in order to avoid a sudden change in force due to the initial force, the force needs to be transitioned. The transition scheme can adopt the following formula:

[0224]

[0225] Where F(k) is the force at time k that has not been processed by the force feedback scheme, and is called the actual motion force; f in (k) represents the force processed by the force feedback scheme at time k, called the motion feedback force; Time1 is the duration of the force transition process, i.e., the motion duration of the first motion stage; Ts is the discrete time constant. The motion time parameters of the first motion stage mentioned above may include Time1.

[0226] By using the limiting method of formula (6), the motion feedback force can be gradually increased to the actual motion force in the first motion stage, thus avoiding the sudden change of the actual motion force in an instant.

[0227] In another implementation, when the current motion stage is the first motion stage and the rate of change of the actual motion force is less than or equal to the threshold of the rate of change of the third force, the motion feedback force corresponding to the actual motion force can be generated based on the actual motion force and the motion time parameter of the first motion stage. When the current motion stage is the first motion stage and the rate of change of the actual motion force is greater than the threshold of the rate of change of the third force, the motion feedback force corresponding to the actual motion force can be generated based on the actual motion force, the actual motion force at the previous moment, and the motion time parameter of the second motion stage.

[0228] Among them, the threshold for the rate of change of the third force can be less than the threshold for the rate of change of the second force, and the threshold for the rate of change of the second force is less than the threshold for the rate of change of the first force.

[0229] In other words, if the rate of change of the actual motion force is not large during the first motion phase, the above formula (6) can be used for amplitude limiting. However, if the rate of change of the actual motion force increases during the first motion phase, i.e., if the current motion phase is the first motion phase and the rate of change of the actual motion force is greater than the third force change rate threshold, the same filtering process as the second motion phase can be performed. That is, during the first motion phase, the motion feedback force corresponding to the actual motion force is generated based on the actual motion force, the actual motion force at the previous moment, and the motion time parameters of the second motion phase, i.e., the following formula (7) is used for amplitude limiting. Among them, the motion time parameters of the second motion phase can include the duration of the force transition process of the second motion phase, such as Time2. It should be noted that the motion time parameters of each motion phase can be preset, such as the duration of the force transition process of each motion phase determined during the simulation test in the development phase.

[0230] It should be noted that after the first motion phase, that is, the transition time, is completed, the motion feedback force is equal to the actual motion force, and the second motion phase begins.

[0231] The second scenario: After the distal instrument (such as a puncture needle) penetrates the skin surface and enters the subcutaneous tissue, it may come into contact with harder tissues such as bone during continuous movement. When this abnormal contact occurs, the actual force on the distal instrument will increase or even change abruptly. Alternatively, after the distal instrument passes through harder tissue, the actual force may suddenly decrease, causing the user to experience a feeling of emptiness. To avoid sudden changes in force during the movement of the distal instrument in these two scenarios, the actual force can be limited and controlled.

[0232] Assuming the puncture process after the end-effector penetrates the skin surface and enters the subcutaneous tissue is defined as the second motion phase of the end-effector, then, when the current motion phase of the end-effector of the robotic arm is the second motion phase and the rate of change of the actual motion force is greater than the threshold of the rate of change of the fourth force, the motion feedback force corresponding to the actual motion force can be generated based on the actual motion force, the actual motion force at the previous moment, and the motion time parameters of the second motion phase.

[0233] The threshold for the rate of change of the fourth force can be the same as or different from the threshold for the rate of change of the third force.

[0234] In other words, the second exercise phase can begin after the first exercise phase. When the transition process of the first exercise phase is complete, the feedback force equals the actual exercise force. To prevent a large rate of change in the actual exercise force that could cause the doctor's response to be slow, filtering can be applied when the rate of change in the actual exercise force exceeds a threshold to prevent sudden force changes. The following formula can be used for this filtering:

[0235]

[0236] Where F(k) is the actual motion force at time k before it has been processed by the force feedback scheme; f in (k) represents the motion feedback force after processing by the force feedback scheme at time k; F(k-1) represents the actual motion force at time k-1 without processing by the force feedback scheme; Time2 represents the motion duration of the second motion stage; and Ts represents the discrete time constant. The motion time parameters of the second motion stage mentioned above may include Time2.

[0237] By using the limiting method of formula (7), the sudden change of force due to excessive change rate of actual motion force can be avoided in the second motion stage. In addition, if the change rate of actual motion force is less than or equal to the fourth force change rate threshold in the second motion stage, it can be said that the change of force is small. At this time, the actual motion force can be used as the motion feedback force. That is to say, when the force changes slowly, since there is no sudden change of force, there is no need to perform anti-sudden change processing on the actual motion force. Instead, feedback can be directly based on the actual motion force. Feedback based on the actual motion force can be understood as amplifying, reducing or mapping the actual motion force to the original scale, and using the amplified, reduced or original scaled actual motion force as the motion feedback force.

[0238] It should be noted that regardless of whether the actual motion force suddenly increases or suddenly decreases, the force mutation processing in this second motion stage is intended to ensure that the motion feedback force increases or decreases gradually, that is, to achieve a slow change in force rather than a sudden change in force, thereby avoiding the situation where the user's hand is unstable when operating the main controller due to a sudden change in force. For example, when performing anti-mutation processing, a linear amplification or linear reduction mapping method similar to the above formula (7) can be used, or a nonlinear amplification or nonlinear reduction mapping method can be used. Alternatively, in some scenarios, the original proportional mapping method can also be used for amplitude limiting processing. For example, when the motion feedback force decreases gradually, if the motion feedback force at the previous moment is almost close to the actual motion force, the original proportional mapping method can be used to determine the motion feedback force at the next moment as the actual motion force. In addition, it should be noted that the linear mapping method shown in the above formula (7) is only an example and is not used to limit the linear mapping.

[0239] The third scenario: For the first and second scenarios mentioned above, as well as the limiting processing schemes using magnification mapping, reduction mapping, and original scale mapping, after generating the motion feedback force corresponding to the actual motion force based on the actual motion force and the motion time parameters of the corresponding motion stage, there may still be a situation where the motion feedback force is greater than the actual motion force. To avoid the generated motion feedback force exceeding the actual motion force by too much and causing a sudden force change, the magnitude relationship between the generated motion feedback force and the actual motion force can be judged, and if the motion feedback force is greater than the actual motion force, the motion feedback force can be limited. Assuming that the limiting process is defined as the third motion stage of the robotic arm's end effector, the first controller can determine whether the motion feedback force is greater than the actual motion force. If the motion feedback force is greater than the actual motion force, a new motion feedback force corresponding to the actual motion force can be generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage. Accordingly, when transmitting the motion feedback force to the main operator, this new motion feedback force can be transmitted to the main operator.

[0240] In other words, for either the first or second motion stage, if the motion feedback force after processing by the force feedback scheme is greater than the actual motion force, the feedback force needs to be reduced in a timely manner to ensure the accuracy of the master-slave force feedback. This can be achieved through the following processing:

[0241]

[0242] Where F(k) is the actual motion force before the force feedback scheme is processed; f in (k) represents the motion feedback force after processing by the force feedback scheme; f i ′ n(k) represents the new motion feedback force after the transition process; Time3 is the duration of the transition process, i.e., the motion duration of the third motion stage, which can be the same as or different from Time1 and / or Time2. It should be noted that the magnitude of the Time value affects the speed of the transition; a faster force transition will result in a sudden force change, while a slower transition will not. Ts is the discrete time constant, which can be the same or different for different motion stages. The motion time parameters for the third motion stage mentioned above can include Time3.

[0243] For example, after calculating the new motion feedback force using the above formula (8), if the new motion feedback force is still greater than the actual motion force, then the formula (8) can be used again to update the new motion feedback force. This process is repeated until the calculated new motion feedback force is less than or equal to the actual motion force. For example, during the iterative calculation process, other parameters in formula (8), such as the Ts parameter and the Time3 parameter, can be adjusted to make the new motion feedback force obtained in this iteration smaller than the motion feedback force obtained in the previous iteration, thereby accelerating the efficiency of the iterative calculation and obtaining a new motion feedback force less than or equal to the actual motion force more efficiently.

[0244] For example, when the motion feedback force is greater than the actual motion force, in addition to using a linear reduction mapping method similar to the above formula (8), a non-linear reduction mapping method can also be used. In some cases, the original proportional mapping method can also be used. In addition, the linear mapping method shown in the above formula (8) is only an example and is not intended to limit the linear mapping.

[0245] This process allows the motion feedback force to gradually transition into the actual motion force, further preventing sudden force changes.

[0246] In other words, in the above Figure 7 Based on the embodiment shown, after step 702, it can be further determined whether the motion feedback force is greater than the actual motion force. If the motion feedback force is greater than the actual motion force, a new motion feedback force corresponding to the actual motion force can be generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage. Accordingly, step 703 may include: transmitting the new motion feedback force to the main operator.

[0247] The fourth scenario: After determining the motion feedback force corresponding to the actual motion force based on the first and second scenarios above, as well as the amplitude limiting processing scheme using magnification mapping, reduction mapping, and original scale mapping, the motion feedback force can be further limited during the process of transmitting it to the main operator.

[0248] For example, based on the judgment of the actual motion force and the force dead zone value (i.e., the third motion force threshold) in step 601 above, and after the actual motion force is limited to obtain the corresponding motion feedback force, it is further possible to judge whether the motion feedback force is greater than the force dead zone value. Of course, in practical applications, it is also possible not to perform dead zone judgment on the actual motion force, but to perform dead zone judgment on the motion feedback force corresponding to the actual motion force after performing the second limiting control on the actual motion force.

[0249] For example, when the motion feedback force corresponding to the actual motion force is obtained through the second amplitude limiting control, the first controller can also determine whether the motion feedback force is greater than the fourth motion force threshold, wherein the fourth motion force threshold is a force dead zone value for the motion feedback force, and the fourth motion force threshold may be the same as or different from the third motion force threshold; the fourth motion force threshold may be greater than or less than the third motion force threshold; correspondingly, for the above step 703 of transmitting the motion feedback force to the main operator, it may further include: if the motion feedback force is greater than the fourth motion force threshold, then the motion feedback force is transmitted to the main operator; if the motion feedback force is less than or equal to the fourth motion force threshold, then a preset feedback force is transmitted to the main operator; wherein the preset feedback force is less than the fourth motion force threshold.

[0250] For example, in this example, both the actual motion force and the motion feedback force can be judged by force dead zone value. That is, the first controller can first determine whether the actual motion force is greater than the corresponding force dead zone value (third motion force threshold). If the actual motion force is greater than the corresponding force dead zone value, the actual motion force of the end effector of the robotic arm is limited. Then, for the motion feedback force obtained after the limitation process, if it is determined that the motion feedback force is also greater than its corresponding force dead zone value (fourth motion force threshold), the motion feedback force is transmitted to the main operator. If it is determined that the motion feedback force is less than or equal to its corresponding force dead zone value, it means that the feedback force is too small and the human hand cannot feel the feedback force. At this time, it is not necessary to feed the actual calculated motion feedback force back to the main operator. Instead, a fixed force less than the force dead zone value, which can be 0 or a very small force, is fed back to the main operator.

[0251] In other words, the first controller can also limit the motion feedback force fed back to the main operator to avoid the situation where the human hand cannot perceive it due to the motion feedback force being too small.

[0252] Furthermore, if the preset abnormality determination conditions for the aforementioned abnormal touch event include a motion feedback force greater than the second motion force threshold, and the motion feedback force corresponding to the actual motion force is obtained through the second amplitude limiting control, then if the motion feedback force is less than or equal to the fourth motion force threshold, the preset feedback force is transmitted to the main operator; if the motion feedback force is greater than the fourth motion force threshold and less than or equal to the second motion force threshold, the motion feedback force is transmitted to the main operator; if the motion feedback force is greater than the second motion force threshold, an abnormal touch event is determined to have occurred, triggering a safety response operation, namely, executing at least one of locking the main operator, disconnecting the master-slave enable control, and the first amplitude limiting control; if the safety response operation includes the first amplitude limiting control, then the preset feedback force can be transmitted to the main operator.

[0253] The fifth scenario: After determining the motion feedback force corresponding to the actual motion force based on the first and second scenarios above, as well as the amplitude limiting processing scheme using magnification mapping, reduction mapping, and original scale mapping, in addition to the processing method in the fourth scenario above, the amplitude limiting control of the motion feedback force can also be performed based on the current hand force.

[0254] For example, when transmitting the motion feedback force to the main operator, the first controller can further determine the magnitude of the motion feedback force and the current hand force; for example, when the second amplitude limiting control is executed to obtain the motion feedback force corresponding to the actual motion force, the first controller can also determine whether the motion feedback force is greater than a fifth motion force threshold, wherein the fifth motion force threshold is determined by the hand force applied to the main operator at the current moment, or by a standard for evaluating the magnitude of the motion feedback force; correspondingly, the transmission of the motion feedback force to the main operator in step 703 above can also include: if the motion feedback force is less than or equal to the fifth motion force threshold, then the motion feedback force is transmitted to the main operator; if the motion feedback force is greater than the fifth motion force threshold, then the force corresponding to the fifth motion force threshold is transmitted to the main operator.

[0255] In other words, the first controller can also limit the motion feedback force fed back to the main controller to prevent the hand from losing its grip on the main controller due to excessive motion feedback force. During normal puncture operations, the hand usually does not experience the large actual motion force that occurs under abnormal collision conditions. Therefore, the fifth motion force threshold here is lower than the first and second motion force thresholds under abnormal contact conditions.

[0256] It should be noted that when the fifth motion force threshold is the force of the human hand applied to the main operator, that is, the motion feedback force will not be greater than the human hand force, there will be no situation where the human hand rebounds due to excessive feedback force, that is, the situation of human hand rebound is completely avoided, thus improving the safety and stability of human hand operation.

[0257] When the fifth motion force threshold is determined by a standard for evaluating the magnitude of motion feedback force, and is greater than the strength of a human hand, the motion feedback force may exceed the strength of the human hand, resulting in a rebound of the hand. However, because the motion feedback force is subject to certain limitations, even if a rebound occurs, the hand will not be unable to hold the main controller, thus increasing safety. It should be noted that the standard for evaluating the magnitude of motion feedback force here is that the human hand can hold the main controller; that is, even if the fifth motion force threshold is greater than the strength of the human hand, the human hand can still hold the main controller.

[0258] For the third, fourth, and fifth scenarios mentioned above, each is a method of further limiting the motion feedback force corresponding to the actual motion force obtained from the first or second scenario, or from the limiting processing scheme using magnification mapping, reduction mapping, and original scale mapping. After obtaining the motion feedback force from the first or second scenario, or from the limiting processing scheme using magnification mapping, reduction mapping, and original scale mapping, any one or more combinations of the third, fourth, and fifth scenarios can be used for comprehensive limiting processing. For example, in the combination of the third and fourth scenarios, the first controller can first determine the relationship between the motion feedback force and the actual motion force. If the motion feedback force is greater than the actual motion force, a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage. The new motion feedback force is less than the actual motion force. If the new motion feedback force is greater than the fourth motion force threshold, the new motion feedback force is transmitted to the main operator. If the new motion feedback force is less than or equal to the fourth motion force threshold, the preset feedback force is transmitted to the main operator. If the motion feedback force is less than or equal to the actual motion force, and the motion feedback force is greater than the fourth motion force threshold, then the motion feedback force is transmitted to the main operator; if the motion feedback force is less than or equal to the actual motion force, and the motion feedback force is less than or equal to the fourth motion force threshold, then the preset feedback force is transmitted to the main operator.

[0259] Alternatively, the magnitudes of the motion feedback force and the fourth motion force threshold can be determined first. If the motion feedback force is greater than the fourth motion force threshold, then the relationship between the motion feedback force and the actual motion force can be determined. In this approach, if the motion feedback force is greater than both the fourth motion force threshold and the actual motion force, a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage. This new motion feedback force is less than the actual motion force. If the new motion feedback force is greater than the fourth motion force threshold, it is transmitted to the main operator. If the new motion feedback force is less than or equal to the fourth motion force threshold, a preset feedback force is transmitted to the main operator. When first determining the magnitudes of the motion feedback force and the fourth motion force threshold, if the motion feedback force is less than or equal to the fourth motion force threshold, the preset feedback force is transmitted to the main operator; in this case, it is not necessary to determine the relationship between the motion feedback force and the actual force.

[0260] It should be noted that in this combined judgment, there may be cases where the actual motion force is greater than the fourth motion force threshold, or cases where the actual motion force is less than or equal to the fourth motion force threshold. If the actual motion force is greater than the fourth motion force threshold, the above two methods can be used for judgment and processing. If the actual motion force is less than or equal to the fourth motion force threshold, then regardless of the amount of motion feedback force, there is no need to perform judgment and processing for the third case, nor is there a need to perform judgment for the fourth case. The preset feedback force (such as 0) can be directly transmitted to the main operator.

[0261] If a combination of the third and fifth scenarios is used, i.e., judging the magnitude of the motion feedback force relative to the actual motion force, and the magnitude of the motion feedback force relative to the hand force, this judgment method can refer to the combined judgment method of the third and fourth scenarios mentioned above. Specifically, if the hand force is less than the actual motion force, and the motion feedback force is greater than the actual motion force, then based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage, a new motion feedback force corresponding to the actual motion force is generated, where the new motion feedback force is less than the actual motion force. If the new motion feedback force is less than or equal to the hand force, then the new motion feedback force is transmitted to the main operator; if the new motion feedback force is greater than the hand force, then the hand force is transmitted to the main operator. If the motion feedback force is less than or equal to the actual motion force and greater than the hand force, then the hand force is transmitted to the main operator. If the motion feedback force is less than or equal to the hand force, then the motion feedback force is transmitted to the main operator.

[0262] If the hand force is greater than the actual motion force, and the motion feedback force is also greater than the actual motion force, a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage. This new motion feedback force is less than the actual motion force. Since the new motion feedback force is less than the actual motion force, it is also less than the hand force. In this case, the new motion feedback force is transmitted to the main controller. If the hand force is greater than the actual motion force, since the motion feedback force must be less than or equal to the actual motion force, and the actual motion force is less than the hand force, it is not necessary to compare the magnitudes of the motion feedback force and the hand force. Simply ensure that the motion feedback force is less than or equal to the actual motion force before transmitting it to the main controller.

[0263] If a combination of the fourth and fifth scenarios is used, that is, judging the magnitude of the motion feedback force and the dead zone value, and the magnitude of the motion feedback force and the human hand force; in this case, if the human hand force is less than or equal to the dead zone value, then if the motion feedback force is less than or equal to the dead zone value, then the preset feedback force (e.g., 0) is transmitted to the main controller; if the motion feedback force is greater than the dead zone value, then the human hand force is transmitted to the main controller. If the human hand force is greater than the dead zone value, then if the motion feedback force is less than or equal to the dead zone value, then the preset feedback force (e.g., 0) is transmitted to the main controller; if the motion feedback force is greater than the dead zone value and less than or equal to the human hand force, then the motion feedback force is transmitted to the main controller; if the motion feedback force is greater than the human hand force, then the human hand force is transmitted to the main controller.

[0264] If a combination of the third, fourth, and fifth scenarios is used—that is, a comprehensive assessment of the magnitudes of the motion feedback force and the actual motion force, the motion feedback force and the dead zone value, and the motion feedback force and the hand force—then the relationship between the actual motion force, the dead zone value, and the hand force needs to be considered. Different relationships among these three factors require different processing strategies. For example, when the actual motion force ≤ the dead zone value ≤ the hand force, regardless of the magnitude of the motion feedback force, there is no need for the judgment and processing of the third scenario, nor for the judgments of the fourth and fifth scenarios; the preset feedback force (e.g., 0) can be directly transmitted to the main operator.

[0265] When the actual motion force is less than or equal to the human hand force and the dead zone value, regardless of the amount of motion feedback force, there is no need to judge or process the third case, nor is there a need to judge the fourth and fifth cases. The preset feedback force (such as 0) can be directly transmitted to the main operator.

[0266] When the dead zone value ≤ actual motion force ≤ human hand force, and the motion feedback force is greater than the actual motion force, a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameter of the third motion stage. The new motion feedback force is less than the actual motion force. If the new motion feedback force is less than or equal to the dead zone value, then the preset feedback force (e.g., 0) is transmitted to the main operator. If the new motion feedback force is greater than the dead zone value, then the new motion feedback force is transmitted to the main operator.

[0267] When the dead zone value ≤ human hand force ≤ actual motion force, and the motion feedback force is greater than the actual motion force, a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage. The new motion feedback force is less than the actual motion force. If the new motion feedback force is greater than the human hand force, then the human hand force is transmitted to the main operator. If the new motion feedback force is less than or equal to the human hand force but greater than the dead zone value, then the new motion feedback force is transmitted to the main operator. If the new motion feedback force is less than or equal to the dead zone value, then the preset feedback force (e.g., 0) is transmitted to the main operator.

[0268] When the human hand force ≤ actual motion force ≤ dead zone value, regardless of the amount of motion feedback force, there is no need to judge and process the third case, nor is there a need to judge the fourth and fifth cases. The preset feedback force (such as 0) can be directly transmitted to the main operator.

[0269] When the hand force is less than or equal to the dead zone value and less than or equal to the actual motion force, there is no need to perform the judgment and processing for the third case. If the motion feedback force is greater than the dead zone value, then the hand force is transmitted to the main operator; if the motion feedback force is less than or equal to the dead zone value, then the preset feedback force (such as 0) is transmitted to the main operator. Among them, when the hand force is less than the dead zone value, it can be considered that the hand force is very small. When the hand force is too small, in order to avoid the rebound of the feedback force, the preset feedback force (such as 0) can be directly transmitted to the main operator.

[0270] Additionally, it should be noted that there is no strict requirement for the order of the various movement stages mentioned above. The example above is only one possible application scenario. In other application scenarios, there may be different movement sequences, which may include multiple movement stages or only one movement stage.

[0271] In one exemplary embodiment, when the end effector contacts a hard object, it typically results in an increased motion feedback force, causing the hand to rebound. In the case of this rebound, in master-slave control mode, the end effector of the slave robotic arm will also retract following the hand's retraction of the master manipulator. During puncture, this retraction of the end effector manifests as needle retraction, causing a change in the puncture position and reduced puncture accuracy.

[0272] Based on this, in an exemplary embodiment, a safety control method for the end effector of the robotic arm is also proposed in the event of a hand rebound, such as... Figure 10 As shown, the first controller can also perform the following steps:

[0273] Step 1001: Obtain motion control instructions; the motion control instructions include the position information of the end effector of the robotic arm at the current moment.

[0274] For example, refer to the above Figure 2 The main manipulator structure shown allows the user to control the insertion and retraction of the puncture needle held at the end of the robotic arm by moving a slip ring up and down on the main manipulator. Moving the slip ring downwards controls the insertion of the puncture needle, while moving it upwards controls its retraction. During movement, the movement of the slip ring is transmitted to the puncture encoder (136b) via a transmission mechanism to detect the distance traveled. Based on this, the encoder data (representing the slip ring's movement distance) is collected and filtered, and the filtered data is then processed... Multiply by the master-slave mapping ratio k ms The end-effector position command can be obtained. (Represents the distance the puncture needle has traveled); optionally, the end-effector velocity command can also be obtained by differentiating the end-effector position command. The motion control commands mentioned above may include end-effector position commands or end-effector velocity commands; wherein, the end-effector position commands may include the position information of the end effector of the robotic arm at the current moment.

[0275] For example, the end position instruction and end speed command It can be used for motion control of the end effector of a robotic arm. For example, the first controller can transmit the end effector position command via a control bus. and end speed command The signal is sent to the end-effector control unit to control the movement of the needle drive motor. The needle drive motor drives the end-effector drive mechanism, which in turn drives the puncture needle to perform puncture.

[0276] It should be noted that the motion speed in the motion information of the robotic arm end effector obtained above can be the motion speed indicated by the end effector speed command; of course, it can also be the motion speed of the robotic arm end effector determined by other methods, such as the motion speed collected by a speed sensor, or the motion speed determined by the position information collected by the end effector needle degree of freedom encoder, etc.

[0277] Step 1002: When it is determined that the motion control command indicates to perform a backward operation and the backward distance indicated by the motion control command is greater than a preset distance threshold, the target position information of the robotic arm end effector is determined based on the position information of the robotic arm end effector at the current moment and the position information of the robotic arm end effector at the previous moment, and the movement of the robotic arm end effector is controlled based on the target position information of the robotic arm end effector.

[0278] The backward operation can be represented as the needle being withdrawn. For example, the first controller can determine whether the end effector of the robotic arm performs a forward or backward operation based on the position information of the end effector of the robotic arm indicated by the motion control command at the current moment and the position information of the end effector of the robotic arm indicated by the motion control command at the previous moment.

[0279] If a retraction operation is determined, it is further determined whether the retraction distance is greater than a preset distance threshold. If the retraction distance is not greater than (including being less than or equal to) the preset distance threshold, it indicates that the retraction distance is small and does not affect the puncture position accuracy. In this case, the movement of the robotic arm end effector can be controlled based on the current position information of the end effector in the motion control command. If the retraction distance is greater than the preset distance threshold, it indicates that the retraction distance is large and affects the puncture position accuracy. In this case, the target position information of the robotic arm end effector can be determined based on the current position information and the previous position information of the end effector, and the movement of the end effector can be controlled based on the target position information. Specifically, the target position information of the end effector is less than the retraction distance indicated by the motion control command, i.e., reducing the retraction distance of the puncture needle, ensuring that the puncture position does not change significantly, and improving puncture accuracy.

[0280] For example, when entering master-slave puncture control, in order to further reduce the impact of the force rebound on the position of the distal instrument needle tip and improve puncture accuracy, the distal position command during needle withdrawal can be processed as follows:

[0281]

[0282] Where Ts is the discrete time constant; pos(k) is the position information of the end effector of the robotic arm after master-slave mapping at the current time; pos(k-1) is the position information of the end effector of the robotic arm after master-slave mapping at the previous time; pos'(k) is the target position information of the end effector of the robotic arm after master-slave mapping and position update at the current time; Time4 is the transition process time, which can be flexibly set according to the actual situation.

[0283] For example, the position correction process when the rebound occurs can be defined as the fourth motion stage. In the fourth motion stage, the first controller can determine the target position information of the robotic arm end effector based on the position information of the robotic arm end effector at the current moment, the position information of the robotic arm end effector at the previous moment, and the motion time parameter of the fourth motion stage, and control the movement of the robotic arm end effector based on the target position information of the robotic arm end effector. The motion time parameter of the fourth motion stage may include the transition process time of the fourth motion stage, i.e., Time4.

[0284] In this embodiment, under master-slave control mode, when the master manipulator rebounds, in order to prevent the end-effector of the slave robotic arm from retracting the needle too far, the motion control command of the end-effector of the slave robotic arm is updated to reduce the retraction distance of the end-effector. That is, when the position change transmitted from the master manipulator to the slave instrument is large, the above position update process can reduce the position change, avoid large needle retraction deviation at the end position of the end-effector, and improve puncture accuracy.

[0285] For example, in the event of needle rebound, the slave controller can also briefly disconnect the master-slave enable control so that the end position of the instrument does not shift due to the rebound of the master manipulator, thus keeping the end position of the instrument unchanged and improving puncture accuracy.

[0286] Based on the various amplitude limiting control strategies listed above, amplitude limiting of feedback force can be achieved, thereby improving the safety and stability of force feedback.

[0287] In an exemplary embodiment, the above-described interventional surgical robot control system may further include a second controller. When the first controller is a slave controller, the second controller may be a master controller; alternatively, the second controller may also be a slave controller, meaning the first controller and the second controller are the same controller. Based on this, as... Figure 11 As shown, the second controller can perform the following steps:

[0288] Step 1101: Obtain the motion feedback force determined based on the force feedback safety response, and apply the motion feedback force to the master manipulator; the force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, the first limiting control, and the second limiting control; the force feedback safety response is triggered based on the motion information of the end effector of the robotic arm.

[0289] The motion feedback force corresponding to the first amplitude limiting control is a preset feedback force, while the motion feedback force corresponding to the second amplitude limiting control is related to the actual motion force of the end effector of the robotic arm. Furthermore, this motion feedback force is determined based on the force feedback safety response; when the force feedback safety response is different, different safety control strategies corresponding to those responses are used to determine the motion feedback force.

[0290] For example, when the force feedback safety response is to lock the master manipulator and / or disconnect the master-slave enable control, a first limiting control can be executed synchronously, that is, a preset feedback force can be sent to the second controller; for example, the preset feedback force can be 0, that is, when the master manipulator is locked and / or the master-slave enable control is disconnected, the force fed back to the second controller is set to 0. When the force feedback safety response is the second limiting control, the motion feedback force corresponding to the actual motion force of the robotic arm end effector can be determined according to different processing strategies corresponding to the limiting control, such as the limiting processing strategies for different motion stages mentioned above, and sent to the second controller.

[0291] For specific implementation details, please refer to the relevant descriptions in the various embodiments applied to the first controller described above, which will not be repeated here.

[0292] For example, when a motion feedback force is applied to the master controller, a control current can be generated based on the motion feedback force and applied to the master controller.

[0293] The control current is the control current applied to the main hand puncture motor.

[0294] For example, referring to Figure 9(a) above, when the second controller obtains the motion feedback force, it can apply the motion feedback force to the torque feedforward of the main hand puncture motor, calculate the motor torque according to the above formula (3), and then calculate the control current according to the motor torque and torque constant. Finally, the control current is applied to the force feedback motor of the main hand through the current controller, so that the force feedback motor responds and outputs the desired torque and transmits it to the slip ring through the transmission structure to give the hand puncture force perception feedback.

[0295] In this embodiment, the second controller acquires the motion feedback force determined based on the force feedback safety response and applies this motion feedback force to the main operator. The force feedback safety response includes at least one of locking the main operator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the robotic arm's end effector. The force feedback safety response is triggered based on the motion information of the robotic arm's end effector. In other words, in the interventional surgical robot control system proposed in this application embodiment, not only is the motion force of the robotic arm's end effector fed back to the main controller via a force sensor, but the motion force of the robotic arm's end effector is also used to make a safety judgment on the motion of the robotic arm's end effector and execute a corresponding safety response, thereby improving the safety of the master-slave control. Furthermore, this application embodiment also provides multiple safety response strategies to achieve safe responses from the robotic arm's end effector in different operating scenarios, improving the reliability and comprehensiveness of safety control.

[0296] In one exemplary embodiment, such as Figure 12 As shown, the second controller is also used to perform the following steps:

[0297] Step 1201: Determine whether the motion feedback force is greater than the current human hand force on the main controller.

[0298] Accordingly, applying the motion feedback force to the main manipulator in step 1101 above may include:

[0299] Step 1202: When the motion feedback force is less than or equal to the current human hand force, apply the motion feedback force to the main controller.

[0300] Step 1203: If the motion feedback force is greater than the current hand force, apply the current hand force to the main controller.

[0301] In the aforementioned master-slave control force feedback scheme, the force exerted by the human hand on the slip ring during the movement of the robotic arm's end effector (referred to as the human hand force) exhibits a release rebound problem compared to the motion feedback force. One solution is to add a torque sensor to the needle insertion degree of freedom transmission mechanism of the master manipulator, but this increases the size and weight of the mechanism and also affects the ease of operation of the orientation adjustment degree of freedom.

[0302] Based on the above considerations, this embodiment utilizes a coupling and dual encoders to detect the force applied at the main end (i.e., human hand force), as described above. Figure 2 As shown, a coupling and dual encoders are installed. When the feedback force from the force feedback motor and the manual force are simultaneously applied to both ends of the coupling, the coupling will undergo torsional deformation. This deformation is detected by encoders 136a and 136b at both ends. Let the stiffness of the coupling be k.m (Unit: Nmm / rad), the radius of the slip ring drive mechanism is r. m If the deformation difference of the dual encoders is Δθ (in rad), then the force applied by the main hand, i.e., the force F of the human hand, is... m =k m ·Δθ / r m +f, where f is the needle friction resistance, and the dual encoder deformation difference Δθ is calculated based on the detection data of encoder 136a and encoder 136b.

[0303] During the force feedback process, the second controller, i.e. the main controller, can also perform main end slip ring force balance control. Its control strategy can be:

[0304] When F m >F s When the force exerted by the human hand is greater than the feedback force, the torque output to the force feedback motor is M = F. s / K;

[0305] When F m ≤F s When the force exerted by the human hand is less than or equal to the feedback force, the torque output to the force feedback motor is M = F. m / K.

[0306] K can be determined based on the above formula (3), that is, K = 2n / d.

[0307] Based on the above strategy, it can be ensured that the upward force of the slip ring will not be greater than the downward force, thus preventing rebound and ensuring the accuracy of the puncture.

[0308] It should be noted that when performing the first limiting control, if the preset feedback force is 0, that is, the force fed back to the main controller is set to 0, the second controller can directly set the control current to 0, without having to perform the calculation process of converting the preset feedback force into torque and then into control current, thereby improving the processing efficiency of the second controller.

[0309] In an exemplary embodiment, to improve human-computer interaction, the main controller can also display the aforementioned motion feedback force on the display screen, that is, display it to the doctor through the UI interface on the display screen. The doctor can achieve dual protection of tactile and visual senses through the force feedback of the hand and the force feedback data displayed on the UI interface, and can better understand the contact force of the current puncture.

[0310] The following provides a complete control flow for a robotic arm end effector, such as... Figure 13 As shown, when the doctor operates the main manipulator to insert the needle, the needle insertion component on the main manipulator moves along a preset direction. This movement is transmitted through a transmission mechanism to the puncture encoder, which detects the distance the needle insertion component has moved. The main controller then processes the encoder data. mAfter data acquisition, the data is periodically sent to the slave controller. The slave controller receives the master's needle insertion command to obtain the encoder data d. m The data is then filtered to obtain the filtered encoder data. Multiply by the master-slave mapping ratio k ms Receive end-effector position command The end-position command can be obtained by differentiating the end-velocity command. Finally, the end position command is transmitted via the control bus. and end speed command The signal is sent to the end-effector control unit to control the needle drive motor. The needle drive motor drives the end-effector drive mechanism to move, which in turn drives the puncture needle to puncture the tissue.

[0311] During the puncture and needle insertion process, on the one hand, the force exerted by the puncture needle on the punctured tissue can be reacted on the force sensor through the end-effector drive mechanism. After the force sensor collects the signal, it transmits it to the slave controller. The slave controller then processes the collected original actual motion force F. p By filtering the force information, the actual motion force after filtering can be obtained. and the actual motion force after filtering rate of change Next, the actual motion force after filtering was analyzed. By performing amplitude limiting, the actual motion force after filtering can be obtained. The corresponding motion feedback force F s And the actual motion force after filtering The corresponding motion feedback force F s The force is sent to the main controller; then the main controller performs force / torque transformation and converts the motion feedback force F. s The command torque M is converted into a force feedback motor. The force feedback motor outputs the command torque M and transmits it to the needle insertion assembly through the transmission structure to give the hand puncture force feedback.

[0312] On the other hand, during the force feedback data transmission process, the controller also combines the position and motion information of the end effector of the robotic arm for safety control; firstly, the needle insertion degree of freedom encoder can obtain the position information d′ of the puncture needle by detecting the rotation of the needle insertion drive motor. s By filtering the acquired position information, not only can the fluctuations of the needle feed encoder be eliminated, but also the filtered position information can be obtained. Furthermore, it can also obtain the speed information of the puncture needle. Furthermore, based on the speed information of the puncture needle, the direction of movement of the puncture needle can be determined, whether it is advancing or retracting; combined with the preset anomaly judgment conditions provided in the above embodiments, the actual motion force obtained by the controller based on the force information filtering is... and actual motion force rate of change and the motion velocity obtained by filtering position information and the rate of change of velocity Implement force feedback safety control.

[0313] When the preset abnormal judgment conditions are met, it can be determined that the puncture needle has touched a hard object. At this time, the main operator can be locked and the master-slave enable control can be disconnected to ensure the safety of puncture. In addition, considering the safety of the main operator and the service life of the motor, the motion feedback force can be set to 0 when touching a hard object, that is, the first limit control can be executed to improve the operation safety of the main operator and improve the service life of the motor.

[0314] In addition, the position information d′ of the puncture needle acquired by the needle insertion degree of freedom encoder s You can also use this location information d′ s The data is sent to the end-effector control unit to achieve servo closed-loop control of the needle insertion drive motor.

[0315] The above control process achieves safe control in scenarios involving puncture contact with rigid objects by comprehensively judging the motion and position information of the robotic arm's end effector during the puncture process. Specifically, it acquires precise motion information through force sensors and filters to remove noise, uses a puncture encoder to detect the magnitude of the operating force at the main end, and adjusts the force feedback value in real time. Furthermore, by designing multiple force feedback schemes, it achieves accurate force feedback while reducing force fluctuations and rebound effects. Additionally, the transmission mechanism of the main manipulator detects and balances the force applied by the hand to the main end effector, solving the puncture rebound problem caused by human reaction time and improving the accuracy and safety of the puncture surgery. This method not only ensures high force feedback accuracy but also allows for timely, safe, and effective handling of various phenomena during the puncture process, improving the safety, stability, and controllability of the puncture procedure. Moreover, the dual force feedback of vision and touch further enhances the visibility and intuitiveness of the force feedback.

[0316] In one exemplary embodiment, this application also provides an interventional surgical robot control system, which includes a robotic arm end effector, a first controller, a second controller, and a main manipulator; wherein, the first controller is used to acquire motion information of the robotic arm end effector, trigger a force feedback safety response based on the motion information, and send a motion feedback force to the second controller based on the force feedback safety response; the second controller is used to receive the motion feedback force and apply the motion feedback force to the main manipulator.

[0317] The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, the first amplitude limiting control, and the second amplitude limiting control; the motion feedback force corresponding to the first amplitude limiting control is a preset feedback force, and the motion feedback force corresponding to the second amplitude limiting control is related to the actual motion force of the end effector of the robotic arm.

[0318] In one embodiment, the system further includes a needle insertion degree-of-freedom encoder and a force sensor. The motion information includes the position information and actual motion force of the end effector of the robotic arm. The needle insertion degree-of-freedom encoder is used to collect the position information of the end effector of the robotic arm during the motion process and send the position information to the first controller. The force sensor is used to collect the actual motion force of the end effector of the robotic arm during the motion process and send the actual motion force to the first controller.

[0319] In one embodiment, the first controller is further configured to perform position information filtering processing on the position information to obtain filtered position information and the movement speed of the end effector of the robotic arm; and to perform force information filtering processing on the actual movement force to obtain filtered actual movement force and the rate of change of the actual movement force; based on this, the first controller is further configured to trigger a force feedback safety response according to the filtered position information, movement speed, filtered actual movement force and the rate of change of the actual movement force.

[0320] In one embodiment, the first controller is further configured to perform force feedback safety control based on the filtered position information, motion speed, filtered actual motion force, and rate of change of the actual motion force; the force feedback safety control includes at least one of locking the master operator, disconnecting master-slave enable control, and a first limiting control; the first controller is further configured to perform force feedback limiting control based on the filtered actual motion force; the force feedback limiting control includes a second limiting control.

[0321] In one embodiment, the first controller is configured to send a preset feedback force to the second controller when performing a first amplitude limiting control; the first controller is also configured to determine a motion feedback force based on the filtered actual motion force when performing a second amplitude limiting control, and send the motion feedback force to the second controller.

[0322] In one embodiment, the system further includes a puncture encoder; the puncture encoder is used to collect initial motion information generated by the human hand force applied to the main manipulator and send the initial motion information to a second controller; the second controller is used to send the initial motion information to a first controller; the first controller is used to convert the initial motion information to obtain motion control commands for the robotic arm end effector and control the robotic arm end effector based on the motion control commands.

[0323] In one embodiment, the motion control command includes a position command and a speed command; the first controller is used to filter the initial motion information and perform proportional mapping on the filtered initial motion information to generate a position command; the first controller is also used to perform differential processing on the position command to obtain a speed command.

[0324] In one embodiment, the system further includes an end-effector control unit; a first controller for sending motion control commands to the end-effector control unit; and an end-effector control unit for controlling the end-effector of the robotic arm based on the motion control commands.

[0325] In one exemplary embodiment, this application also provides an interventional surgical robot control method, applied to the aforementioned interventional surgical robot control system, which includes a robotic arm end effector, a first controller, a second controller, and a main manipulator; the method includes:

[0326] The first controller acquires motion information of the end effector of the robotic arm and triggers a force feedback safety response based on the motion information. Based on the force feedback safety response, a motion feedback force is sent to the second controller. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0327] The second controller receives the motion feedback force and applies it to the main manipulator.

[0328] In one embodiment, the first controller determines whether an abnormal touch event has occurred based on motion information and preset abnormal judgment conditions; if an abnormal touch event occurs, at least one of locking the master operator, disconnecting master-slave enable control, and first limiting control is executed; if no abnormal touch event occurs, second limiting control is executed.

[0329] In one embodiment, the first controller determines whether the motion information meets the preset abnormality judgment conditions; if the preset abnormality judgment conditions are met, it is determined that an abnormal touch event has occurred.

[0330] In one embodiment, the motion information includes at least one of the following: the actual motion force of the robotic arm end effector, the rate of change of the actual motion force, the motion speed of the robotic arm end effector, the rate of change of the motion speed, and the motion feedback force corresponding to the actual motion force; the preset anomaly detection conditions include at least one of the following:

[0331] The actual motion force is greater than the first motion force threshold;

[0332] The rate of change of the actual kinetic force is greater than the threshold of the first rate of change of force.

[0333] The actual rate of change of the kinetic force is greater than the second rate of change threshold, and the kinetic speed is less than the first speed threshold;

[0334] The rate of change of the actual kinetic force is greater than the second force rate of change threshold, and the rate of change of the kinetic velocity is greater than the first velocity rate of change threshold;

[0335] The speed of motion is less than the second speed threshold, and the rate of change of the speed of motion is greater than the second rate of change threshold;

[0336] The motion feedback force is greater than the second motion force threshold;

[0337] Among them, the second force change rate threshold is less than the first force change rate threshold, the second velocity threshold is less than the first velocity threshold, and the second velocity change rate threshold is greater than the first velocity change rate threshold.

[0338] In one embodiment, after at least one of locking the master operator, disconnecting the master-slave enable control, and the first limiting control is performed by the first controller, the master operator is restricted from performing forward operations by the second controller in the event of unlocking the master operator or responding to the master-slave enable control.

[0339] In one embodiment, the motion information includes the actual motion force of the end effector of the robotic arm. A first controller determines whether the actual motion force is greater than a third motion force threshold. If the actual motion force is less than or equal to the third motion force threshold, a first amplitude limiting control is executed. If the actual motion force is greater than the third motion force threshold, a second amplitude limiting control is executed.

[0340] In one embodiment, the actual motion force of the end effector of the robotic arm is extracted from the motion information by the first controller; the actual motion force is subjected to amplitude limiting processing to obtain the motion feedback force corresponding to the actual motion force; and the motion feedback force is transmitted to the main manipulator.

[0341] In one embodiment, when the first controller determines that the current motion stage is the first motion stage, it generates a motion feedback force corresponding to the actual motion force based on the actual motion force and the motion time parameters of the first motion stage.

[0342] In one embodiment, when the first controller determines that the current motion stage is the first motion stage and the rate of change of the actual motion force is less than or equal to the third force rate of change threshold, it generates a motion feedback force corresponding to the actual motion force based on the actual motion force and the motion time parameter of the first motion stage; and when the first controller determines that the current motion stage is the first motion stage and the rate of change of the actual motion force is greater than the third force rate of change threshold, it generates a motion feedback force corresponding to the actual motion force based on the actual motion force, the actual motion force at the previous moment, and the motion time parameter of the second motion stage.

[0343] In one embodiment, when the first controller determines that the current motion stage is the second motion stage and the rate of change of the actual motion force is greater than the fourth force change rate threshold, it generates a motion feedback force corresponding to the actual motion force based on the actual motion force, the actual motion force at the previous moment, and the motion time parameters of the second motion stage.

[0344] In one embodiment, the first controller determines whether the motion feedback force is greater than the actual motion force; if the motion feedback force is greater than the actual motion force, a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage; accordingly, the new motion feedback force is transmitted to the main operator.

[0345] In one embodiment, the first controller determines whether the motion feedback force is greater than the fourth motion force threshold; if the motion feedback force is greater than the fourth motion force threshold, the motion feedback force is transmitted to the main operator; if the motion feedback force is less than or equal to the fourth motion force threshold, a preset feedback force is transmitted to the main operator; the preset feedback force is less than the fourth motion force threshold.

[0346] In one embodiment, a first controller determines whether the motion feedback force is greater than a fifth motion force threshold. The fifth motion force threshold is determined by the hand force applied to the main operator at the current moment, or by a standard for evaluating the magnitude of the motion feedback force. If the motion feedback force is less than or equal to the fifth motion force threshold, the motion feedback force is transmitted to the main operator. If the motion feedback force is greater than the fifth motion force threshold, the force corresponding to the fifth motion force threshold is transmitted to the main operator.

[0347] In one embodiment, the limiting processing of the first controller includes one of magnification mapping, reduction mapping, and original scaling mapping; magnification mapping includes linear magnification mapping or nonlinear magnification mapping, and reduction mapping includes linear reduction mapping or nonlinear reduction mapping.

[0348] In one embodiment, a motion control command is obtained through a first controller; the motion control command includes the position information of the end effector of the robotic arm at the current moment; when it is determined that the motion control command indicates to perform a backward operation, and the backward distance indicated by the motion control command is greater than a preset distance threshold, the target position information of the end effector of the robotic arm is determined based on the position information of the end effector of the robotic arm at the current moment and the position information of the end effector of the robotic arm at the previous moment, and the movement of the end effector of the robotic arm is controlled based on the target position information of the end effector of the robotic arm.

[0349] In one embodiment, a second controller determines whether the motion feedback force is greater than the current hand force on the main controller; if the motion feedback force is less than or equal to the current hand force, the motion feedback force is applied to the main controller; if the motion feedback force is greater than the current hand force, the current hand force is applied to the main controller.

[0350] In one embodiment, the motion feedback force is displayed on a screen via a second controller.

[0351] In the aforementioned interventional surgical robot control method, the first controller acquires motion information of the robotic arm's end effector and triggers a force feedback safety response based on this motion information. Based on this response, it sends a motion feedback force to the second controller. The second controller generates a control current based on the feedback force and applies it to the master manipulator. The force feedback safety response includes at least one of locking the master manipulator, disabling master-slave enable control, a first limiting control, and a second limiting control. In other words, the control method proposed in this application not only considers the functional implementation of feedback information but also performs a safety judgment on the motion of the robotic arm's end effector based on the feedback information and executes a corresponding safety response, thereby improving the safety of master-slave control. Furthermore, this application also provides multiple safety response strategies to achieve safe responses from the robotic arm's end effector in different operating scenarios, improving the reliability and comprehensiveness of safety control.

[0352] In one exemplary embodiment, this application also provides an interventional surgical robot control method, applied to a first controller in an interventional surgical robot control system; the method includes:

[0353] Acquire motion information of the end effector of the robotic arm;

[0354] The force feedback safety response is triggered based on motion information; the force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control; the first limiting control includes transmitting a preset feedback force to the master manipulator, and the second limiting control includes transmitting a motion feedback force to the master manipulator, wherein the motion feedback force is related to the actual motion force of the end effector of the robotic arm.

[0355] In one embodiment, triggering a force feedback safety response based on motion information includes: determining whether an abnormal touch event has occurred based on the motion information and preset abnormal judgment conditions; if an abnormal touch event has occurred, executing at least one of locking the master operator, disconnecting master-slave enable control, and first limiting control; if no abnormal touch event has occurred, executing second limiting control.

[0356] In one embodiment, determining whether an abnormal touch event has occurred based on motion information and preset abnormality determination conditions includes: determining whether the motion information meets the preset abnormality determination conditions; if the preset abnormality determination conditions are met, then determining that an abnormal touch event has occurred.

[0357] In one embodiment, the motion information includes at least one of the following: the actual motion force of the robotic arm end effector, the rate of change of the actual motion force, the motion speed of the robotic arm end effector, the rate of change of the motion speed, and the motion feedback force corresponding to the actual motion force; the preset abnormal judgment conditions include at least one of the following: the actual motion force is greater than a first motion force threshold; the rate of change of the actual motion force is greater than a first force change rate threshold; the rate of change of the actual motion force is greater than a second force change rate threshold, and the motion speed is less than a first speed threshold; the rate of change of the actual motion force is greater than a second force change rate threshold, and the rate of change of the motion speed is greater than a first speed change rate threshold; the motion speed is less than a second speed threshold, and the rate of change of the motion speed is greater than a second speed change rate threshold; the motion feedback force is greater than a second motion force threshold; wherein, the second force change rate threshold is less than the first force change rate threshold, the second speed threshold is less than the first speed threshold, and the second speed change rate threshold is greater than the first speed change rate threshold.

[0358] In one embodiment, after performing at least one of locking the master operator, disconnecting the master-slave enable control, and the first limiting control, the method further includes: restricting the master operator from performing a forward operation in the event of unlocking the master operator or in response to the master-slave enable control.

[0359] In one embodiment, the motion information includes the actual motion force of the end effector of the robotic arm. The force feedback safety response is triggered based on the motion information, including: determining whether the actual motion force is greater than a third motion force threshold; if the actual motion force is less than or equal to the third motion force threshold, then performing a first amplitude limiting control; if the actual motion force is greater than the third motion force threshold, then performing a second amplitude limiting control.

[0360] In one embodiment, performing second amplitude limiting control includes: extracting the actual motion force of the robotic arm end effector from motion information; performing amplitude limiting processing on the actual motion force to obtain the motion feedback force corresponding to the actual motion force; and transmitting the motion feedback force to the main manipulator.

[0361] In one embodiment, the actual motion force is limited to obtain the motion feedback force corresponding to the actual motion force, including: if the current motion stage is the first motion stage, then the motion feedback force corresponding to the actual motion force is generated based on the actual motion force and the motion time parameter of the first motion stage.

[0362] In one embodiment, the actual motion force is limited to obtain the motion feedback force corresponding to the actual motion force. This includes: if the current motion stage is the first motion stage and the rate of change of the actual motion force is less than or equal to the third force rate of change threshold, then the motion feedback force corresponding to the actual motion force is generated based on the actual motion force and the motion time parameter of the first motion stage; if the current motion stage is the first motion stage and the rate of change of the actual motion force is greater than the third force rate of change threshold, then the motion feedback force corresponding to the actual motion force is generated based on the actual motion force, the actual motion force at the previous moment, and the motion time parameter of the second motion stage.

[0363] In one embodiment, the actual motion force is limited to obtain the motion feedback force corresponding to the actual motion force. This includes: if the current motion stage is the second motion stage and the rate of change of the actual motion force is greater than the fourth force rate of change threshold, then the motion feedback force corresponding to the actual motion force is generated based on the actual motion force, the actual motion force at the previous moment, and the motion time parameters of the second motion stage.

[0364] In one embodiment, the method further includes: determining whether the motion feedback force is greater than the actual motion force; if the motion feedback force is greater than the actual motion force, generating a new motion feedback force corresponding to the actual motion force based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage; and correspondingly, transmitting the motion feedback force to the main operator, including: transmitting the new motion feedback force to the main operator.

[0365] In one embodiment, the method further includes: determining whether the motion feedback force is greater than a fourth motion force threshold; accordingly, transmitting the motion feedback force to the main operator, including: if the motion feedback force is greater than the fourth motion force threshold, transmitting the motion feedback force to the main operator; if the motion feedback force is less than or equal to the fourth motion force threshold, transmitting a preset feedback force to the main operator; the preset feedback force is less than the fourth motion force threshold.

[0366] In one embodiment, the method further includes: determining whether the motion feedback force is greater than a fifth motion force threshold; the fifth motion force threshold is determined by the hand force applied to the main operator at the current moment, or by a standard for evaluating the magnitude of the motion feedback force; accordingly, transmitting the motion feedback force to the main operator includes: if the motion feedback force is less than or equal to the fifth motion force threshold, transmitting the motion feedback force to the main operator; if the motion feedback force is greater than the fifth motion force threshold, transmitting the force corresponding to the fifth motion force threshold to the main operator.

[0367] In one embodiment, the limiting process includes one of magnification mapping, reduction mapping, and original scale mapping; magnification mapping includes linear magnification mapping or nonlinear magnification mapping, and reduction mapping includes linear reduction mapping or nonlinear reduction mapping.

[0368] In one embodiment, the method further includes: acquiring a motion control command; the motion control command includes the position information of the end effector of the robotic arm at the current moment; when it is determined that the motion control command indicates to perform a backward operation, and the backward distance indicated by the motion control command is greater than a preset distance threshold, determining the target position information of the end effector of the robotic arm based on the position information of the end effector of the robotic arm at the current moment and the position information of the end effector of the robotic arm at the previous moment, and controlling the movement of the end effector of the robotic arm based on the target position information of the end effector of the robotic arm.

[0369] In one exemplary embodiment, this application also provides an interventional surgical robot control method, applied to a second controller in an interventional surgical robot control system; the method includes:

[0370] The motion feedback force determined based on the force feedback safety response is obtained and applied to the master manipulator. The force feedback safety response includes at least one of locking the master manipulator, disconnecting the master-slave enable control, a first limiting control, and a second limiting control. The force feedback safety response is triggered based on the motion information of the end effector of the robotic arm. The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0371] In one embodiment, the method further includes: determining whether the motion feedback force is greater than the current hand force on the main operator; accordingly, applying the motion feedback force to the main operator, including: applying the motion feedback force to the main operator when the motion feedback force is less than or equal to the current hand force; and applying the current hand force to the main operator when the motion feedback force is greater than the current hand force.

[0372] In one embodiment, the method further includes displaying the motion feedback force on a display screen.

[0373] In one embodiment, applying a motion feedback force to the master manipulator includes: generating a control current based on the motion feedback force and applying the control current to the master manipulator.

[0374] It should be understood that although the steps in the flowcharts of the embodiments described above 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 flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0375] Based on the same inventive concept, this application also provides an interventional surgical robot control device for implementing the interventional surgical robot control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the interventional surgical robot control device provided below can be found in the limitations of the interventional surgical robot control method described above, and will not be repeated here.

[0376] In one exemplary embodiment, such as Figure 14 As shown, an interventional surgical robot control device is provided, including: a first acquisition module 1401 and a trigger module 1402, wherein:

[0377] The first acquisition module 1401 is used to acquire motion information of the end effector of the robotic arm.

[0378] Trigger module 1302 is used to trigger force feedback safety response based on motion information; force feedback safety response includes at least one of locking the master operator, disconnecting master-slave enable control, first amplitude limiting control and second amplitude limiting control; the first amplitude limiting control includes transmitting a preset feedback force to the master operator, and the second amplitude limiting control includes transmitting motion feedback force to the master operator, the motion feedback force being related to the actual motion force of the end effector of the robotic arm.

[0379] In one embodiment, the trigger module 1302 includes:

[0380] The first determining unit is used to determine whether an abnormal touch event has occurred based on motion information and preset abnormal judgment conditions.

[0381] The first execution unit is configured to execute at least one of locking the master operator, disconnecting the master-slave enable control, and the first limiting control in the event of an abnormal touch event.

[0382] The first execution unit is also used to execute the second amplitude limiting control in the absence of an abnormal touch event.

[0383] In one embodiment, the determining unit is specifically used to determine whether the motion information meets the preset abnormality judgment conditions; if the preset abnormality judgment conditions are met, it is determined that an abnormal touch event has occurred.

[0384] In one embodiment, the motion information includes at least one of the following: the actual motion force of the robotic arm end effector, the rate of change of the actual motion force, the motion speed of the robotic arm end effector, the rate of change of the motion speed, and the motion feedback force corresponding to the actual motion force; the preset anomaly detection conditions include at least one of the following:

[0385] The actual motion force is greater than the first motion force threshold;

[0386] The rate of change of the actual kinetic force is greater than the threshold of the first rate of change of force.

[0387] The actual rate of change of the kinetic force is greater than the second rate of change threshold, and the kinetic speed is less than the first speed threshold;

[0388] The rate of change of the actual kinetic force is greater than the second force rate of change threshold, and the rate of change of the kinetic velocity is greater than the first velocity rate of change threshold;

[0389] The speed of motion is less than the second speed threshold, and the rate of change of the speed of motion is greater than the second rate of change threshold;

[0390] The motion feedback force is greater than the second motion force threshold;

[0391] Among them, the second force change rate threshold is less than the first force change rate threshold, the second velocity threshold is less than the first velocity threshold, and the second velocity change rate threshold is greater than the first velocity change rate threshold.

[0392] In one embodiment, the device further includes:

[0393] The control module is configured to restrict the master operator from performing forward operations when the master operator is unlocked or in response to the master-slave enable control after the execution unit performs at least one of locking the master operator and disconnecting the master-slave enable control and the first limit control.

[0394] In one embodiment, the motion information includes the actual motion force of the robotic arm's end effector, and the trigger module 1302 further includes:

[0395] The second determining unit is used to determine whether the actual motion force is greater than the third motion force threshold.

[0396] The second execution unit is used to execute the first amplitude limiting control when the actual motion force is less than or equal to the third motion force threshold.

[0397] The second execution unit is used to execute the second amplitude limiting control when the actual motion force is greater than the third motion force threshold.

[0398] In one embodiment, the first execution unit, and / or the second execution unit, includes:

[0399] The extraction subunit is used to extract the actual motion force of the end effector of the robotic arm from the motion information.

[0400] The processing subunit is used to limit the actual motion force and obtain the motion feedback force corresponding to the actual motion force.

[0401] The transmission subunit is used to transmit motion feedback force to the main manipulator.

[0402] In one embodiment, the processing subunit is configured to generate a motion feedback force corresponding to the actual motion force based on the actual motion force and the motion time parameters of the first motion stage when the current motion stage is the first motion stage.

[0403] In one embodiment, the processing subunit is configured to generate a motion feedback force corresponding to the actual motion force based on the actual motion force and the motion time parameter of the first motion stage when the current motion stage is the first motion stage and the rate of change of the actual motion force is less than or equal to the third force rate of change threshold; the processing subunit is further configured to generate a motion feedback force corresponding to the actual motion force based on the actual motion force, the actual motion force at the previous moment, and the motion time parameter of the second motion stage when the current motion stage is the first motion stage and the rate of change of the actual motion force is greater than the third force rate of change threshold.

[0404] In one embodiment, the processing subunit is further configured to generate a motion feedback force corresponding to the actual motion force based on the motion time parameters of the actual motion force and the second motion stage, when the current motion stage is the second motion stage and the rate of change of the actual motion force is greater than the fourth force rate of change threshold.

[0405] In one embodiment, the processing subunit is further configured to determine whether the motion feedback force is greater than the actual motion force; if the motion feedback force is greater than the actual motion force, a new motion feedback force corresponding to the actual motion force is generated based on the motion feedback force, the actual motion force, and the motion time parameters of the third motion stage; correspondingly, the transmission subunit is further configured to transmit the new motion feedback force to the main operator.

[0406] In one embodiment, the first execution unit and / or the second execution unit further includes: a determining subunit, configured to determine whether the motion feedback force is greater than a fourth motion force threshold; and a transmitting subunit, specifically configured to transmit the motion feedback force to the main operator when the motion feedback force is greater than the fourth motion force threshold; and to transmit a preset feedback force to the main operator when the motion feedback force is less than or equal to the fourth motion force threshold; wherein the preset feedback force is less than the fourth motion force threshold.

[0407] In one embodiment, the determining subunit is further configured to determine whether the motion feedback force is greater than a fifth motion force threshold; the fifth motion force threshold is determined by the hand force applied to the main operator at the current moment, or by a standard for evaluating the magnitude of the motion feedback force; the transmitting subunit is further configured to transmit the motion feedback force to the main operator if the motion feedback force is less than or equal to the fifth motion force threshold; and to transmit the force corresponding to the fifth motion force threshold to the main operator if the motion feedback force is greater than the fifth motion force threshold.

[0408] In one embodiment, the limiting process includes one of magnification mapping, reduction mapping, and original scale mapping; magnification mapping includes linear magnification mapping or nonlinear magnification mapping, and reduction mapping includes linear reduction mapping or nonlinear reduction mapping.

[0409] In one embodiment, the device further includes:

[0410] The second acquisition module is used to acquire motion control commands; the motion control commands include the position information of the end effector of the robotic arm at the current moment.

[0411] The control module is used to determine the target position information of the robotic arm end effector based on the current position information and the previous position information of the robotic arm end effector when the motion control command indicates that a backward operation is to be performed, and the backward distance indicated by the motion control command is greater than a preset distance threshold. The module then controls the movement of the robotic arm end effector based on the target position information of the robotic arm end effector.

[0412] In one exemplary embodiment, such as Figure 15 As shown, an interventional surgical robot control device is provided, including: an acquisition module 1501 and a feedback module 1502, wherein:

[0413] The acquisition module 1501 is used to acquire the motion feedback force determined based on the force feedback safety response; the force feedback safety response includes at least one of locking the master operator, disconnecting the master-slave enable control, the first limiting control, and the second limiting control; the force feedback safety response is triggered by the controller based on the motion information of the end effector of the robotic arm; the motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to the actual motion force of the end effector of the robotic arm.

[0414] Feedback module 1502 is used to apply motion feedback force to the main manipulator.

[0415] In one embodiment, the device further includes:

[0416] The determination module is used to determine whether the motion feedback force is greater than the current human hand force on the main operator.

[0417] Feedback module 1502 is used to apply motion feedback force to the main operator when the motion feedback force is less than or equal to the current hand force, and to apply the current hand force to the main operator when the motion feedback force is greater than the current hand force.

[0418] In one embodiment, the device further includes:

[0419] The display module is used to display the motion feedback force on the screen.

[0420] In one embodiment, the feedback module 1502 is specifically used to generate a control current based on the motion feedback force and apply the control current to the main operator.

[0421] The modules in the aforementioned interventional surgical robot control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0422] In one exemplary embodiment, a robot is provided whose internal structure diagram can be as follows: Figure 16As shown, the robot includes a processor, memory, input / output interfaces, and a communication interface. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the input / output interfaces. The robot's processor provides computational and control capabilities. The robot's memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The robot's input / output interfaces are used for exchanging information between the processor and external devices. The robot's communication interface is used for wired or wireless communication with external terminals or control devices; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a control method for an interventional surgical robot applied to a first controller.

[0423] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0424] In one exemplary embodiment, a robot is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the interventional surgical robot control method applied to a first controller in any of the above embodiments.

[0425] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 17As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a control method for an interventional surgical robot applied to a second controller. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, touchpads, or main controllers set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0426] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0427] In one exemplary embodiment, a computer device is provided, including a main operator, a memory, and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the interventional surgical robot control method applied to a second controller in any of the above embodiments.

[0428] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the interventional surgical robot control method in any of the above embodiments.

[0429] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the interventional surgical robot control method in any of the above embodiments.

[0430] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0431] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0432] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An interventional procedure robot control system, characterized by, The system comprises a first controller configured to perform the following steps: obtain motion information of an end effector of a robot arm; trigger a force feedback safety response according to the motion information; the force feedback safety response comprises at least one of locking a master operator, disconnecting master-slave enable control, first limiting control and second limiting control; the first limiting control comprises transmitting a preset feedback force to the master operator, and the second limiting control comprises transmitting a motion feedback force to the master operator, the motion feedback force being related to an actual motion force of the end effector of the robot arm.

2. The system of claim 1, wherein, The triggering of the force feedback safety response according to the motion information comprises: determining whether an abnormal touch event occurs according to the motion information and a preset abnormality determination condition; if the abnormal touch event occurs, at least one of the locking of the master operator, the disconnecting of the master-slave enable control and the first limiting control is performed; if the abnormal touch event does not occur, the second limiting control is performed.

3. The system of claim 2, wherein, The determination of whether the abnormal touch event occurs according to the motion information and the preset abnormality determination condition comprises: determining whether the motion information satisfies the preset abnormality determination condition; if the preset abnormality determination condition is satisfied, it is determined that the abnormal touch event occurs.

4. The system of claim 3, wherein, The motion information comprises at least one of an actual motion force of the end effector of the robot arm, a rate of change of the actual motion force, a motion speed of the end effector of the robot arm, a rate of change of the motion speed and a motion feedback force corresponding to the actual motion force; and the preset abnormality determination condition comprises at least one of: the actual motion force is greater than a first motion force threshold; the rate of change of the actual motion force is greater than a first force rate threshold; the rate of change of the actual motion force is greater than a second force rate threshold, and the motion speed is less than a first speed threshold; the rate of change of the actual motion force is greater than the second force rate threshold, and the rate of change of the motion speed is greater than a first speed rate threshold; the motion speed is less than a second speed threshold, and the rate of change of the motion speed is greater than a second speed rate threshold; the motion feedback force is greater than a second motion force threshold; wherein the second force rate threshold is less than the first force rate threshold, the second speed threshold is less than the first speed threshold, and the second speed rate threshold is greater than the first speed rate threshold.

5. The system of claim 2, wherein, After the at least one of the locking of the master operator, the disconnecting of the master-slave enable control and the first limiting control is performed, the first controller is further configured to perform the following steps: limit the master operator to perform a forward operation in a case of unlocking the master operator or responding to the master-slave enable control.

6. The system of claim 1, wherein, The motion information comprises an actual motion force of the end effector of the robot arm, and the triggering of the force feedback safety response according to the motion information comprises: determining whether the actual motion force is greater than a third motion force threshold; if the actual motion force is less than or equal to the third motion force threshold, the first limiting control is performed; if the actual motion force is greater than the third motion force threshold, the second limiting control is performed.

7. The system of any one of claims 1-6, wherein, The second limiting control comprises: extracting an actual motion force of the robot arm end instrument from the motion information; clipping the actual motion force to obtain a motion feedback force corresponding to the actual motion force; delivering the motion feedback force to the master operator.

8. The system of claim 7, wherein, The clipping of the actual motion force to obtain a motion feedback force corresponding to the actual motion force comprises: if the current motion stage is a first motion stage, generating the motion feedback force corresponding to the actual motion force according to the actual motion force and a motion time parameter of the first motion stage.

9. The system of claim 7, wherein, The clipping of the actual motion force to obtain a motion feedback force corresponding to the actual motion force comprises: if the current motion stage is the first motion stage and a change rate of the actual motion force is less than or equal to a third force change rate threshold, generating the motion feedback force corresponding to the actual motion force according to the actual motion force and a motion time parameter of the first motion stage; if the current motion stage is the first motion stage and the change rate of the actual motion force is greater than the third force change rate threshold, generating the motion feedback force corresponding to the actual motion force according to the actual motion force, the actual motion force at the last time and a motion time parameter of a second motion stage.

10. The system of claim 7, wherein, The clipping of the actual motion force to obtain a motion feedback force corresponding to the actual motion force comprises: if the current motion stage is a second motion stage and the change rate of the actual motion force is greater than a fourth force change rate threshold, generating the motion feedback force corresponding to the actual motion force according to the actual motion force, the actual motion force at the last time and a motion time parameter of the second motion stage.

11. The system of claim 7, wherein, The first controller is further configured to perform the following steps: determining whether the motion feedback force is greater than the actual motion force; if the motion feedback force is greater than the actual motion force, generating a new motion feedback force corresponding to the actual motion force according to the motion feedback force, the actual motion force and a motion time parameter of a third motion stage; Correspondingly, the delivering of the motion feedback force to the master operator comprises: delivering the new motion feedback force to the master operator.

12. The system of claim 7, wherein, The first controller is further configured to perform the following steps: determining whether the motion feedback force is greater than a fourth motion force threshold; Correspondingly, the delivering of the motion feedback force to the master operator comprises: if the motion feedback force is greater than the fourth motion force threshold, delivering the motion feedback force to the master operator; if the motion feedback force is less than or equal to the fourth motion force threshold, delivering a preset feedback force to the master operator; the preset feedback force is less than the fourth motion force threshold.

13. The system of claim 7, wherein, The first controller is further configured to perform the following steps: determining whether the motion feedback force is greater than a fifth motion force threshold; the fifth motion force threshold is determined by a human hand force applied to the master operator at the current time or by a standard for evaluating the size of the motion feedback force; Correspondingly, the delivering of the motion feedback force to the master operator comprises: If the motion feedback force is less than or equal to the fifth motion force threshold, the motion feedback force is transmitted to the master operator; If the motion feedback force is greater than the fifth motion force threshold, a force corresponding to the fifth motion force threshold is transmitted to the master operator.

14. The system of claim 7, wherein, The limiting processing includes one of enlarged mapping, reduced mapping and original proportion mapping; the enlarged mapping includes linear enlarged mapping or nonlinear enlarged mapping, and the reduced mapping includes linear reduced mapping or nonlinear reduced mapping.

15. The system of any one of claims 1-6, wherein, The first controller is further configured to perform the following steps: obtaining a motion control instruction, wherein the motion control instruction comprises position information of the instrument at the end of the robot arm at the current time point; in a case where it is determined that the motion control instruction indicates a backward operation and a backward distance indicated by the motion control instruction is greater than a preset distance threshold, determining target position information of the instrument at the end of the robot arm according to the position information of the instrument at the end of the robot arm at the current time point and position information of the instrument at the end of the robot arm at a previous time point, and controlling the instrument at the end of the robot arm to move according to the target position information of the instrument at the end of the robot arm.

16. An interventional procedure robot control system, characterized by The system comprises a second controller configured to perform the following steps: obtaining a motion feedback force determined based on a force feedback safety response, and applying the motion feedback force on the master operator; The force feedback safety response comprises at least one of locking the master operator, disconnecting master-slave enabling control, first limiting control and second limiting control; the force feedback safety response is triggered according to motion information of the instrument at the end of the robot arm; The motion feedback force corresponding to the first limiting control is a preset feedback force, and the motion feedback force corresponding to the second limiting control is related to an actual motion force of the instrument at the end of the robot arm.

17. The system of claim 16, wherein, The second controller is further configured to perform the following steps: determining whether the motion feedback force is greater than a current human hand force on the master operator; Correspondingly, the applying of the motion feedback force on the master operator comprises: If the motion feedback force is less than or equal to the current human hand force, the motion feedback force is applied on the master operator; If the motion feedback force is greater than the current human hand force, the current human hand force is applied on the master operator.

18. The system of claim 16, wherein, The second controller is further configured to perform the following steps: displaying the motion feedback force on a display screen.

19. The system of claim 16, wherein, The applying of the motion feedback force on the master operator comprises: generating a control current according to the motion feedback force, and applying the control current on the master operator.

20. An interventional procedure robot control system, characterized by The system comprises a robot arm, a first controller, a second controller and a master operator; The first controller is configured to obtain motion information of the instrument at the end of the robot arm, trigger a force feedback safety response according to the motion information, and send a motion feedback force based on the force feedback safety response to the second controller. The force feedback safety response comprises at least one of locking the master operator, disconnecting the master-slave enable control, first limiting control and second limiting control; the first limiting control corresponds to a preset feedback force, and the second limiting control corresponds to an actual motion force of the mechanical arm end instrument; The second controller is configured to receive the motion feedback force and apply the motion feedback force on the master operator.

21. The system of claim 20, wherein, The system further comprises a needle insertion degree of freedom encoder and a force sensor, and the motion information comprises position information and an actual motion force of the mechanical arm end instrument; The needle insertion degree of freedom encoder is configured to acquire the position information of the mechanical arm end instrument during motion and send the position information to the first controller; The force sensor is configured to acquire the actual motion force of the mechanical arm end instrument during motion and send the actual motion force to the first controller.

22. The system of claim 21, wherein The first controller is further configured to perform position information filtering on the position information to obtain filtered position information and a motion speed of the mechanical arm end instrument, and perform force information filtering on the actual motion force to obtain filtered actual motion force and a change rate of the actual motion force; The first controller is further configured to trigger a force feedback safety response according to the filtered position information, the motion speed, the filtered actual motion force and the change rate of the actual motion force.

23. The system of claim 22, wherein The first controller is further configured to perform force feedback safety control according to the filtered position information, the motion speed, the filtered actual motion force and the change rate of the actual motion force; the force feedback safety control comprises at least one of the locking of the master operator, the disconnecting of the master-slave enable control and the first limiting control; The first controller is further configured to perform force feedback limiting control according to the filtered actual motion force; the force feedback limiting control comprises the second limiting control.

24. The system of claim 23, wherein The first controller is configured to send the preset feedback force to the second controller in the case of performing the first limiting control; The first controller is configured to determine a motion feedback force according to the filtered actual motion force and send the motion feedback force to the second controller in the case of performing the second limiting control.

25. The system of claim 20, wherein, The system further comprises a puncture encoder; The puncture encoder is configured to acquire initial motion information generated by a human hand force applied on the master operator and send the initial motion information to the second controller; The second controller is configured to send the initial motion information to the first controller; The first controller is configured to convert the initial motion information to obtain a motion control instruction of the mechanical arm end instrument and control the mechanical arm end instrument based on the motion control instruction.

26. The system of claim 25, wherein, The motion control instruction comprises a position instruction and a speed instruction. The first controller is configured to filter the initial motion information, and perform proportional mapping on the filtered initial motion information to generate the position command; The first controller is further configured to perform differential processing on the position command to obtain the velocity command.

27. The system of claim 25, wherein, The system further comprises an end instrument control unit; The first controller is configured to send the motion control command to the end instrument control unit; The end instrument control unit is configured to control the end instrument of the robot arm based on the motion control command.

28. An interventional procedure robot control method, characterized by, The method is applied to the interventional surgery robot control system as claimed in claim 20, the system comprising a robot arm end instrument, a first controller, a second controller, and a master operator; the method comprising: acquiring, by the first controller, motion information of the robot arm end instrument, and triggering a force feedback safety response according to the motion information, and sending a motion feedback force to the second controller based on the force feedback safety response; the force feedback safety response comprising at least one of locking the master operator, disconnecting master-slave enable control, first amplitude limiting control, and second amplitude limiting control; the first amplitude limiting control corresponding motion feedback force being a preset feedback force, and the second amplitude limiting control corresponding motion feedback force being related to an actual motion force of the robot arm end instrument; receiving, by the second controller, the motion feedback force, and applying the motion feedback force on the master operator.

29. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the method as claimed in claim 28.

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