CN117653354A

CN117653354A - Operation arm recovery control method and device and operation equipment

Info

Publication number: CN117653354A
Application number: CN202211055560.8A
Authority: CN
Inventors: 请求不公布姓名; 王家寅; 李自汉; 袁帅
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2024-03-08
Also published as: WO2024046116A1

Abstract

The specification provides an operation arm recovery control method, an operation arm recovery control device and operation equipment, wherein the method comprises the following steps: detecting the working state of an operation arm in real time; when the working state of the operation arm is abnormal and the operation arm falls, the damping control unit is activated; with the damping control unit, the following operations are performed on the operation arm: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time. According to the control method for recycling the operation arm, when the operation arm falls due to the abnormal working state of the operation arm, the damping control unit is activated, the damping control unit is adopted, the falling speed of the operation arm is regulated in real time according to the falling state of the operation arm, the falling speed of the operation arm can be reduced, and even the operation arm is regulated to fall according to a preset speed curve, so that the operation arm can be protected from being damaged.

Description

Operation arm recovery control method and device and operation equipment

Technical Field

The present disclosure relates to the technical field of medical devices, and in particular, to a method and an apparatus for controlling recovery of an operating arm, and an operating device.

Background

The robotic device generally includes at least one robotic arm, each robotic arm being formed of a plurality of sub-arms, adjacent two sub-arms being articulated. When the mechanical arm is in operation, each joint acts according to the control instruction, so that the mechanical arm is unfolded to realize various operations; when the mechanical arm works and receives the work, each joint acts according to the control instruction, so that the mechanical arm is contracted to the vicinity of the base, the occupied space of the mechanical arm in the non-working time is reduced, and the mechanical arm is prevented from being collided.

However, when the robot arm is extended to perform a work task, abnormal conditions may occur, such as power failure of the equipment, failure of the operator side to send an operation control command to the robot equipment, control failure of the robot arm, and the like. These anomalies may cause the extended robotic arm to naturally fall under gravity and fall faster, easily resulting in damage to the robotic arm. In addition, an operation arm is also usually provided on an operation panel for an operator to manually operate the robot apparatus, and in an abnormal situation, the operation arm on the operation panel is also easily damaged.

Disclosure of Invention

The embodiment of the application aims to provide an operation arm recovery control method, an operation arm recovery control device and an operation device, so as to solve the problem that an operation arm is easy to damage.

A first aspect of the present specification provides an operation arm recovery control method, including: detecting the working state of an operation arm in real time; when the working state of the operation arm is abnormal and the operation arm falls, the damping control unit is activated; with the damping control unit, the following operations are performed on the operation arm: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

In some embodiments, after activating the damping control unit, further comprising: detecting the working state of an operation arm in real time; and closing the damping control unit under the condition that the working state of the operation arm exits from the abnormal working state.

In some embodiments, adjusting the speed of the drop of the operating arm in real time according to the state of the drop of the operating arm includes: judging whether the operation arm is at the balance position in real time; if not, controlling to output at least a target damping quantity, wherein the target damping quantity is the minimum damping quantity which enables the operation arm not to be damaged when the target sub-arm falls down at the current pose and/or the current pose change speed of the target operation arm.

In some embodiments, controlling at least the output of a target damping amount that is a damping amount such that the operation arm is not damaged when the operation arm falls at the current pose and/or the current pose change speed of each target sub-arm includes: acquiring the current pose of each target sub-arm of the operation arm; determining target damping amounts corresponding to the current pose of each target sub-arm according to the corresponding relation between the pose of the target sub-arm and the target damping amounts, which is determined through experiments in advance; and taking the target damping quantity as a control target, and controlling the damping output assembly to output damping.

In some embodiments, controlling at least the output of a target damping amount that is a damping amount such that the operation arm is not damaged when the operation arm falls at the current pose and/or the current pose change speed of each target sub-arm includes: acquiring the current pose and the current pose change speed of each target sub-arm of the operation arm; according to a predetermined speed expected curve of the target sub-arm, determining the expected pose change speed of the target sub-arm in the current pose; the speed expected curve comprises expected pose change speed corresponding to the pose of the target sub-arm; judging whether the current pose change speed is greater than the expected pose change speed or not; in the case of yes, the control output dampens the target sub-arm.

In some embodiments, controlling at least the output of a target damping amount that is a damping amount such that the operation arm is not damaged when the operation arm falls at the current pose and/or the current pose change speed of each target sub-arm includes: acquiring the current pose and the current pose change speed of a target sub-arm on an operation arm; judging whether the current pose change speed is greater than a preset value of the current pose change speed or not, and increasing the current pose change speed; if so, damping of the target sub-arm is increased.

In some embodiments, the output component of the damping amount includes any one of: a motor for driving the joint of the operation arm to move and a damper arranged at the joint for driving the operation arm to move.

A second aspect of the present specification provides an operation arm recovery control device, including: the first detection unit is used for detecting the working state of the operation arm in real time; an activating unit for activating the damping control unit when the operating arm falls due to abnormality in the working state of the operating arm; an operation unit for performing the following operations on the operation arm using the damping control unit: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

In some embodiments, after activating the damping control unit, further comprising: the second detection unit is used for detecting the working state of the operation arm in real time; and the closing unit is used for closing the damping control unit under the condition that the working state of the operating arm exits from the abnormal working state.

In some embodiments, the operation unit includes: the first judging subunit is used for judging whether the operation arm is at the balance position in real time; and the first control subunit is used for controlling at least outputting a target damping quantity if not, wherein the target damping quantity is the minimum damping quantity which enables the operation arm not to be damaged when the target sub-arm falls down at the current pose and/or the current pose change speed of the target operation arm.

In some embodiments, the first control subunit comprises: the first acquisition subunit is used for acquiring the current pose of each target sub-arm of the operation arm; the first determining subunit is used for determining the target damping quantity corresponding to the current pose of each target sub-arm according to the corresponding relation between the pose of the target sub-arm and the target damping quantity, which is determined through experiments in advance; and the second control subunit is used for controlling the damping output assembly to output damping by taking the target damping quantity as a control target.

In some embodiments, the first control subunit comprises: the second acquisition subunit is used for acquiring the current pose and the current pose change speed of each target sub-arm of the operation arm; the second determining subunit is used for determining the expected pose change speed of the target sub-arm in the current pose according to a predetermined speed expected curve of the target sub-arm; the speed expected curve comprises expected pose change speed corresponding to the pose of the target sub-arm; the second judging subunit is used for judging whether the current pose change speed is greater than the expected pose change speed or not; a third control subunit for controlling the output damping of the target sub-arm in case of yes; otherwise, control does not output damping to the target sub-arm.

In some embodiments, the first control subunit comprises: the third acquisition subunit is used for acquiring the current pose and the current pose change speed of the target sub-arm on the operation arm; the third judging subunit is used for judging whether the current pose change speed is greater than a preset value of the pose change speed of the current pose and is increased; and the fourth control subunit is used for increasing the damping of the target sub-arm if yes.

A third aspect of the present specification provides an operation device comprising: a base; an operation arm provided on the base; the controller is used for detecting the working state of the operation arm in real time; when the working state of the operation arm is abnormal and the operation arm falls, the damping control unit is activated; with the damping control unit, the following operations are performed on the operation arm: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

In some embodiments, the operation device is a robot device for performing a target operation, the operation arm is composed of a plurality of sub-arms, and two adjacent sub-arms are connected through a torsion mechanism with a built-in motor; the distal end of the arm is used to mount the instrument.

In some embodiments, the damping control unit is a motor that drives articulation of the operating arm; or a damper arranged at the joint for driving the operation arm to move.

In some embodiments, the manipulation device is a manipulation stage for an operator to control a robotic device performing a target manipulation, and the manipulation arm is a manipulator on the manipulation stage.

In some embodiments, the manipulation device is a manipulation stage of a robot and the manipulation arm is a manipulator on the manipulation stage.

A fourth aspect of the present specification provides a controller comprising: the system comprises a memory and a processor, wherein the processor and the memory are in communication connection, the memory stores computer instructions, and the processor realizes the steps of the method in any one of the first aspect by executing the computer instructions.

A fifth aspect of the present description provides a computer storage medium storing computer program instructions which, when executed, implement the steps of the method of any one of the first aspects.

According to the control method, the device and the controller for recycling the operation arm, when the operation arm falls due to the abnormal working state of the operation arm, the damping control unit is activated, the damping control unit is adopted, the falling speed of the operation arm is regulated in real time according to the falling state of the operation arm, the falling speed of the operation arm can be reduced, and even the operation arm is regulated to fall according to a preset speed curve, so that the operation arm can be protected from being damaged.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 shows a schematic view of a surgical robotic system;

FIG. 2 shows a schematic view of a control end device in a surgical robotic system;

FIG. 3 shows a schematic view of an image-side device in a surgical robotic system;

FIG. 4 shows a schematic view of an end-of-travel device in a surgical robotic system;

FIG. 5 shows a schematic view of the robotic device with the robotic arms extended during normal operation;

FIG. 6 shows a schematic view of the robotic device with the robotic arms in a contracted state after completion of a job;

fig. 7 shows a schematic view of a damper mounted at a joint of a torsion member N;

fig. 8 shows a schematic view of the sub-arm X, the sub-arm Y, the torsion member N connecting the sub-arm X and the sub-arm Y on the operation arm;

FIG. 9 shows a flow chart of the handling arm retraction control method provided herein;

fig. 10 shows a schematic structural view of a hysteresis damper;

FIG. 11 shows a schematic diagram of the control effect of damping force on speed;

FIG. 12 shows a schematic of the control effect on speed;

fig. 13 shows a functional block diagram of the operation arm recovery control device provided in the present specification;

fig. 14 shows a schematic block diagram of a controller provided in the present specification.

Detailed Description

In order to make the technical solutions in the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without undue burden are intended to be within the scope of the present application.

The specification provides a control method for recycling an operation arm, which can be used for adjusting the falling speed of the operation arm in real time when the working state of the operation arm fails, and protecting the operation arm from being damaged.

The robot arm described in the present specification may be a robot arm on a robot apparatus for performing a target operation, or may be a manipulator on an operation table for an operator to control the robot apparatus. The operation arm recovery control method provided in the present specification will be described below by taking a surgical robot system as an example.

A surgical robotic system is a system that performs complex surgical procedures in a minimally invasive manner. As shown in fig. 1, the surgical robot system is generally composed of a control-side apparatus 100, an execution-side apparatus 200, and an image-side apparatus 300. The control-side device 100, commonly referred to as a physician's console, is located outside the sterile field of the operating room for transmitting control instructions to the executive-side device 200. The execution end device 200, i.e., a surgical robot device (abbreviated as a surgical robot in this specification), is used to control a surgical instrument mounted at the distal end of a mechanical arm thereof to perform a specific surgical operation on a patient according to a control instruction. The surgical robot device may further include an endoscope head. The image terminal apparatus 300, which is generally called an image carriage, processes information acquired by the endoscope head to form a three-dimensional stereoscopic high-definition image, and feeds the three-dimensional stereoscopic high-definition image back to the control terminal apparatus 100 and the like.

As shown in fig. 2, a manipulator 110 (also referred to as a main manipulator), an imaging device, and a main controller are provided on a control side device 100, that is, a doctor console (may also be referred to as a console). The main manipulator detects hand movement information of the main doctor as a control signal of the whole surgical robot system. The imaging device provides the doctor of the main knife with the stereoscopic image in the patient detected by the endoscope, and provides the doctor of the main knife with reliable image information for performing operation. When performing surgery, a doctor sits on a doctor console, and controls a surgical robot and an endoscope through a manipulator. Specifically, the doctor of the main knife observes the returned intracavity stereo image according to the imaging equipment and manually operates the manipulator, the manipulator changes in pose under the operation of the hands of the doctor of the main knife, the control signals for controlling the mechanical arm mechanism and the surgical instrument to move at the end of the surgical robot change along with the pose change of the manipulator, and the control signals control the surgical robot to realize corresponding surgical actions. The main controller is a core control element of the surgical robot system and is used for controlling the surgical robot system to realize various operations and functions.

As shown in fig. 3, the image end apparatus 300 mainly includes an endoscope (not shown in the drawing), an endoscope processor, and a display apparatus. The endoscope comprises a tube body inserted into a patient body, an observation lens, an illumination lens, an optical fiber and an ocular lens which are arranged at the front end of the tube body, and the endoscope is used for illuminating the cavity and acquiring a stereoscopic image of the cavity. The endoscope processor is used for processing the acquired stereoscopic image of the interior of the cavity, and the display device is used for displaying the processed image in real time.

As shown in fig. 4, the execution end device 200, i.e., the surgical robotic device, includes a base 210 and a robotic arm mechanism 220. The surgical robot device is located in a sterile area of an operating room, and has a main function of carrying a surgical instrument mounted at the end of a mechanical arm thereof, performing a specific surgical operation on a patient according to a control instruction given by a doctor of a main knife, and carrying an endoscope. In the sterile field, an assistant doctor is usually arranged and is responsible for replacing surgical instruments installed on the surgical robot to assist the doctor in completing the operation. To ensure patient safety, the control of the surgical robot is often given a higher priority by the assistant's doctor.

Specifically, in fig. 4 the robotic arm mechanism 220 may include a telescoping arm sub-mechanism and an operating arm sub-mechanism. A first end of the telescopic arm sub-mechanism is connected to the base 210, which telescopic arm sub-mechanism is capable of being extended or shortened in a radial direction of the base 210. The first end of the operating arm sub-mechanism is connected to the second end of the telescopic arm sub-mechanism, and the operating arm sub-mechanism 221 is capable of bending to switch between an extended state and a retracted state.

As shown in fig. 4, the telescopic arm sub-mechanism may include a first sub-arm 2211 and a first torsion member 2212. The first torsion member 2212 connects the first end of the first sub-arm 2211 with the base 210. The first torsion member 2212 can drive the first sub-arm 2211 to rotate on the horizontal plane around the first torsion member 2212, as shown by a double arrow curve a in fig. 4. This arrangement allows the plurality of robotic arm mechanisms 220 to be contracted together or expanded in the horizontal direction.

As used herein, "rotated in a horizontal plane" may refer to the fact that the plane of the rotational motion is at a non-perpendicular angle to the horizontal plane, such that the actual rotational motion has a rotational component in the horizontal plane.

As shown in fig. 4, the operating arm sub-mechanism may include a second torsion member 2221, a second sub-arm 2222, a third torsion member 2223, a third sub-arm 2224, a fourth torsion member 2225, a fourth sub-arm 2226, a fifth torsion member 2227, and a fifth sub-arm 2228. The fifth sub-arm 2228 mounts the instrument M.

The second sub-arm 2222 is located below the first sub-arm 2211, and the second torsion member 2221 connects the second end of the first sub-arm 2211 with the first end of the second sub-arm 2222. The second torsion member 2221 is capable of moving the second end of the second sub-arm 2222 toward or away from the base 210 in the vertical plane, as shown by the double arrow curve B in fig. 4.

The third sub-arm 2224 is located on a side of the second end of the second sub-arm 2222 away from the base 210, and intersects the second sub-arm 2222 at a fixed angle (e.g., the fixed angle is an acute angle in fig. 4). The third torsion member 2223 is connected to the first end of the third sub-arm 2224 and the second end of the second sub-arm 2222, and the third torsion member 2223 can drive the third sub-arm 2224 to perform a rotational movement about its own axis, as shown by a double arrow curve C in fig. 4.

The fourth torsion member 2225 connects the second end of the third sub-arm 2224 with the first end of the fourth sub-arm 2226. The fourth torsion member 2225 is capable of moving the fourth sub-arm 2226 to change the angle between the third sub-arm 2224 and the fourth sub-arm 2226, as shown by the double arrow curve D in fig. 4.

The fifth torsion member 2227 connects the second end of the fourth sub-arm 2226 with the first end of the fifth sub-arm 2228, and the second end of the fifth torsion member 2227 is provided with a mechanical jaw to clamp the target instrument for performing surgical operations such as clamping, cutting, shearing, and the like. The fifth torsion member 2227 moves the fifth sub-arm 2228 to change the angle between the fourth sub-arm 2226 and the fifth sub-arm 2228.

In the second torsion member 2221, the third torsion member 2223, the fourth torsion member 2225, and the fifth torsion member 22222, torsion motors may be respectively provided, and these torsion motors are electrically connected to the controller, so that the controller may control the torsion members to move the mover arm by controlling the torsion motors, and further drive the pose change of the instrument M. The torsion members are joints of the mechanical arm.

Fig. 5 shows a schematic view in which the respective robot arms of the robot apparatus are extended during normal operation, and fig. 6 shows a schematic view in which the respective robot arms of the robot apparatus are contracted after the end of the operation.

The method for controlling recovery of an operation arm provided in the present specification, as shown in fig. 9, includes the following steps:

s10: and detecting the working state of the operation arm in real time.

The operation arm may be each mechanical arm for performing a surgical operation on the performing end device 200, or may be the manipulator 110 in fig. 2, i.e., an operation arm for a doctor to operate a surgical robot device.

S20: when the operating arm falls due to abnormality in the operating state of the operating arm, the damping control unit is activated.

Steps S10 and S20 give the condition of activating the damping control unit, i.e. comprising 3: 1. the working state is abnormal; 2. the operating arm falls down; 3. the drop of the operating arm is caused by an abnormality in the operating state. If the operating arm is controlled to fall under the normal working state, the damping control unit is not activated, and if the working state is abnormal, but the abnormal state does not lead to the falling of the operating arm, the damping control unit is not activated either.

Whether the working state of the mechanical arm on the surgical robot device is abnormal or not can be determined according to the control signal and the control deviation of the mechanical arm control system. The operator arm on the physician's console may be determined based on the alarm information.

Whether the operation arm falls down or not can be determined according to the detection result of a pose detection component of the operation arm in the operation arm control system, or an inertial sensor is arranged on the operation arm, and whether the operation arm is in a falling state or not is determined according to the output value of the inertial sensor.

In some embodiments, the damping control unit may be a program unit in the controller, corresponding to a code segment burnt in the controller, and then the damping control unit is activated, that is, the code segment corresponding to the damping control unit is started to be executed, and the damping control unit is exited, that is, the code segment corresponding to the damping control unit is no longer executed.

In some embodiments, the damping control unit may also be a physical component unit provided on the operating arm. A damping control unit in the form of a physical component, for example, a motor on the surgical robot that drives the articulation of the robotic arm; the manipulator may be a damper or the like mounted on a joint of the surgical robot, which moves the mechanical arm, or a damper or the like mounted on a joint of the manipulator on a doctor console (which may be also referred to as an operation table).

Fig. 8 shows a schematic view of the sub-arm X, the sub-arm Y, and the torsion member N connecting the sub-arm X and the sub-arm Y on the operation arm, and in the posture state shown in fig. 8, the sub-arm X rotates and falls under the action of gravity along the arrow shown in fig. 8 with the torsion member N as the center of a circle. The present specification provides an arrangement in which a damper may be mounted at the joint of the torsion member N, as shown in fig. 9. Thus, the sub-arm X is not damaged by the excessive falling speed of the sub-arm X due to the damping action of the damper.

For a damping control unit in the form of a solid component, it has no damping effect when not activated, and only after being activated will it exhibit a damping effect. The form of activation and closure of the damping control unit in the form of a physical component may be determined according to its physical structure. For example, the damper shown in fig. 9 may be a hysteresis type mechanical damper, and the structure of the hysteresis type mechanical damper may include a coil, a rotor and a stator pole, as shown in fig. 10, wherein the rotor is made of a special hysteresis material, the stator pole has a certain air gap therein, and the rotor rotates in the air gap. When the coil is energized, a magnetic field is generated in the air gap, causing the rotor to produce a hysteresis effect. When the rotor rotates against the hysteresis force under the action of external force, rated torque is generated, and the torque can be used as damping force. The torque is only related to the exciting current, and is not related to the rotating speed and the temperature. Thus, the damping control unit may be activated by energizing the coil and deactivated by de-energizing the coil.

S30: the damping control unit is adopted to execute the following operation on the operation arm; and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

For a damping control unit in the form of a program unit, S30 may be: the program unit itself realizes real-time adjustment of the falling speed of the operating arm according to the state of the operating arm.

For a damping control unit in the form of a physical component, S30 may be: the controller controls the damping control unit to output the damping amount according to the falling state of the operation arm, thereby adjusting the falling speed of the operation arm.

According to the control method for recycling the operation arm, when the operation arm falls due to the abnormal working state of the operation arm, the damping control unit is activated, the damping control unit is adopted, the falling speed of the operation arm is regulated in real time according to the falling state of the operation arm, the falling speed of the operation arm can be reduced, and even the operation arm is regulated to fall according to a preset speed curve, so that the operation arm can be protected from being damaged.

In some embodiments, the operating state of the operating arm may also continue to be detected in real time after the damping control mode is activated; and closing the damping control unit under the condition that the working state of the operation arm exits from the abnormal working state. That is, only when the operating arm falls due to the abnormal working state, the damping unit is started, and after the abnormal working state is ended, the damping control unit can be closed, so that the control complexity in the normal working state is not increased, and the operating arm can be better guaranteed not to be damaged.

In some embodiments, instead of immediately shutting down the damping control unit upon exiting the abnormal operating state, it is possible to delay shutting down the damping control unit for a period of time or to wait for the operating arm to reach the equilibrium position before shutting down the damping control unit.

In some embodiments, the damping control unit may not shut down until shut down is restarted.

In some embodiments, S30 may include the steps of:

s31: and judging whether the operation arm is at the balance position in real time.

When the operating arm is in the balance position, the operating arm does not fall down due to natural gravity.

S32: and if not, controlling to output at least a target damping quantity, wherein the target damping quantity is the minimum damping quantity which enables the operating arm not to be damaged when the operating arm falls down at the current pose and/or the current pose change speed of each target operating arm.

On the surgical robot side, the abnormal working state leads to the falling of the mechanical arm, and can be divided into two cases: the first is that the mechanical arm falls down, but the controller can still control the mechanical arm to act; the second is that the controller cannot control the mechanical arm to act. In the first case, the hardware structure of the mechanical arm is probably not damaged, and the controller can also control the mechanical arm to act again through operations such as program repair; the second situation may be that the component that has an impact on the robot arm motion fails and cannot be repaired automatically, e.g. the motor at the robot arm joint is powered down.

For the first case, S32 may be a control of whether or not the "motor driving the articulation of the mechanical arm" outputs a damping torque and how much, where the direction of the damping torque is a direction driving the mechanical arm to lift.

For the second case described above, S32 may be to control whether the damping control unit in the form of the above-described physical component is activated or how much damping amount is output after activation.

On the doctor console side, operating state anomalies cause the manipulator to drop, possibly after manual adjustment of the manipulator pose, the parts for fixing the manipulator pose fail and cannot be repaired automatically, for example, the motor for outputting damping to energize the manipulator against the action of gravity. In this case, S32 may be to control whether the damping control unit in the form of the above-described physical component is activated or how much damping amount is output after activation.

In some embodiments, S32 may determine whether to output damping and how much damping amount to output according to the position of the target sub-arm among the sub-arms constituting the operation arm.

For example, S32 includes the following steps S321, S322, and S323.

S321: and acquiring the current pose of the target sub-arm on the operation arm.

The target sub-arm refers to one of the sub-arms constituting the operation arm, which is focused on. In practical applications, one of the sub-arms, for example the end sub-arm, may be of interest, as well as a plurality of sub-arms, even each constituting the operating arm. The second sub-arm 2222, the third sub-arm 2224, the fourth sub-arm 2226, and the fifth sub-arm 2228 may be regarded as sub-arms herein.

S322: and determining the target damping quantity corresponding to the current pose of each target sub-arm according to the corresponding relation between the pose of the target sub-arm and the target damping quantity.

The correspondence may be determined experimentally, and the "experiment" herein may be a destructive experiment or a simulation experiment.

The "pose" of the target sub-arm includes both a three-dimensional coordinate position in a spatial coordinate, and a pose relationship (e.g., an angle) between the target sub-arm and an adjacent sub-arm, and the like.

The target damping amount may be expressed by a damping torque or by a control amount that achieves a required damping torque (for example, a control current of a motor for achieving a damping effect may also be used to characterize the damping amount).

S323: and taking the target damping quantity as a control target, and controlling the damping output assembly to output damping.

The output of the target damping quantity can also adopt a closed-loop feedback control system, so that the accuracy of the output target damping quantity is ensured.

In some embodiments, S32 includes the following steps S324, S325, S326, and S327.

S324: and acquiring the current pose and the current pose change speed of each target sub-arm of the operation arm.

S325: according to a predetermined speed expected curve of the target sub-arm, determining the expected pose change speed of the target sub-arm in the current pose; the speed expected curve comprises expected pose change speeds corresponding to the poses of the target sub-arms.

S326: and judging whether the current pose change speed is greater than the expected pose change speed.

S327: if yes, controlling to output damping to the target sub-arm; otherwise, control does not output damping to the target sub-arm.

This embodiment predetermines an optimal speed-position profile during the drop of the operating arm, and if the speed during the drop of the operating arm is higher than the desired speed, the output damping is used to reduce the drop speed of the operating arm to adjust the drop speed of the operating arm to conform to the optimal speed-position profile, reducing damage to the operating arm.

In some embodiments, S32 may further include: acquiring the current pose and the current pose change speed of a target sub-arm of an operation arm; judging whether the current pose change speed is greater than a preset value of the current pose change speed or not, and increasing the current pose change speed; if yes, the damping of the target sub-arm is increased, otherwise, the damping of the target sub-arm is maintained.

The preset position change speed value can be a numerical value in the whole falling process of the operation arm; or different positions can be corresponding to different preset values of the pose change speed in the whole falling process of the operation arm.

Applying a damping force during the movement of the operating arm may have an impeding effect on the process. By changing the damping force, the rate of change of the movement speed can be changed, thereby controlling the speed of the movement process. The expression of the process is:

wherein τ is the output torque of the motor, τ _G For the self-balancing moment output by the self-balancing module, tau _D Q, q,The joint rotation angle, the joint speed and the joint acceleration are represented by M, an inertia matrix, C, a Christoff matrix, G, a heavy moment and tau _f Is a friction torque.

In view of the realization of gravity self-balancing,the motor output torque tau is 0, at which point,the control effect of damping force on speed is shown in fig. 11, wherein the abscissa of the left graph and the right graph represents time, the ordinate represents speed, a certain motion track of a single-joint operation arm, and the moment of inertia is 1kgm ² The left graph shows the undamped situation with a constant velocity of 0.1rad/s and the right graph shows the situation after the same segment of trajectory has been subjected to a damping force of 0.1 Nm. As can be seen from fig. 11, the damping force changesThe rate of change of speed and thus the speed is changed.

Applied damping force tau _D The size of (2) depends on the current speedIs +.>Wherein (1)>In relation to the current position q.

For example, one embodiment of a linear damping-based algorithm may be:wherein K is _d Is the damping coefficient. The effect of this embodiment on speed control is shown in figure 12. FIG. 12 is a schematic view of a velocity profile of a single joint lever arm under damping control, wherein the moment of inertia is 0.5kgm ² Desired speed v _d Constant at 0.1rad/s, initial velocity v at 0.2rad/s, damping coefficient K _d ＝2。

As can be seen from FIG. 12, when the current speed isGreater than ideal speed +.>By applying the damping force calculated by the control algorithm, the speed of movement can be reduced until it coincides with the desired speed.

The present specification provides an operation arm recovery control device that can be used to implement the operation arm recovery control method shown in fig. 9. As shown in fig. 13, the apparatus includes a first detection unit 10, an activation unit 20, and an operation unit 30.

The first detection unit 10 is used for detecting the working state of the operation arm in real time.

The activating unit 20 is used for activating the damping control unit when the operating arm falls due to an abnormality in the operating state of the operating arm.

The operation unit 30 is for performing the following operations on the operation arm using the damping control unit: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

The present specification also provides an operation device including: a base; an operation arm provided on the base; the controller is used for detecting the working state of the operation arm in real time; when the working state of the operation arm is abnormal and the operation arm falls, the damping control unit is activated; with the damping control unit, the following operations are performed on the operation arm: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

In some embodiments, the operation device is a robot device for performing a target operation, the operation arm is composed of a plurality of sub-arms, and two adjacent sub-arms are connected through a torsion mechanism with a built-in motor; the distal end of the arm is used to mount the instrument. The target manipulation may be a surgical operation, a manipulation of moving objects, or other types of operations.

In some embodiments, the damper is a hysteresis mechanical damper.

The specific details of the mechanical arm recovery control device can be understood by referring to the related descriptions and effects in the corresponding embodiment of fig. 7, and are not repeated here.

Embodiments of the present invention also provide a controller, as shown in fig. 14, which may include a processor 1401 and a memory 1402, wherein the processor 1401 and the memory 1402 may be connected by a bus or otherwise, as shown in fig. 14 by way of example as a bus connection.

The processor 1401 may be a central processing unit (Central Processing Unit, CPU). The processor 1401 may also be any other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof.

The memory 1402 serves as a non-transitory computer readable storage medium, and may be used to store a non-transitory software program, a non-transitory computer executable program, and modules, such as program instructions/modules (e.g., the first detection unit 10, the activation unit 20, and the operation unit 30 in fig. 13) corresponding to the robot arm recovery control method in the embodiment of the present invention. The processor 1401 executes various functional applications of the processor and data classification by running non-transitory software programs, instructions, and modules stored in the memory 1402, i.e., implements the robot recovery control method in the above-described method embodiments.

Memory 1402 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created by the processor 1401, and the like. Further, memory 1402 can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 1402 optionally includes memory remotely located relative to processor 1401, which may be connected to processor 1401 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 1402, which when executed by the processor 1401, performs the robotic arm reclaiming control method in the embodiment shown in fig. 7.

The details of the controller may be understood by referring to the description and effects of the corresponding embodiment of fig. 9, which are not repeated here.

The present description also provides a computer storage medium having stored thereon computer program instructions which when executed perform the steps of the corresponding embodiment of fig. 9.

It will be appreciated by those skilled in the art that implementing all or part of the above-described embodiment method may be implemented by a computer program to instruct related hardware, where the program may be stored in a computer readable storage medium, and the program may include the above-described embodiment method when executed. Wherein the storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a hardware+program class embodiment, the description is relatively simple, as it is substantially similar to the method embodiment, as relevant see the partial description of the method embodiment.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller can be regarded as a hardware component, and means for implementing various functions included therein can also be regarded as a structure within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The foregoing is merely an example of an embodiment of the present disclosure and is not intended to limit the embodiment of the present disclosure. Various modifications and variations of the illustrative embodiments will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the embodiments of the present specification, should be included in the scope of the claims of the embodiments of the present specification.

Claims

1. An operation arm recovery control method, characterized by comprising:

Detecting the working state of an operation arm in real time;

when the working state of the operation arm is abnormal and the operation arm falls, the damping control unit is activated;

with the damping control unit, the following operations are performed on the operation arm: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

2. The method of claim 1, wherein adjusting the speed of the drop of the operating arm in real time based on the drop of the operating arm comprises:

judging whether the operation arm is at the balance position in real time;

if not, controlling to output at least a target damping quantity, wherein the target damping quantity is the minimum damping quantity which enables the operation arm not to be damaged when the target sub-arm falls down at the current pose and/or the current pose change speed of the target operation arm.

3. The method according to claim 2, wherein controlling at least the output of the target damping amount, which is the damping amount such that the operation arm is not damaged when the operation arm falls at the current pose and/or the current pose change speed of each target sub-arm, includes:

acquiring the current pose of each target sub-arm of the operation arm;

determining target damping amounts corresponding to the current pose of each target sub-arm according to the corresponding relation between the pose of the target sub-arm and the target damping amounts, which is determined through experiments in advance;

And taking the target damping quantity as a control target, and controlling the damping output assembly to output damping.

4. The method according to claim 2, wherein controlling at least the output of the target damping amount, which is the damping amount such that the operation arm is not damaged when the operation arm falls at the current pose and/or the current pose change speed of each target sub-arm, includes:

acquiring the current pose and the current pose change speed of each target sub-arm of the operation arm;

according to a predetermined speed expected curve of the target sub-arm, determining the expected pose change speed of the target sub-arm in the current pose; the speed expected curve comprises expected pose change speed corresponding to the pose of the target sub-arm;

judging whether the current pose change speed is greater than the expected pose change speed or not;

in the case of yes, the control output dampens the target sub-arm.

5. The method according to claim 2, wherein controlling at least the output of the target damping amount, which is the damping amount such that the operation arm is not damaged when the operation arm falls at the current pose and/or the current pose change speed of each target sub-arm, includes:

acquiring the current pose and the current pose change speed of a target sub-arm on an operation arm;

Judging whether the current pose change speed is greater than a preset value of the current pose change speed or not, and increasing the current pose change speed;

if so, damping of the target sub-arm is increased.

6. The method of claim 2, wherein the output assembly of the damping amount comprises any one of: a motor for driving the joint of the operation arm to move and a damper arranged at the joint for driving the operation arm to move.

7. An operation arm recovery control device, characterized by comprising:

the first detection unit is used for detecting the working state of the operation arm in real time;

an activating unit for activating the damping control unit when the operating arm falls due to abnormality in the working state of the operating arm;

an operation unit for performing the following operations on the operation arm using the damping control unit: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

8. An operating device, characterized by comprising:

a base;

an operation arm provided on the base;

the controller is used for detecting the working state of the operation arm in real time; when the working state of the operation arm is abnormal and the operation arm falls, the damping control unit is activated; with the damping control unit, the following operations are performed on the operation arm: and according to the falling state of the operation arm, the falling speed of the operation arm is regulated in real time.

9. The operating device according to claim 8, wherein the damping control unit is a motor that drives articulation of an operating arm; or a damper arranged at the joint for driving the operation arm to move.

10. The operating device according to claim 8, wherein the operating device is an operating table for an operator to control a robot device that performs a target operation, and the operating arm is a manipulator on the operating table.

11. A controller, comprising:

a memory and a processor in communication with each other, the memory having stored therein computer instructions which, upon execution, cause the processor to perform the steps of the method of any of claims 1 to 6.

12. A computer storage medium storing computer program instructions which, when executed, implement the steps of the method of any one of claims 1 to 6.