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

Abstract

The present application relates to the technical field of medical devices and provides a surgical robot (100) positioning method and system, a surgical robot (100), and a storage medium. First detection data of joint bending angles corresponding to each joint is obtained by acquiring the joint bending angles of each joint in current detection. First current estimation data of joint bending angles of each joint is obtained based on the previous second adjustment data of the joint angles of each joint. First current adjustment data of joint angles corresponding to each joint is determined based on the current first detection data of joint bending angles of each joint and the current first estimation data of joint bending angles. Direction parameters and movement parameters of the tip of the manipulating arm are obtained based on the first adjustment data of joint angles and the length of the manipulating arm. In this way, joint angle adjustment data can be determined by combining the detection data and estimation data of the joint bending angles, and the detection data of the joint bending angles can be calibrated to ensure the positioning accuracy of the surgical robot (100).

Description

[Technical Field]

[0001] The present application relates to the technical field of medical equipment, and in particular to a positioning method and system for a surgical robot, a surgical robot, and a storage medium. [Background technology]

[0002] A hinged surgical robot uses a mechanical arm to mimic the movement of a human arm, allowing the mechanical arm to move flexibly through a rotatable joint configuration. Prior art surgical robots use strain gauges to sense the bending stress of the joints, position the mechanical arm, and provide feedback to a control system to control the subsequent operation of the mechanical arm. However, in actual operation, the detection data detected by the strain gauges can be affected by temperature and other noises, which can cause inaccuracies in the detection data of the strain gauges, leading to inaccurate positioning of the mechanical arm, which affects the accuracy of the robot arm's movement. Summary of the Invention

[0003] In order to solve or at least partially solve the above technical problems, the present application provides a positioning method for a surgical robot, which is applied to a surgical robot, the surgical robot including a manipulator arm, the manipulator arm including a plurality of joint modules connected to each other, and each joint connected between the joint modules is provided with a strain gauge.

[0004] This method is a step of acquiring a joint bending angle of each joint in a current (current) detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by a strain gauge corresponding to the joint; Obtaining current first estimated data of a joint bending angle of each joint based on previous second adjusted data of the joint angle of each joint; determining current first adjustment data of the joint angle corresponding to each joint according to the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; and obtaining direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angles corresponding to each joint and the length of the manipulating arm.

[0005] Optionally, at least two strain gauges are attached to each joint, and the step of obtaining the joint bending angle of each joint in the current detection and obtaining first detection data of the joint bending angle corresponding to each joint includes: acquiring a resistance parameter of each strain gauge corresponding to each joint to obtain first resistance parameter data; determining a joint bending yaw angle and a joint bending pitch angle corresponding to each joint based on the first resistance parameter data, and setting the joint bending yaw angle and the joint bending pitch angle corresponding to each joint as first detection data of the joint bending angle corresponding to the joint.

[0006] Optionally, the surgical robot further includes a motor used to drive the manipulating arm. The step of obtaining the current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint includes: obtaining motor input angle data for a motor; determining first estimated data of joint bending angles corresponding to each joint based on the motor input angle data, previous second adjustment data of joint angles corresponding to each joint, and preset calibration parameters to obtain current first estimated data of joint bending angles corresponding to each joint, where the preset calibration parameters include kinematic parameters and motor shaft parameters.

[0007] Optionally, the step of determining first current adjustment data of the joint angle corresponding to each joint based on the first current detection data of the joint bending angle and the first current estimation data of the joint bending angle of each joint includes: calculating a bend angle covariance based on the current first estimate data of the joint bend angle for each joint; obtaining a measured noise covariance of the strain gauge; determining a Kalman gain based on the bend angle covariance, the measured noise covariance, and the preset strain gauge parameters; determining first adjustment data of the joint angle corresponding to each joint based on the current first estimated data of the joint bending angle of each joint, the current first detected data of the joint bending angle, and the Kalman gain, to obtain first adjustment data of the joint angle corresponding to each joint.

[0008] Optionally, the step of obtaining a direction parameter and a movement parameter of the tip of the manipulating arm based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm includes: determining a spatial transformation matrix of each pair of adjacent joint modules from the joint module at the tip position to the distal joint module to the proximal joint module according to the first adjustment data of the joint angle corresponding to each joint and the length of the operating arm, thereby obtaining a spatial transformation matrix corresponding to each joint; and determining tip orientation and translation parameters based on the spatial transformation matrix corresponding to each joint.

[0009] An embodiment of the present application further provides a positioning system for a surgical robot.

[0010] The surgical robot positioning system is applied to the surgical robot and includes a manipulator arm. The manipulator arm includes a plurality of joint modules connected to each other, and each joint connected between the joint modules is provided with a strain gauge. A central processing unit is connected to the manipulator arm, and the central processing unit Obtaining a joint bending angle of each joint in the current detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by a strain gauge corresponding to the joint; Obtain current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint; Determine current first adjustment data of the joint angle corresponding to each joint according to the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; The apparatus is configured to acquire direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm.

[0011] An embodiment of the present application further provides a surgical robot.

[0012] The surgical robot includes an operating arm. The operating arm includes a plurality of joint modules connected to each other, and each joint connected between the joint modules is provided with a strain gauge. A central processing unit is connected to the operating arm, and the central processing unit Obtaining a joint bending angle of each joint in the current detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by a strain gauge corresponding to the joint; Obtain current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint; Determine current first adjustment data of the joint angle corresponding to each joint according to the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; The apparatus is configured to acquire direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm.

[0013] An embodiment of the present application further provides a computer-readable storage medium storing program instructions that, when executed by a computer, cause the computer to perform a method for positioning a surgical robot, as described above.

[0014] An embodiment of the present application further provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program being operable to enable a computer to perform some or all of the steps described in any of the methods for positioning a surgical robot recorded in the embodiments of the present application. The computer program product may be a software installation package.

[0015] In an embodiment of the present application, first detection data of the joint bending angle corresponding to each joint is obtained by obtaining the joint bending angle of each joint in current detection. The joint bending angle is determined based on a resistance parameter detected by a strain gauge corresponding to the joint. First current estimation data of the joint bending angle of each joint is obtained based on the previous second adjustment data of the joint angle of each joint. First current adjustment data of the joint angle corresponding to each joint is determined based on the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle. Direction parameters and movement parameters of the tip of the manipulating arm are obtained based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm. In this way, the joint angle adjustment data can be determined by combining the detection data and estimation data of the joint bending angle, and the detection data of the joint bending angle can be calibrated to reduce the influence of noise such as temperature on the detection results, thereby ensuring the accuracy of positioning the position and direction of the tip of the manipulating arm. [Brief explanation of the drawings]

[0016] In order to more clearly describe the embodiments of the present application, the following accompanying drawings are briefly introduced. The accompanying drawings in the following description are only used to illustrate some embodiments of the present application, and it should be understood that those skilled in the art can also obtain many other technical features and connection relationships not mentioned in this specification according to these accompanying drawings. [Figure 1] 1 is a partial structural view of a surgical robot provided in an embodiment of the present application; [Figure 2] 1 is a Wheatstone bridge circuit of strain gauges provided in an embodiment of the present application. [Figure 3] FIG. 2 is an explanatory diagram illustrating the attachment of a strain gauge to a mechanical arm provided in an embodiment of the present application. [Figure 4] 1 is a schematic diagram of a joint bending angle provided in an embodiment of the present application. FIG. [Figure 5] FIG. 1 is a flow diagram of a positioning method for a surgical robot provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0017] The technical solutions in the embodiments of the present application are clearly and completely described below in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0018] The terms "first," "second," "third," and "fourth" in the specification, claims, and accompanying drawings of this application are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units or, optionally, other steps or units inherent to those processes, methods, products, or apparatus.

[0019] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present application. The phrase "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to separate or alternative embodiments that are mutually exclusive of other embodiments. Those skilled in the art will understand, both explicitly and implicitly, that the embodiments described herein can be combined with other embodiments.

[0020] The technical solutions in the embodiments of the present application are described in detail below in combination with the accompanying drawings in the embodiments of the present application.

[0021] Embodiment 1

[0022] As shown in Figures 1 to 4, an embodiment of the present application proposes a surgical robot. Figure 1 is a partial structural view of a surgical robot provided in an embodiment of the present application. The surgical robot 100 includes an operating arm 10. The operating arm includes a plurality of joint modules 11. The joint modules are connected to each other by joints. Each joint connected between the joint modules is provided with a strain gauge 12. The operating arm is connected to a central processing unit 30.

[0023] The manipulator arm 10 of the surgical robot 100 is composed of multiple hinged joint modules 11. Each joint between the joint modules is equipped with a strain gauge to sense the angular change of the joint. Through a central processing unit, the manipulation of the manipulator arm can be controlled according to the angular change sensed by the strain gauge to achieve precise closed-loop control of the surgical robot.

[0024] The operating arm is provided with a controller module 20 connected to the strain gauge 12. The controller module includes a microcontroller 21, an AD converter 22, and a memory device .

[0025] The AD converter is configured to perform analog-to-digital conversion on the data detected by the strain gauges, the storage device is configured to store the data detected by the strain gauges, and the microcontroller is configured to encode the data detected by the strain gauges and transmit the encoded data to a central processing unit via a communication link.

[0026] The manipulator arm is detachably attached to the surgical robot. A controller module, which may include a microcontroller 21, an AD converter 22, and a storage device 23, may be provided at one end of the manipulator arm as a detachable basic assembly. The strain gauges of each joint transmit corresponding detection data to the AD converter, which then transmits the converted data to the microcontroller. The converted data is encoded by the microcontroller, which then transmits the encoded data to the central processing unit. Optionally, the controller module may also include a compensation temperature sensor 24 for performing thermal drift compensation to improve the accuracy of the detection results by reducing the effect of temperature noise on the detection results.

[0027] As shown in Figure 3, three or more strain gauges may be attached to each joint, allowing for more accurate detection of angular bending changes at the joint.

[0028] The surgical robot further includes a motor for driving the manipulator arm 10 .

[0029] The mechanical arm 10 may also be controlled by an external system.

[0030] The central processing unit 30 Obtaining a joint bending angle of each joint in the current detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by a strain gauge corresponding to the joint; Obtain current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint; Determine current first adjustment data of the joint angle corresponding to each joint according to the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; The apparatus is configured to acquire direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm.

[0031] A strain gauge is a very small plate composed of many resistors arranged to form a bridge circuit, which is a Wheatstone bridge circuit in the strain gauge provided in the embodiment of the present application, as shown in FIG. 2. When the strain gauge bends or stretches, the resistance between the legs of the resistive bridge changes. The ratio of the resistance difference is usually linearly related to the bending angle or stretch. A Wheatstone bridge with an optional amplifier is used to amplify and measure the resistance difference across the bridge, and an AD converter is used to digitize the joint bending angle data so that it can be detected.

[0032] The second adjustment data may refer to the previous joint angle adjustment data for each joint, and the movement parameter may be the translation parameter of the tip. The joint angle adjustment data may be determined by combining the detected and estimated joint bending angle data, and the current first adjustment data for the joint angle corresponding to the strain gauge may be determined based on the current first detected joint bending angle data and the current first estimated joint bending angle data for each joint. This calibrates the joint bending angle detection data and ensures the positioning accuracy of the direction and movement parameters of the mechanical arm.

[0033] Optionally, two or more small strain gauges may be attached to each joint of the surgical robot. As shown in Figures 3-4, the two joint bending angles θ and ψ in the transverse plane can be calculated by attaching three or more small strain gauges to each joint of the surgical robot. The pitch angle θ is the included angle between the axis vector and the XY plane. The yaw angle ψ is the included angle between the axis vector and the XZ plane.

[0034] Optionally, in order to obtain the current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint, the central processing unit specifically: Obtain the motor input angle data of the motor, The apparatus is configured to determine first estimated data of joint bending angles corresponding to each joint based on the motor input angle data, previous second adjustment data of joint angles corresponding to each joint, and preset calibration parameters including kinematic parameters and motor shaft parameters, to obtain current first estimated data of joint bending angles corresponding to each joint.

[0035] The motor input angle data is the angle of the motor's encoder. For a single joint, the bending angle has a linear relationship with the angle of the motor's encoder. Therefore, a first estimate of the joint bending angle can be calculated from the motor's encoder angle using preset calibration parameters. All preset calibration parameters and variables are calibrated and monitored by the central processing unit, so that the best estimate of the two joint bending angles can be found.

[0036] Kinematic parameters and motor shaft parameters are parameters of the motor itself that are constants that do not change over time.

[0037] Optionally, in terms of determining the first current adjustment data of the joint angle corresponding to each joint according to the first current detection data of the joint bending angle and the first current estimation data of the joint bending angle of each joint, the central processing unit specifically comprises: Calculating a bend angle covariance based on the current first estimate data of the joint bend angle for each joint; Obtain the measured noise covariance of the strain gauge, determining a Kalman gain based on the bend angle covariance, the measured noise covariance, and the preset strain gage parameters; The system is configured to determine first adjustment data of the joint angle corresponding to each joint based on the current first estimated data of the joint bending angle of each joint, the current first detected data of the joint bending angle, and the Kalman gain, and obtain the first adjustment data of the joint angle corresponding to each joint.

[0038] Optionally, in order to obtain the direction parameters and movement parameters of the tip of the manipulating arm according to the first adjustment data of the joint angles corresponding to each joint and the length of the manipulating arm, the central processing unit specifically: Determine a spatial transformation matrix of each pair of adjacent joint modules from the joint module at the tip position to the distal joint module to the proximal joint module according to the first adjustment data of the joint angle corresponding to each joint and the length of the operating arm, thereby obtaining a spatial transformation matrix corresponding to each joint; The direction parameters and movement parameters of the tip are determined based on the spatial transformation matrix corresponding to each joint.

[0039] The mechanical arm is composed of multiple hinged joint modules. Once the two joint angles of each hinged joint are adjusted and placed in position, the kinematic chain and length of the joints can be used to calculate the orientation and movement parameters of the tip of the mechanical arm.

[0040] The surgical robot of the present application obtains the joint bending angle of each joint in the current detection and obtains first detection data for the joint bending angle corresponding to each joint. The joint bending angle is determined based on the resistance parameters detected by the strain gauges corresponding to the joints. The current first estimation data for the joint bending angle of each joint is obtained based on the previous second adjustment data for the joint angle of each joint. The current first adjustment data for the joint angle corresponding to each joint is determined based on the current first detection data for the joint bending angle of each joint and the current first estimation data for the joint bending angle. The direction parameters and movement parameters for the tip of the manipulating arm are obtained based on the first adjustment data for the joint angle corresponding to each joint and the length of the manipulating arm. In this way, the joint angle adjustment data can be determined by combining the detection data and estimation data for the joint bending angle, and the detection data for the joint bending angle can be calibrated to reduce the influence of noise such as temperature on the detection results, thereby ensuring the accuracy of positioning the position and direction of the tip of the manipulating arm.

[0041] Embodiment 2

[0042] As shown in FIG. 5, FIG. 5 is a flow diagram of a surgical robot positioning method provided in an embodiment of the present application. The embodiment of the present application proposes a surgical robot positioning method applied to a surgical robot. The surgical robot includes an operating arm, which includes a plurality of joint modules connected to each other, and each joint connected between the joint modules is provided with a strain gauge. The method includes the following steps 101 to 104.

[0043] In step 101, first detection data of joint bending angles corresponding to each joint is obtained by obtaining the joint bending angles of each joint in current detection, and the joint bending angles are determined based on resistance parameters detected by strain gauges corresponding to the joints.

[0044] When the joints connected between the joint modules of the mechanical arm are bent or extended, a bridge circuit provided on the strain gauges of the joints may detect the resistance parameters, and then determine the bending angle data of the joints. Thus, the first detection data of the joint bending angle of each joint can be obtained. For example, three strain gauges can be attached to one joint to determine two bending angles (pitch angle θ and yaw angle ψ) corresponding to the joint, thereby obtaining the first detection data of the joint bending angle corresponding to each joint.

[0045] In step 102, a current first estimated data of the joint bending angle of each joint is obtained based on the previous second adjusted data of the joint angle of each joint.

[0046] The first estimated data of the joint bending angle can be estimated by combining the second adjusted data of the joint angle from a previous time period.

[0047] In step 103, the current first adjustment data of the joint angle corresponding to each joint is determined based on the current first detection data of the joint bending angle and the current first estimation data of the joint bending angle of each joint.

[0048] Specifically, by determining first current adjustment data of the joint angle based on the first detection data of the joint bending angle and the first estimation data of the joint bending angle, the first detection data of the joint bending angle can be calibrated to improve the positioning accuracy of the mechanical arm.

[0049] In step 104, the direction parameters and movement parameters of the tip of the manipulating arm are obtained based on the first adjustment data of the joint angles corresponding to each joint and the length of the manipulating arm.

[0050] The mechanical arm is composed of many hinged joint modules. Once the two joint angles of each hinged joint are adjusted and placed in position, the position and orientation of the tip of the mechanical arm can be calculated using the kinematic chain and length of the joints.

[0051] In the surgical robot positioning method of the present application, first detection data for the joint bending angle corresponding to each joint is obtained by obtaining the joint bending angle of each joint in current detection. The joint bending angle is determined based on resistance parameters detected by strain gauges corresponding to the joints. First current estimation data for the joint bending angle of each joint is obtained based on the previous second adjustment data for the joint angle of each joint. First current adjustment data for the joint angle corresponding to each joint is determined based on the current first detection data for the joint bending angle of each joint and the current first estimation data for the joint bending angle. Direction parameters and movement parameters for the tip of the manipulating arm are obtained based on the first adjustment data for the joint angle corresponding to each joint and the length of the manipulating arm. In this way, the joint angle adjustment data can be determined by combining the detection data and estimation data for the joint bending angle, and the detection data for the joint bending angle can be calibrated to reduce the influence of noise such as temperature on the detection results, thereby ensuring accuracy in positioning the position and orientation of the tip of the manipulating arm.

[0052] Embodiment 3

[0053] To precisely control the mechanical arm of the surgical robot, the sensing data can be fused with a Kalman filter, an extended Kalman filter, or an unscented Kalman filter, and a linear quadratic equation (LQE) algorithm is used to calculate the first adjustment data for the joint angles corresponding to each joint, thereby more accurately determining the direction and movement parameters of the tip of the manipulator arm and realizing precise positioning and control of the surgical robot.

[0054] A second embodiment of the present application also provides a positioning method for a surgical robot. The method of the second embodiment is a further improvement of the method of the first embodiment. The main improvement is that in the second embodiment of the present application, at least two strain gauges are attached to each joint. The steps of obtaining the joint bending angle of each joint in the current detection and obtaining the first detection data of the joint bending angle corresponding to each joint include: acquiring a resistance parameter of each strain gauge corresponding to each joint to obtain first resistance parameter data; determining a joint bending yaw angle and a joint bending pitch angle corresponding to each joint based on the first resistance parameter data, and setting the joint bending yaw angle and the joint bending pitch angle corresponding to each joint as first detection data of the joint bending angle corresponding to the joint.

[0055] As shown in Figure 4, in a specific implementation, two joint bending angles θ and ψ in the cross-section can be calculated. The pitch angle θ is the angle between the axis vector and the XY plane. The yaw angle ψ is the angle between the axis vector and the XZ plane. By determining the two bending angles corresponding to the joints (pitch angle θ and yaw angle ψ), the first detection data of the joint bending angles corresponding to each joint can be obtained.

[0056] Optionally, the surgical robot also includes a motor for driving the manipulator arm. The step of obtaining current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint includes: obtaining motor input angle data for a motor; determining first estimated data of joint bending angles corresponding to each joint based on the motor input angle data, previous second adjustment data of joint angles corresponding to each joint, and preset calibration parameters to obtain current first estimated data of joint bending angles corresponding to each joint, where the preset calibration parameters include kinematic parameters and motor shaft parameters.

[0057] In a specific implementation, the mechanical arm can be driven by a motor, and the motor's encoder angle can be obtained to obtain motor input angle data. For a single joint, the bending angle has a linear relationship with the motor's encoder angle. Therefore, the first estimated data of the joint bending angle can be calculated from the motor's encoder angle using preset calibration parameters. All preset calibration parameters and variables are calibrated and monitored by the central processing unit, so that the best estimates of the two joint bending angles can be found. The calculation formula for the first estimated data of the joint bending angle is as follows:

[0058] JPEG2025537015000002.jpg10170

[0059] X(n|n-1) is the current (time n) estimate of the bending angle corresponding to the joint. A and B are the kinematic parameters and motor shaft parameters of the surgical robot, which are constants that do not change with time. Un is the motor input angle at the current time n.

[0060] Optionally, the step of determining first current adjustment data of the joint angle corresponding to each joint based on the first current detection data of the joint bending angle and the first current estimation data of the joint bending angle of each joint includes: calculating a bend angle covariance based on the current first estimate data of the joint bend angle for each joint; obtaining a measured noise covariance of the strain gauge; determining a Kalman gain based on the bend angle covariance, the measured noise covariance, and the preset strain gauge parameters; determining first adjustment data of the joint angle corresponding to each joint based on the current first estimated data of the joint bending angle of each joint, the current first detected data of the joint bending angle, and the Kalman gain, to obtain first adjustment data of the joint angle corresponding to each joint.

[0061] In a specific implementation, the formula for calculating the Kalman gain based on the bend angle covariance, the measured noise covariance, and the preset strain gauge parameters is as follows:

[0062] JPEG2025537015000003.jpg10170

[0063] Kn is the Kalman gain of the Kalman filter, extended Kalman filter, or unscented Kalman filter. P_(n|n-1) is the covariance of the current (time n) estimate of the bending angle by the joint. Rk is the covariance of the measured noise of the strain gauge. H is a strain gauge parameter that is a constant that does not change with time.

[0064] The formula for determining the first adjustment data of the joint angle corresponding to each joint based on the first estimated data of the joint bending angle, the first detected data of the joint bending angle, and the Kalman gain is as follows:

[0065] JPEG2025537015000004.jpg10170

[0066] X(n|n) is the current (time n) bending angle adjustment value corresponding to the joint. Zn is the current (time n) detected value of the two joint bending angles from the strain gauges.

[0067] Optionally, the step of obtaining a direction parameter and a movement parameter of the tip of the manipulating arm based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm includes: determining a spatial transformation matrix of each pair of adjacent joint modules from the joint module at the tip position to the distal joint module to the proximal joint module according to the first adjustment data of the joint angle corresponding to each joint and the length of the operating arm, thereby obtaining a spatial transformation matrix corresponding to each joint; and determining tip orientation and translation parameters based on the spatial transformation matrix corresponding to each joint.

[0068] The mechanical arm is composed of many hinged joint modules. Once the two joint angles of each hinged joint are adjusted and placed in position, the position and orientation of the tip of the mechanical arm can be calculated using the kinematic chain and length of the joints.

[0069] For example, the position of the tip, joint module 1 and joint module 2 are represented by c, b and a, respectively. Sab is the joint space transformation matrix from the distal joint module b to the proximal joint module a.

[0070] JPEG2025537015000005.jpg15170

[0071] Rxx is the element of the rotation matrix from b to a. T is the translation vector from joint b to joint a. If the mechanical arm is a rigid link, the translation vector is a constant parameter, and the end 6-dof information of c in the platform coordinate system is equal to SabSbcSc. Sc is the rotation vector of the tip position, which literally means Sc.

[0072] JPEG2025537015000006.jpg14170

[0073] In the surgical robot positioning method of the present application, a bending angle covariance is calculated based on current first estimated data of the joint bending angle of each joint. A measured noise covariance of the strain gauge is obtained. A Kalman gain is determined based on the bending angle covariance, the measured noise covariance, and preset strain gauge parameters. First joint angle adjustment data corresponding to each joint is determined based on the current first estimated data of the joint bending angle of each joint, the current first detected data of the joint bending angle, and the Kalman gain, thereby obtaining the first joint angle adjustment data corresponding to each joint. The first joint angle adjustment data corresponding to each joint is calculated using a linear-quadratic equation (LQE) algorithm to more accurately determine the position and orientation of the tip of the manipulating arm and reduce the influence of noise such as temperature on the detection results, thereby achieving accurate positioning and precise control of the surgical robot.

[0074] Embodiment 4

[0075] A fourth embodiment of the present application provides a positioning system for a surgical robot. The fourth embodiment is consistent with the system of the first embodiment and the method of the second embodiment. Specifically, in the fourth embodiment, the positioning system for a surgical robot is applied to a surgical robot, and the positioning system for a surgical robot includes a manipulator arm. The manipulator arm includes a plurality of joint modules connected to each other, and each joint connected between the joint modules is provided with a strain gauge. The manipulator arm is connected to a central processing unit, and the central processing unit: Obtaining a joint bending angle of each joint in the current detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by a strain gauge corresponding to the joint; Obtain current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint; Determine current first adjustment data of the joint angle corresponding to each joint according to the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; The apparatus is configured to acquire direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm.

[0076] Optionally, the manipulator arm is provided with a controller module, the controller module being connected to the strain gauges, the controller module including a microcontroller, an AD converter and a memory device.

[0077] The AD converter is configured to perform analog-to-digital conversion on the data detected by the strain gauge.

[0078] The storage device is configured to store data detected by the strain gauges.

[0079] The microcontroller is configured to encode data sensed by the strain gauges and transmit the encoded data to a central processing unit via a communication link.

[0080] Optionally, the surgical robot further includes a motor configured to drive the operating arm. In order to obtain the current first estimated data of the joint bending angle of each joint based on the previous second adjustment data of the joint angle of each joint, the central processing unit specifically: Obtain the motor input angle data of the motor, The apparatus is configured to determine first estimated data of joint bending angles corresponding to each joint based on the motor input angle data, previous second adjustment data of joint angles corresponding to each joint, and preset calibration parameters including kinematic parameters and motor shaft parameters, to obtain current first estimated data of joint bending angles corresponding to each joint.

[0081] Optionally, in terms of determining the first current adjustment data of the joint angle corresponding to each joint according to the first current detection data of the joint bending angle and the first current estimation data of the joint bending angle of each joint, the central processing unit specifically comprises: Calculating a bend angle covariance based on the current first estimate data of the joint bend angle for each joint; Obtain the measured noise covariance of the strain gauge, determining a Kalman gain based on the bend angle covariance, the measured noise covariance, and the preset strain gage parameters; The system is configured to determine first adjustment data of the joint angle corresponding to each joint based on the current first estimated data of the joint bending angle of each joint, the current first detected data of the joint bending angle, and the Kalman gain, and obtain the first adjustment data of the joint angle corresponding to each joint.

[0082] Optionally, in order to obtain the direction parameters and movement parameters of the tip of the manipulating arm according to the first adjustment data of the joint angles corresponding to each joint and the length of the manipulating arm, the central processing unit specifically: Determine a spatial transformation matrix of each pair of adjacent joint modules from the joint module at the tip position to the distal joint module to the proximal joint module according to the first adjustment data of the joint angle corresponding to each joint and the length of the operating arm, thereby obtaining a spatial transformation matrix corresponding to each joint; The direction parameters and movement parameters of the tip are determined based on the spatial transformation matrix corresponding to each joint.

[0083] The specific structure and specific operation of the positioning system of the surgical robot are consistent with the specific implementation steps of the above-mentioned surgical robot and positioning method, and therefore will not be repeated here.

[0084] In the surgical robot positioning system of the present application, first detection data of the joint bending angle corresponding to each joint is obtained by obtaining the joint bending angle of each joint in current detection. The joint bending angle is determined based on the resistance parameter detected by the strain gauge corresponding to the joint. First current estimation data of the joint bending angle of each joint is obtained based on the previous second adjustment data of the joint angle of each joint. First current adjustment data of the joint angle corresponding to each joint is determined based on the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle. Direction parameters and movement parameters of the tip of the manipulating arm are obtained based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm. In this way, joint angle adjustment data can be determined by combining the detection data and estimation data of the joint bending angle, and the detection data of the joint bending angle can be calibrated to ensure the positioning accuracy of the position and direction of the tip of the manipulating arm.

[0085] Embodiments of the present application also provide a computer-readable storage medium storing program instructions that, when executed by a computer, cause the computer to perform a method for positioning a surgical robot, as described above.

[0086] Embodiments of the present application also provide a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program being operable to enable a computer to perform some or all of the steps described in any of the surgical robot positioning methods recorded in the embodiments of the present application. The computer program product may be a software installation package.

[0087] Although the present application has been described in this specification in combination with various embodiments, in the course of practicing the claimed application, those skilled in the art will understand and realize other modifications of the disclosed embodiments, by referring to the accompanying drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the words "a" or "one" do not exclude a plurality. A single processor or other unit may fulfill several functions recited in the claims. The fact that certain measures are recited in different dependent claims does not indicate that these measures cannot be combined to produce advantageous effects.

[0088] Those skilled in the art should understand that embodiments of the present application may be provided as a method, a device (apparatus), or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code. The computer program may be stored / distributed on an appropriate medium, provided together with or as part of other hardware, or provided in other distribution forms, such as via the Internet or other wired or wireless telecommunications systems.

[0089] This application will be described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of this application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or a processor of other programmable human vehicle trajectory analysis equipment to generate a machine, such that the instructions executed by the computer or processor of other programmable human vehicle trajectory analysis equipment can generate a device for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0090] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable human-vehicle trajectory analysis equipment to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a product that includes an instruction device that implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0091] These computer program instructions can also be loaded into a computer or other programmable human-vehicle trajectory analysis apparatus so that a series of operational steps can be executed on the computer or other programmable device to generate a computer-implemented process, such that the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0092] Although the present application has been described in combination with its specific features and embodiments, it is apparent that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the description and the accompanying drawings are merely exemplary illustrations of the present application as defined in the appended claims, and are intended to cover all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A method for positioning a surgical robot, which is applied to a surgical robot, the surgical robot including an operating arm, the operating arm including a plurality of joint modules connected to each other, each joint connected between the joint modules being provided with a strain gauge, the method comprising: obtaining a joint bending angle of each joint in a current detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by the strain gauge corresponding to the joint; obtaining current first estimate data of the joint bending angle of each joint based on previous second adjustment data of the joint angle of each joint; determining current first adjustment data of the joint angle corresponding to each joint based on the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; and acquiring direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angles corresponding to each joint and the length of the manipulating arm.

2. At least two strain gauges are attached to each joint; The step of obtaining the joint bending angle of each joint in the current detection and obtaining the first detection data of the joint bending angle corresponding to each joint includes: acquiring the resistance parameter of each strain gauge corresponding to each joint to obtain first resistance parameter data; 2. The method of claim 1, further comprising: determining a joint bending yaw angle and a joint bending pitch angle corresponding to each joint based on the first resistance parameter data; and setting the joint bending yaw angle and the joint bending pitch angle corresponding to each joint as the first detection data of the joint bending angle corresponding to the joint.

3. the surgical robot further includes a motor for driving the manipulator arm; The step of obtaining the current first estimated data of the joint bending angle of each joint based on the previous second adjusted data of the joint angle of each joint includes: acquiring motor input angle data of the motor; 2. The method of claim 1, further comprising: determining the first estimated data of the joint bending angle corresponding to each joint based on the motor input angle data, the previous second adjustment data of the joint angle corresponding to each joint, and preset calibration parameters to obtain the current first estimated data of the joint bending angle corresponding to each joint, wherein the preset calibration parameters include kinematic parameters and motor shaft parameters.

4. determining the current first adjustment data of the joint angle corresponding to each joint based on the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle, calculating a bend angle covariance based on the current first estimate of the joint bend angle for each joint; obtaining a measured noise covariance of the strain gauge; determining a Kalman gain based on the bend angle covariance, the measured noise covariance, and predetermined strain gauge parameters; determining the first adjustment data for the joint angle corresponding to each joint based on the current first estimated data for the joint bending angle of each joint, the current first detected data for the joint bending angle, and the Kalman gain, to obtain the first adjustment data for the joint angle corresponding to each joint.

5. The step of acquiring a direction parameter and a movement parameter of the tip of the manipulating arm based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm includes: determining a spatial transformation matrix of each pair of adjacent joint modules from the joint module at the tip position to a distal joint module to a proximal joint module based on the first adjustment data of the joint angle corresponding to each joint and the length of the manipulating arm, and obtaining the spatial transformation matrix corresponding to each joint; and determining the direction parameters and the movement parameters of the tip based on the spatial transformation matrix corresponding to each joint.

6. A positioning system for a surgical robot, the positioning system for a surgical robot being applied to a surgical robot, the positioning system for a surgical robot including an operating arm, the operating arm including a plurality of joint modules connected to each other, each joint connected between the joint modules being provided with a strain gauge, the operating arm being connected to a central processing unit, the central processing unit being configured to: Obtaining a joint bending angle of each joint in the current detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by the strain gauge corresponding to the joint; obtaining current first estimate data of the joint bending angle of each joint based on previous second adjustment data of the joint angle of each joint; determining current first adjustment data of the joint angle corresponding to each joint based on the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; A surgical robot positioning system, characterized in that it is configured to obtain direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angles corresponding to each joint and the length of the manipulating arm.

7. a controller module is provided on the operating arm, the controller module is connected to the strain gauge, and the controller module includes a microcontroller, an AD converter, and a memory device; the AD converter is configured to perform analog-to-digital conversion on data detected by the strain gauge; the storage device is configured to store data detected by the strain gauge; 7. The surgical robot positioning system of claim 6, wherein the microcontroller is configured to encode data detected by the strain gauges and transmit the encoded data to the central processing unit via a communication link.

8. The surgical robot further includes a motor, and the motor is configured to drive the operating arm. In order to obtain the current first estimated data of the joint bending angle of each joint based on the previous second adjustment data of the joint angle of each joint, the central processing unit specifically: acquiring motor input angle data of the motor; 8. The positioning system of claim 6, further comprising: determining the first estimated data of the joint bending angle corresponding to each joint based on the motor input angle data, the second previous adjustment data of the joint angle corresponding to each joint, and preset calibration parameters including kinematic parameters and motor shaft parameters, to obtain the current first estimated data of the joint bending angle corresponding to each joint.

9. A surgical robot, the surgical robot including an operating arm, the operating arm including a plurality of joint modules connected to each other, each joint connected between the joint modules being provided with a strain gauge, the operating arm being connected to a central processing unit, the central processing unit being configured to: Obtaining a joint bending angle of each joint in the current detection, and obtaining first detection data of the joint bending angle corresponding to each joint, wherein the joint bending angle is determined based on a resistance parameter detected by the strain gauge corresponding to the joint; obtaining current first estimate data of the joint bending angle of each joint based on previous second adjustment data of the joint angle of each joint; determining current first adjustment data of the joint angle corresponding to each joint based on the current first detection data of the joint bending angle of each joint and the current first estimation data of the joint bending angle; a surgical robot configured to acquire direction parameters and movement parameters of the tip of the manipulating arm based on the first adjustment data of the joint angles corresponding to each joint and the length of the manipulating arm.

10. 6. A computer-readable storage medium storing program instructions that, when executed by a computer, cause the computer to perform the method for positioning a surgical robot according to any one of claims 1 to 5.

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