CN118319502A

CN118319502A - Master-slave motion control method of surgical robot and related equipment

Info

Publication number: CN118319502A
Application number: CN202410734997.7A
Authority: CN
Inventors: 汪振; 请求不公布姓名
Original assignee: Suzhou Shitong Medical Technology Co ltd
Current assignee: Suzhou Shitong Medical Technology Co ltd
Priority date: 2024-06-07
Filing date: 2024-06-07
Publication date: 2024-07-12
Anticipated expiration: 2044-06-07
Also published as: CN118319502B

Abstract

The invention relates to the technical field of robots, in particular to a master-slave motion control method and related equipment of a surgical robot, wherein the surgical robot comprises a slave control end for executing surgery and a master control end for controlling the slave control end; the master-slave motion control method comprises the steps of obtaining the current gesture of the master control end and the current gesture of the slave control end; judging the condition of matching the current gesture of the master control end with the current gesture of the slave control end; adjusting guide parameters of the main control terminal based on the judging result of the gesture matching condition, wherein the guide parameters represent the deviation degree of the current direction of the main control terminal from the target direction when the main control terminal guides an operation object or the control unit moves the main control terminal; and controlling the master control end according to the adjusted guide parameters so as to enable the master control end to be matched with the slave control end in posture. By adopting the method, the adjusting direction of the main control end can be definitely determined, so that the efficiency of master-slave matching can be improved.

Description

Master-slave motion control method of surgical robot and related equipment

Technical Field

The invention relates to the technical field of robots, in particular to a master-slave motion control method and related equipment of a surgical robot.

Background

With the advancement of technology, surgical robotics are increasingly being used. Generally, a surgical robot includes a master operation tool (i.e., a master end) and a slave operation tool (i.e., a slave end), and an operator can generate corresponding control instructions by operating an operation portion of the master end to control an end effector of the slave end to move to a target position for performing a surgery.

Generally, in order to ensure efficient operation, the main control end and the slave control end are required to be matched, in the prior art, when the main control end is not matched with the slave control end, an operator can actively move the main control end to adjust the main control end to a target posture so as to match the main control end with the slave control end, but the adjustment efficiency is low, and the scheme also combines visual information to assist an operator to actively operate the main control end more quickly, and the operator is required to constantly observe a display to determine the current matching condition, so that the adjustment efficiency is low.

Disclosure of Invention

In order to solve the technical problems, the embodiment of the application provides a master-slave motion control method and related equipment of a surgical robot, wherein the technical scheme is as follows:

In one aspect, a master-slave motion control method of a surgical robot is provided, wherein the surgical robot comprises a slave control end for performing surgery and a master control end for controlling the slave control end; the method comprises the following steps:

acquiring the current gesture of the master control end and the current gesture of the slave control end;

judging the condition of matching the current gesture of the master control end with the current gesture of the slave control end;

Adjusting guide parameters of the main control terminal based on the judging result of the gesture matching condition, wherein the guide parameters represent the deviation degree of the current direction of the main control terminal from the target direction when the main control terminal guides an operation object or the control unit moves the main control terminal;

And controlling the master control end according to the adjusted guide parameters so as to enable the master control end to be matched with the slave control end in posture.

Optionally, the controlling the master control end according to the adjusted guiding parameter includes:

Determining control parameters of the main control end based on the adjusted guide parameters and the current gesture of the main control end;

And controlling the main control terminal according to the control parameter.

In another aspect, a master-slave motion control apparatus of a surgical robot is provided, the surgical robot including a slave end for performing a surgery and a master end for controlling the slave end; the device comprises:

the acquisition module is used for acquiring the current gesture of the master control end and the current gesture of the slave control end;

the judging module is used for judging the condition of matching the current gesture of the master control end with the current gesture of the slave control end;

The adjusting module is used for adjusting the guide parameters of the main control end based on the judging result of the gesture matching condition, wherein the guide parameters represent the deviation degree of the current direction of the main control end from the target direction when the main control end guides the operation object or the control unit moves the main control end;

And the control module is used for controlling the main control end according to the adjusted guiding parameters so as to enable the main control end to be matched with the posture of the auxiliary control end.

On the other hand, a surgical robot is provided, which comprises a master control end, a slave control end and the control device;

the slave control end follows the movement of the master control end;

the control device is used for controlling the movement of the master control end and the slave control end.

In another aspect, a computer readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the master-slave motion control method of the surgical robot of any of the above embodiments.

The embodiment of the application provides a master-slave motion control method and related equipment of a surgical robot, wherein the surgical robot comprises a slave control end for executing surgery and a master control end for controlling the slave control end; acquiring the current gesture of the master control end and the current gesture of the slave control end; judging the condition of matching the current gesture of the master control end with the current gesture of the slave control end; adjusting guide parameters of the main control terminal based on the judging result of the gesture matching condition, wherein the guide parameters represent the deviation degree of the current direction of the main control terminal from the target direction when the main control terminal guides an operation object or the control unit moves the main control terminal; and controlling the master control end according to the adjusted guide parameters so as to enable the master control end to be matched with the slave control end in posture. Therefore, the adjusting direction of the main control end can be defined based on the gesture matching condition of the main control end and the auxiliary control end, and the main control end and auxiliary control end matching efficiency can be improved.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions and advantages of the prior art, the following description will briefly introduce the drawings that are needed in the embodiments or the prior art description, it is obvious that the drawings in the following description are only some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art;

FIG. 1 is a schematic illustration of an application scenario of an exemplary surgical robotic system of the present application;

FIG. 2 is a schematic view of the structure of a slave manipulator in an exemplary surgical robotic system of the present application;

FIG. 3 is a schematic view of a portion of an exemplary embodiment of the present application from the end of an instrument in an operating device;

FIG. 4 is a flow chart of an exemplary master-slave motion control method of a surgical robot according to the present application;

FIG. 5 is a schematic diagram of an exemplary master control of the present application;

FIG. 6 is a schematic illustration of an exemplary robotic arm assembly of the present application;

FIG. 7 is a schematic illustration of an exemplary continuum bending section of the present application;

FIG. 8 is a flow chart of an exemplary master-slave motion control method of an angle-based surgical robot of the present application;

FIG. 9 is a flow chart of an exemplary master-slave motion control method of the surgical robot based on angular increment according to the present application;

FIG. 10 is a flow chart of an exemplary master-slave motion control method of a surgical robot based on a Cartesian space position according to the present application;

FIG. 11 is a schematic diagram of an exemplary virtual second order system of the present application;

fig. 12 is a flow chart of another master-slave motion control method of the surgical robot according to an exemplary embodiment of the present application.

Fig. 13 is a block diagram of a master-slave motion control apparatus of an exemplary surgical robot of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the terms "first" and "second" in the description of embodiments of the application and the claims and the above-described drawings are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In order to make the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the detailed description and specific examples, while indicating the embodiment of the application, are intended for purposes of illustration only and are not intended to limit the scope of the application.

Referring to fig. 1, a schematic view of an application scenario of an exemplary surgical robot system according to the present application is shown. The surgical robot system according to the embodiment of the present application includes a master operation device 100 (i.e., a master end), and a slave operation device 200 (i.e., a slave end) controlled by the master operation device 100.

The master operation device 100 has a control input device capable of transmitting a control command to the slave operation device 200 according to the motion of the hand and/or foot of the operation subject to drive and adjust the posture of the robot arm assembly 210 of the slave operation device 200 and drive the execution instrument of the robot arm assembly 210 to perform the corresponding surgical operation.

As shown in fig. 2 and 3, the slave manipulator 200 has a robot arm assembly 210 for performing surgical actions, a driving device 220 for driving the robot arm assembly 210 according to a control command, and a base 230 for supporting the driving device 220, wherein the robot arm assembly 210 includes at least one robot arm 211, and the robot arm 211 may specifically be a flexible robot arm, a rigid robot arm, or a combination of both, and each robot arm 211 may be loaded with an implement for performing different or the same surgical operations, including but not limited to clamping, cutting, shearing, suturing, electro-cutting, or electro-coagulation, etc. For example, the implement may be any of a variety of implements including, but not limited to, needle-holding forceps, scissors, graspers, and clip appliers. Needle-holding forceps instruments are generally used for realizing operations such as clamping, suturing, knotting and the like, shearing instruments are generally used for realizing operations such as thread shearing, dissection, cutting and the like, grasping forceps instruments are generally used for realizing operations such as grasping, pulling and the like, and clip applier instruments are generally used for ligating in cooperation with ligature clips.

Optionally, as further shown in fig. 1, the surgical robot system further includes an image device 400, where the image device 400 is configured to acquire an image of the surgical field in a cavity (referred to as a body cavity of a patient) captured by the endoscope, and further perform imaging processing on the image of the surgical field, and transmit the image of the surgical field to a first display device of the image device 400 and/or a second display device (not shown in the figure) of the main operating device 100 to display the image of the surgical field, so that the operator can observe the image of the surgical field by using the image device. The surgical field images include, but are not limited to, the type, number, position and pose of the implement within the body cavity, the morphology of the target organ tissue and surrounding vessels that need to be manipulated, and the like. Further, an endoscope for assisting in capturing images of the surgical field may be loaded from one of the robotic arms 211 in the robotic arm assembly 210 of the operation device 200, and may be displayed by the first display device and/or the second display device. It is to be understood that the image displayed by the image device 400 may be a two-dimensional or three-dimensional image. Endoscopes can include a variety of endoscopes used in surgery, such as thoracoscopes, arthroscopes, nasoscopes, and the like.

Optionally, the surgical robot system further includes a support device 300 (e.g., an operating table) for supporting the surgical object for surgery, and the support device 300 may be replaced with another surgical platform according to the type of surgery, which is not limited in this embodiment.

It should be noted that fig. 1 to 3 are only examples. The surgical robot system is not limited to the device structure or number shown in the above figures, and in other application scenarios, corresponding adjustments may be made, such as adding or subtracting devices in fig. 1, adjusting the number of devices or components, or adjusting the structure of devices or components, etc.

The prior art mainly comprises the following master-slave control schemes, wherein the first scheme only supports a user to actively control the master control end after the master-slave mismatch is determined, so that the user is required to constantly observe the master-slave matching condition and constantly move the master control end, and the user can constantly repeat the wrong control direction to move the master control end, so that the matching efficiency is very low. The second scheme is that after the master-slave mismatch is detected, the master control end can be actively moved by a user based on the touch information, but the master control end can only play a role in prompting the user to move the master control end, and the user is still required to continuously observe the master-slave matching condition and continuously move the master control end, so that the matching efficiency is lower. The third scheme is that after the master-slave mismatch is detected, the master control end can be actively moved by a user based on visual information, but because the user needs to continuously switch and observe the operation scene and the display device, the attention is easily dispersed, and longer time is also required to be consumed for master-slave matching. The fourth scheme is a scheme that after the master-slave mismatch is detected, the master control end is directly moved to a matched target posture through motor control, but the scheme based on motor control is low in reliability and cannot guarantee the experience consistency of the operation flow. In order to solve the problems, the embodiments of the present disclosure provide a master-slave motion control method and related devices for a surgical robot, which can provide explicit directional feedback information, and the feedback information can be transmitted through somatosensory information of hands, without an additional display device, a user does not need to switch the line of sight back and forth between a surgical scene and the display device, so that the user can concentrate on the surgical scene in the whole course, the master-slave matching efficiency can be improved, and the control right of the master control end is in the hand of an operator and keeps consistent with the control state in the surgical process, so that the experience consistency of the whole surgical procedure can be improved; and when the emergency of the motor fault of the main control end occurs in the operation process, the master-slave matching can still be realized based on the scheme, and the smooth operation is not influenced.

The following describes a specific implementation manner of a master-slave motion control method of a surgical robot provided in an embodiment of the present disclosure. In the embodiment of the disclosure, as shown in fig. 1 to 3, the surgical robot includes a slave control end for performing a surgical action, a master control end for controlling the slave control end, and a control device; the control device is configured to perform a master-slave motion control method according to an embodiment of the present disclosure, and performs master-slave motion control on a slave control end and a master control end, where the control device may be disposed on the slave control end, the master control end, or both ends, respectively, and is not limited herein, and the master control end includes at least one master manipulator arm (specifically, may refer to a link below), and at least one driving motor and at least one sensor disposed at least one joint on the master manipulator arm, where the at least one sensor is configured to obtain feedback data of the at least one joint. The slave end mechanical arm assembly at least comprises a flexible piece capable of bending or rotating. The number of slave terminals may be one or more. The master control terminal and one of the slave control terminals can form an operation part for executing master-slave control. The master control end can drive the corresponding slave control end to execute corresponding operation through the connected joint under the drive of external force. Under the condition that a plurality of slave control ends are provided, different master control ends can drive the associated slave control ends to execute corresponding operations through joints. Referring to fig. 4, a flow chart of a master-slave motion control method of a surgical robot according to an exemplary embodiment of the application is shown. The method comprises the following steps:

S401: and acquiring the current gesture of the master control end and the current gesture of the slave control end.

In the embodiment of the disclosure, please refer to fig. 5, which shows a schematic diagram of a master control terminal according to an exemplary embodiment of the present application. The main control end comprises a plurality of connecting rods and joints, the adjacent connecting rods are connected through joint rotation, in particular, the main control end can comprise a joint A ₁, a joint A ₂, a joint A ₃, a joint A ₄, … …, a joint A _2n-1 and a joint A _2n, wherein,Etc. represent the angles of the joints, e.g. the angle of joint A ₁ isThe angle of the joint A _2n isN is an integer greater than or equal to 3. The dashed lines between joints a ₄ and a _2n-1 in fig. 5 represent any number of joints and links, terminating in gripping tabs, which may be manipulated by the operator to control the movement of the instrument gripped from the distal gripping tab at the master end, thereby controlling the linkage. Specifically, each joint is correspondingly provided with a driving motor and a sensor, the driving motor is used for driving the joint to rotate, and the sensor is used for collecting and feeding back relevant motion data of the joint.

In the disclosed embodiment, reference is made to fig. 6-7, which illustrate a schematic diagram of a robotic arm assembly and a schematic diagram of a curved segment of a continuum, respectively, according to an exemplary embodiment of the application. The robotic arm assembly includes a drive mechanism, a flexible arm, and an instrument tip coupled to the flexible arm. The flexible arm may specifically be a continuous bending section as shown in fig. 6, which is connected to a rigid section, which is connected to a driving mechanism. The instrument tip includes an implement instrument for performing surgical procedures such as clamping, cutting, shearing, stapling, electro-cutting, or electro-coagulation. Alternatively, the continuum bending section may include a plurality of continuously connected flexures, such as may include N flexures, as shown in fig. 7, and the continuum bending section may include flexures C1, C2, … …, and flexures CN, N being an integer greater than or equal to 3. Wherein,Respectively represent the bending angles of the respective flexible members,Indicating the rotation angle of each flexible segment, e.g. the bending angle of the flexible member C1 isThe rotation angle is; The bending angle of the flexible piece C _N isThe rotation angle is. The dashed lines between the flexible member C2 and the flexible member CN in fig. 7 represent any number of flexible members. Optionally, the control mapping relationship between each flexible element in the slave control end and each joint of the master control end may be a one-to-one correspondence relationship, or may be a one-to-many mapping control relationship, that is, one joint maps to control a plurality of flexible elements, or may be a many-to-one mapping control relationship, that is, a plurality of joints maps to control one flexible element, which is not limited herein.

The current posture of the master end may be the current angle of each joint (as described above) Any one of the current angle increment of each joint, the current cartesian space pose of the tail end and the current cartesian space pose increment of the tail end. Specifically, the angular increment of each joint may refer to a difference between the angle of the joint and an initial angle, where the initial angle of a certain joint may be an angle of the joint in an "initial state", and this initial state may specifically refer to a state of the surgical robot system that occurs before the state where the master control controls the slave control end to move. In this state, the master and slave do not have relative motion, and the gesture is recorded and is recorded as the initial gesture. Optionally, the initial state may be a fixed master end posture related to a specific surgical scene and a slave end posture matched with the fixed master end posture, or may be an unfixed master end posture related to a specific surgical scene and a slave end posture matched with the unfixed master end posture. The initial state can be fixed or unfixed, and the initial state is dependent on the application scene, for example, in scene 1, after the slave end enters the cavity through the operation starting stage of the natural cavity operation, the slave end is controlled to move to the posture suitable for operation through the master end, at the moment, the postures of the master end and the slave end are fixed, and each operation is consistent. In scenario 2, the phase of surgery execution via natural orifice surgery, which occurs after scenario 1 is completed, the slave-end pose of each surgery is uncertain, and the "initial state" at this time depends on the execution of scenario 1. Similarly, the cartesian space pose increment of the end of the master control end may refer to a difference between the cartesian space pose of the end and the initial cartesian space pose in the initial state.

The gesture of the slave control end corresponding to the gesture of the master control end may specifically refer to any one of a current change angle of each flexible element, a current angle increment of each flexible element, a current cartesian space gesture of the terminal, and a current cartesian space gesture increment of the terminal. The current changing angle of each flexible member may specifically refer to a rotation angle of a motor driving each flexible member to rotate, and may also refer to a bending angle and a rotation angle of each flexible member. In particular, the bending and rotation angles of the flexible members are shown in fig. 6 and 7, wherein in fig. 7Respectively represent the bending angles of the respective flexible members,Indicating the rotation angle of each flexible segment, respectively. The current angular increment of each flexible member may refer to the changing angle of the flexible member in the initial state described above. Similarly, the cartesian space pose increment from the end of the control end may refer to the difference between the cartesian space pose of the end and the initial cartesian space pose in the initial state. Alternatively, the bending angle and the rotation angle of the flexible member may be calculated based on the rotation angle and the transmission ratio of a motor controlling the flexible member, or may be measured by a parameter detection device including, but not limited to, an image device, a laser measuring instrument, a magnetic sensor, or may be calculated based on a pulling force on a driving rope and a forward dynamics model of a robot.

S403: and judging the condition of matching the current gesture of the master control end with the current gesture of the slave control end.

S405: and adjusting the guide parameters of the main control terminal based on the judging result of the gesture matching condition, wherein the guide parameters represent the deviation degree of the current direction of the main control terminal from the target direction when the main control terminal guides the operation object or the control unit moves the main control terminal.

In the embodiment of the disclosure, the current gesture of the master control end may include, but is not limited to, any one of a current angle of each joint, a current angle increment of each joint, a current cartesian space gesture of the terminal, and a current cartesian space gesture increment of the terminal. The slave end pose may include, but is not limited to, any of a current changing angle of each flexible member, a current angle increment of each flexible member, a current cartesian space pose of the tip, and a current cartesian space pose increment of the tip. Thus, the manner in which the guideline parameters are specifically determined varies depending on the current poses of the master and slave specific types.

Referring to fig. 8, with the current posture of the master control end as the current angle of each joint and the current posture of the slave control end as the current changing angle of each flexible member, the steps S401 to S405 may be specifically described as:

s801: and acquiring the current angle of each joint of the master control end and the current change angle of each flexible piece of the slave control end corresponding to each joint.

In this embodiment of the present disclosure, the current angle of each joint of the master control end may specifically be a rotation angle of a driving motor corresponding to each joint when each joint is at the current time. The current changing angle of each flexible member may specifically refer to a rotation angle of a motor for driving each flexible member to rotate at the current time, and may also refer to a bending angle and a rotation angle of each flexible member.

S803: and judging whether the angle matching difference value between the current angle of the target joint of the main control end and the current change angle of the corresponding flexible piece is larger than a preset angle threshold value or not.

In this embodiment of the present disclosure, the angle matching difference between the current angle of the target joint of the master control end and the current changing angle of the corresponding flexible member may specifically refer to a difference between the current angle of the target joint of the master control end and the current changing angle of the corresponding flexible member, for example, when the current changing angle of each flexible member is the rotation angle of the corresponding driving motor, the angle matching difference Δq between the current angle of the target joint of the master control end and the current changing angle of the corresponding flexible member is a difference between the current angle q (master) of the target joint of the master control end and the current changing angle q (slave) of the corresponding flexible member. Optionally, the target joints may refer to all joints in the master control end, or may be preset numbered joints (such as the joint a ₁ and the joint a _2n) set according to needs, and the number of the target joints may be one or more, which is not limited herein.

S805: and adjusting the guiding parameters of the main control terminal based on the judging result of the angle matching difference value and the preset angle threshold value.

In the embodiment of the present disclosure, step S805 may be specifically described as: if the angle matching difference value is larger than the preset angle threshold value, generating a first judgment result; the first judgment result represents that the master and slave postures are not matched; if the angle matching difference value is smaller than or equal to the preset angle threshold value, a second judgment result is generated; the second judgment result represents the master-slave gesture matching; subsequently, under the condition that the master posture and the slave posture are not matched, the guiding parameters are required to be adjusted, optionally, a history angle matching difference value can be obtained, the current angle matching difference value is compared with the history angle matching difference value, a comparison result is obtained, and when the comparison result indicates that the current angle matching difference value is higher than the history angle matching difference value, first adjustment information is generated; the first adjustment information indicates to up-adjust the guide parameter; when the comparison result indicates that the current angle matching difference value is lower than the historical angle matching difference value, generating second adjustment information; the second adjustment information indicates to adjust the guiding parameter downwards; when the comparison result indicates that the current angle matching difference value is equal to the historical angle matching difference value, third adjustment information is generated; the third adjustment information indicates that the guide parameter is not adjusted, and a target adjustment direction is determined based on the first adjustment information, the second adjustment information or the third adjustment information; acquiring a preset adjustment step length; the preset adjustment step length represents the adjustment amplitude of the guide parameter along the target adjustment direction; and adjusting the guide parameters based on the target adjustment direction and the preset adjustment step length, so as to obtain corresponding updated guide parameters. For example, assuming that the preset angle threshold is denoted as q0, the current guiding parameter is denoted as K, if the current angle matching difference Δq (current) is greater than the history angle matching difference Δq (history), which indicates that the gesture matching difference between the current gesture of the master control end and the current gesture of the slave control end increases, the determined target adjustment direction is +, the preset adjustment step length is a, and then the updated guiding parameter K' =k+a, that is, the guiding value of the guiding parameter fed back to the operation object by the master control end increases. Alternatively, the historical angle matching difference may specifically refer to an angle matching difference between previous moments (such as time t-1) or an average of angle matching differences between multiple historic moments (such as time t-2n to time t-n), and similarly, the current angle matching difference may refer to an angle matching difference between current moments (such as time t) or an average of angle matching differences between multiple moments (such as time t-n+1 to time t-1) near the current moment.

Referring to fig. 9, with the current posture of the master control end as the current angle increment of each joint, the current posture of the slave control end as the current angle increment corresponding to each joint, the steps S401 to S405 may be specifically described as:

s901: and determining the current angle increment of each joint of the master control end and the current angle increment of each flexible piece of the slave control end corresponding to each joint.

In some exemplary embodiments, step S901 may be specifically set forth as: acquiring the current angle and the initial angle of each joint of the main control end; determining the difference value between the current angle and the initial angle of each joint of the main control end as the current angle increment of each joint of the main control end; acquiring the current change angle and the initial angle of each flexible piece of the slave control end corresponding to each joint; and determining the difference value between the current changing angle and the initial angle of each flexible piece of the slave control end as the current angle increment of each flexible piece of the slave control end.

In the embodiment of the present disclosure, the initial angle of each joint may refer to a rotation angle of a driving motor corresponding to each joint of each joint in an initial state. The initial angle of each flexible member may be a rotation angle of a motor for driving each flexible member to rotate in an initial state, or may be a bending angle and a rotation angle of each flexible member in an initial state.

S903: and judging whether the angle increment matching difference value between the current angle increment of the target joint of the main control end and the current angle increment of the corresponding flexible piece is larger than a preset angle increment threshold value or not.

In the embodiment of the disclosure, the angle increment matching difference value may specifically refer to a difference value between a current angle increment of a target joint of the control end and a current angle increment of a corresponding flexible member.

S905: and adjusting the guiding parameters of the main control terminal based on the judging result of the angle increment matching difference value and the preset angle increment threshold.

In the embodiment of the present disclosure, the specific scheme for adjusting the guiding parameters in step S905 is the same as that in step S805, and the difference is mainly that the parameter types of the current gesture of the two are different, and the angle matching difference value in step S805 may be replaced by an angle increment matching difference value, and the preset angle threshold may be replaced by a preset angle increment threshold. And will not be described in detail herein.

Referring to fig. 10, with the current posture of the master end as the current cartesian space posture of the end of the master end, the current posture of the slave end is the current cartesian space posture of the end of the slave end, and the steps S401 to S405 may be specifically described as:

S1001: and determining the current Cartesian space pose of the tail end of the master control end and the current Cartesian space pose of the tail end of the slave control end.

In some exemplary embodiments, step S1001 may be specifically set forth as: acquiring the current Cartesian space pose of the tail end of the master control end, and acquiring the length, the bending angle and the rotation angle of the flexible piece of the tail end of the slave control end; and determining the Cartesian space pose of the tail end of the slave control end based on the length, the bending angle and the rotation angle of the flexible piece of the tail end of the slave control end.

Specifically, the manner of obtaining the cartesian space position of the end of the master may include, but is not limited to: the joint encoder collects the joint position and then calculates the terminal pose through positive kinematics. Or the space coordinates of the tail end are obtained through the depth camera, and the pose of the tail end of the main control end is identified. With continued reference to fig. 6 and 7, the slave end may be in a cartesian space position at its end or at its end of the instrument to which it is held; by way of example, a length of radially flexible, axially rotatable flexible member is defined asThe bending angle isThe rotation angle isThe cartesian space pose T of the end of the flexure may be expressed as:

Specifically, the bending angle and the rotation angle of the flexible member may be calculated based on the rotation angle of a motor controlling the flexible member, or may be measured by an image device, a laser measuring instrument, a magnetic sensor, or may be calculated based on stress on a driving rope. There is no limitation in this regard.

For a slave end composed of a plurality of consecutive flexures, the Cartesian space position of the end of the slave end can be calculated by combining the Cartesian space position of the end of each flexure constituting the slave end with the forward kinematics of the robot.

S1003: and judging whether the position and posture matching difference value of the current Cartesian space position and posture of the tail end of the master control end and the current Cartesian space position and posture of the tail end of the slave control end is larger than a preset space position and posture threshold value.

In the embodiment of the disclosure, the pose matching difference value is obtained by calculating the absolute value of the difference value between the current cartesian space position and the spatial pose of the tail end of the master control end and the corresponding cartesian space position and the spatial pose of the tail end of the slave control end or the tail end of the device held by the slave control end, and then judging whether the pose matching difference value is larger than a preset spatial pose threshold value or not by judging whether the pose matching difference value is larger than a preset spatial pose threshold value or not, so as to judge whether the master pose and the slave pose are matched or not; the pose matching difference value can be based on a calculation method of the difference value between quaternion spatial poses, and a specific calculation scheme can be expressed as follows:

Spatial attitude of tail end of main control end Spatial attitude with the end of the slaveRespectively converted into corresponding quaternionsThe difference between the two, i.e. the pose match differenceCan be calculated based on the following formula (1):

formula (1)

The pose matching difference value can also be calculated based on a space angle or matrix modulus and the like. There is no limitation in this regard.

S1005: and adjusting the guiding parameters of the main control terminal based on the pose matching difference value and the judging result of the preset space pose threshold value.

In the embodiment of the present disclosure, the specific scheme for adjusting the guiding parameters in step S1005 is the same as that in step S805, and the difference is mainly that the parameter types of the current poses of the two are different, and the angle matching difference value in step S805 is replaced by the pose matching difference value, and the preset angle threshold is replaced by the preset spatial pose threshold. And will not be described in detail herein.

When the current pose of the master control end is the current cartesian space pose increment of the end of the master control end and the current pose of the slave control end is the current cartesian space pose increment of the end of the slave control end, the specific implementation of the steps S401 to S405 may refer to the steps S901 to S905, the difference between the two steps is mainly the difference of the pose types of the master control end and the slave control end, and the calculation manner of the cartesian space poses of the end of the master control end and the slave control end and the pose matching difference value may refer to the contents referred to in the steps S1001 to S1005 above, which are not repeated herein.

In some exemplary embodiments, in step S405, the adjusting, based on the determination result of the gesture matching condition, the guiding parameter of the master control includes: and adjusting the guiding parameters of the master control end based on the judgment result of the gesture matching difference value of the current gesture of the master control end and the current gesture of the slave control end and a preset gesture threshold. Based on the above embodiments, it can be appreciated that, depending on the current gestures of the specific types of the master and slave, the specific manner of determining the guiding parameters is also different, and in summary, the manner of determining the updated guiding parameters based on steps S403 to S405 may include: determining an attitude matching difference value between the current attitude of the master control end and the current attitude of the slave control end, and if the attitude matching difference value is larger than the preset attitude threshold value as a judgment result of the attitude matching difference value and the preset attitude threshold value, generating a first judgment result; the first judgment result represents that the master-slave gesture is not matched; if the judgment result of the gesture matching difference value and the preset gesture threshold value is that the gesture matching difference value is smaller than or equal to the preset gesture threshold value, a second judgment result is generated; the second judgment result represents the master-slave gesture matching; subsequently, under the condition that the master posture and the slave posture are not matched, the guiding parameters are required to be adjusted, optionally, a history posture matching difference value can be obtained, the current posture matching difference value is compared with the history posture matching difference value, a comparison result is obtained, and when the comparison result indicates that the current posture matching difference value is higher than the history posture matching difference value, first adjustment information is generated; the first adjustment information indicates to up-adjust the guide parameter; when the comparison result indicates that the current gesture matching difference value is lower than the historical gesture matching difference value, generating second adjustment information; the second adjustment information indicates to adjust the guiding parameter downwards; when the comparison result indicates that the current posture matching difference value is equal to the historical posture matching difference value, third adjustment information is generated; the third adjustment information indicates that the guide parameter is not adjusted, and a target adjustment direction is determined based on the first adjustment information, the second adjustment information or the third adjustment information; acquiring a preset adjustment step length; the preset adjustment step length represents the adjustment amplitude of the guide parameter along the target adjustment direction; and adjusting the guide parameters based on the target adjustment direction and the preset adjustment step length, so as to obtain corresponding updated guide parameters. If the gesture matching difference between the current gesture of the master control end and the current gesture of the slave control end is increased, the guiding value of the guiding parameter fed back to the operation object by the master control end is increased; if the gesture matching difference value between the current gesture of the master control end and the current gesture of the slave control end is reduced, the guiding value of the guiding parameter fed back to the operation object by the master control end is reduced.

It will be appreciated that, in addition to determining whether the master-slave gesture is matched by determining whether the matching difference is greater than the preset gesture threshold in the above steps S803, S903 and S1001, other manners may be used to determine whether the angle matching difference, the angle increment matching difference or the pose matching difference conform to the preset gesture threshold range, if the angle matching difference, the angle increment matching difference or the pose matching difference conform to the preset gesture threshold range, the master-slave gesture is indicated, otherwise, the master-slave gesture on the surface is not matched.

S407: and controlling the master control end according to the adjusted guide parameters so as to enable the master control end to be matched with the slave control end in posture.

In some exemplary embodiments, the controlling the master according to the adjusted guiding parameter in step S407 may specifically include: determining control parameters of the main control end based on the adjusted guide parameters and the current gesture of the main control end; the master control end is controlled according to the control parameters, so that under the condition that the master control end and the slave control end are not matched, the guide parameters can be adjusted according to the master-slave posture matching difference, then, the corresponding control parameters are determined based on the adjusted guide parameters and the current posture of the master control end, and accordingly, the master control end is automatically controlled, so that the master control end is matched with the slave control end in the posture, and at the moment, the guide parameters represent parameters of guiding the control unit to move the master control end towards the target direction, such as the rotation angle, the angular speed and the angular acceleration of the motor. In other exemplary embodiments, the controlling the master according to the adjusted guiding parameter in step S407 includes: acquiring an operation force applied to the main control end by an operation object; the operating force is positively correlated with the indexing parameter; determining control parameters of the main control end based on the operation force, the adjusted guide parameters and the current gesture of the main control end; and controlling the main control terminal according to the control parameter. At this time, the guiding parameter may represent a parameter that guides the operation object to move the master control terminal toward the target direction. Therefore, under the condition that the master and slave are not matched, the guiding parameters are adjusted according to the master and slave gesture matching difference values, so that the gravitation fed back to the operation object is different, the resistance generated by the motor of the joint and sensed by the operation object at the moving master control end is different, when the operation object is the master control end moving towards the target direction (namely, the direction of the master and slave gesture matching difference values is reduced), the sensed resistance generated by the motor of the joint is reduced, otherwise, when the operation object moves the master control end towards the opposite direction of the target direction, the sensed resistance generated by the motor of the joint is increased.

Specifically, when the operation object pushes the end of the main control end to move, the driving motor generates a corresponding acting force (i.e. the resistance of the main control end sensed by the operation object), and at each instant, the operation force and the resistance which are actively applied by the operation object can be considered to be equal to the operation force which is actually applied to the end of the main control end.

The following mainly describes a scheme for actively moving the master control terminal based on the operation object to implement adjustment of master-slave matching in the above step S407.

In some exemplary embodiments, determining the control parameter of the master terminal based on the operation force, the adjusted guiding parameter and the current gesture of the master terminal includes: determining the external moment of each joint of the main control end based on the operation force; acquiring historical control parameters of each joint of the main control end; determining current control parameters of each joint of the main control end based on the adjusted guide parameters, the second-order spring model coefficients and the historical control parameters of the joint; and controlling the main control end based on the current control parameters of all joints of the main control end.

Specifically, when the current posture of the master control end is the current angle of each joint, after the steps S801 to S803, a specific determination manner of the control parameter corresponding to each joint includes the following steps:

1-1) firstly acquiring the operation force applied by an operation object to the main control end When the operation object actively moves the main control end in a mode of dragging the tail end, the operation force of the operation objectCan be regarded as an external disturbance of the control system of the main control end, and the disturbance is reflected to each joint to be regarded as the external moment of the joint. In some exemplary embodiments, the specific embodiment of determining the external moment of each joint of the master end based on the operation force may include: calculating a jacobian matrix based on the current angles of all joints of the main control end; and determining the external moment of each joint of the main control end based on the jacobian matrix and the operation force. Specifically, based on the operating forceCalculating external moment of jointIn combination with being based on joint angleCalculated jacobianSpecifically, the method can be obtained based on the following formula (2):

Formula (2)

Wherein the operating forceFor example, the sensor can be directly measured based on a force sensor positioned at the tail end of the main control end; In Nm/rad, but in the international system of units, the units of radians are generally defined as dimensionless units, usually not written In Nm, i.e. n.m, and the units referred to hereinafter as symbols contain rad and may not be written; ^T In m/rad, i.e. meters/radian, In N, i.e., bovine.

In another determination of external moment of jointIn the embodiment of (2), the moment can be actually output by the joint motorTheoretical output moment of joint motor calculated based on robot reverse dynamics modelThe difference value is calculated and can be expressed as the following formula (3):

Formula (3)

Wherein,Is based on the angle of the jointAngular velocity ofAngular accelerationThe method is calculated based on a robot reverse dynamics model, and can be specifically calculated based on the following formula (4):

Formula (4)

Wherein,The inertial matrix is expressed in kgm ², namely kg-second square meters; The Kelvin force matrix is expressed in kgm ²/s, namely kg.quadratic m/s; represents the gravity term in Nm, i.e. n.m; Represents the friction force term in Nm, namely, N.m; can be obtained by means of theoretical parameters of CAD design or parameter identification. And is also provided with 、、The actual angle, actual angular velocity, and actual angular acceleration of the joint, respectively, are in units of rad (i.e., radian), rad/s (i.e., radian/second), and rad/s ² (i.e., radian/quadratic second), respectively, and therefore,Is in kgm ²/s², nm; in kgm ²/s², i.e. Nm.

Actual output moment of joint motorCan be based on joint currentThe detection conversion can be expressed as the following formula (5):

Formula (5)

Wherein,Represents the current torque constant associated with the motor in Nm/a, i.e. n.m/amp; joint currentIn a, i.e. amperes.

Alternatively to this, the method may comprise,Or can be obtained through detection of a joint moment sensor or can be obtained through other ways such as establishing a momentum observer. There is no limitation in this regard.

1-2) Obtaining historical control parameters of the joint. In particular, the actual angle of the joint at the historical moment can be obtainedActual angular velocity。

1-3) Based on the joint at a certain momentExternal moment of (2)And corresponding historical control parameters, determining the current control parameters of the joint.

Above-mentionedThe basic principle of the method is that the method is realized through flexible control of joints, please refer to fig. 11, and the basic principle is that a second-order system which virtually comprises a sliding block, a spring and a damper can be specifically expressed as the following formula (6):

Formula (6)

Wherein the second-order model coefficient of the spring corresponding to the virtual second-order system comprises K1,1，1；1 Represents the mass term of the slider, and the unit is kgm ², namely kilogram-secondary square meter; the damping term of the damper is expressed in Nms/rad, namely, ox.m.s/radian; The stiffness term of the spring is expressed in Nm/rad, i.e. N.m/radian; 、、 The desired angle, the desired angular velocity, and the desired angular acceleration of the joint are expressed, respectively, and are equivalent to actual values without external moment. Specifically, the desired angle, angular velocity, angular acceleration are known amounts; if the joint is in a static state, the angle is unchanged, and the angular speed and the angular acceleration are zero; if the joint is in a motion controlled state, the angle, the angular speed and the angular acceleration are all provided by a motion planner; if the joint is in an uncontrolled state, it will not be considered. In particular, the method comprises the steps of, In rad (i.e., radians); In rad/s (i.e. radians/second), In rad/s ² (i.e., radians/square seconds), and therefore,In kgm ²/s², i.e. Nm.

In the embodiment of the disclosure, the guiding parameter may specifically refer to the stiffness K1 (or K2 below) of the spring, that is, by adjusting the stiffness K1 in the compliance control, the acting force required by the moving main control end of the operation object to pass through the same distance may be changed, for example, when the matching difference is detected to increase, for example, when the matching difference in the current period is greater than the matching difference in the previous period, or when the average matching difference (or the maximum error or the like) of the near-N periods is greater than the average matching difference (or the maximum error or the like) of the previous 2N to N periods, the stiffness is properly increasedResistance felt by the operation object can be increased; conversely, by appropriately reducing the stiffnessThe resistance felt by the operation object can be reduced.

Since the joint has been obtained at a certain moment based on the above step 1-1)External moment of (2)And historical control parameters, by introducing the historical control parameters into the formula (6), the angular acceleration of the virtual slider at the moment can be calculatedSpecifically, the expression can be expressed based on the following formula (7):

Formula (7)

Then, at the current timeAngular velocity of (2)Angle ofCan be obtained by time integration in turn, i.e. can be calculated based on the following formulas (8) and (9), respectively:

formula (8)

Formula (9)

Wherein,Respectively represent historical timeAngular velocity and angular acceleration of (a); The operating cycle of the system may be expressed herein as the difference between the current time and the historical time.

Based on the steps 1-1) to 1-3) described aboveNamely the joint is at the momentIn response to the operating moment of the userThe angle, angular velocity and angular acceleration which are required to be generated, namely the current control parameters of the joint, are controlled by a motor to enable the joint to generate corresponding motion.

When the current posture of the master control end is the current angle increment of each joint, that is, after the step S901-S903, the specific determination mode of the control parameter corresponding to each joint may still be calculated based on the steps 1-1) to 1-3).

When the current gesture of the master control end is the current cartesian space gesture of the end of the master control end, the specific determination method of the control parameter corresponding to each joint after the steps S1001-S1003 includes the following steps:

2-1) acquiring the operation force applied by the operation object to the main control end Alternatively, the operating forceThe sensor can be obtained by direct measurement through a force sensor positioned at the tail end of the main control end, and can also be calculated based on the formula (2).

2-2) Acquiring historical control parameters of the master control end. Specifically, the position of the tail end of the master control end at the historical moment can be obtainedSpeed and velocity of。

2-3) Based on the joint at a certain momentIs operated by the force of (a)And corresponding historical control parameters, determining the current control parameters of the joint.

Operating forceThis can be achieved by means of compliant control in cartesian space, referring to fig. 11, the basic principle is that the system is composed of a virtual second-order system including a slider, a spring and a damper, which can be specifically expressed as the following formula (10):

Formula (10)

Wherein,Is the external force of the tail end of the main control end,2 Represents the mass term of the slider in kg, namely kg; 2 represents a damping term of the damper, wherein the unit is Ns/m, namely ox.s/m; The stiffness term of the spring is expressed in N/m, namely, N/m; 、、 The actual position, the actual speed and the actual acceleration of the tail end of the main control end are respectively expressed, wherein the units are m (meter), m/s (meter/second), and m/s ² (meter/quadratic second). 、、Respectively representing the expected angle, the expected angular velocity and the expected angular acceleration of the joint, wherein the units are m (meter), m/s (meter/second), and m/s ² (meter/quadratic second), which are equivalent to the actual values under the condition of no external force, thusIn kgm/s ², i.e., N.

Alternatively, the positionCan be calculated based on the joint angle and the forward kinematics of the robot, i.e., can be expressed based on the following formula (11):

Formula (11)

Wherein,The function is a simplified representation, and the contents of the function include angles of joints of the robot, distances between joints (link lengths), angles between rotation axes of the joints, and the like, and since the latter two are fixed values for a specific robot, the function is generally omitted when the relation between angles and positions is expressed. That is, due toIs composed of the product of sine, cosine and length of connecting rod, and the unit of length of connecting rod is m (i.e. meter), so that it isAlso in units of m.

Optionally, the speedBy aligning the positionsDifferential acquisition is performed, as obtained based on the following formula (12):

Formula (12)

Wherein,Representing historical momentsIs a position of (2); can be expressed as the difference between the current time and the historical time; ， Respectively represent the time of the tail end of the main control end Is provided for the position and speed of (c).

Optionally, the speedIt can also be calculated by joint angular velocity and robot differential kinematics, as based on the following equation (13):

Formula (13)

Wherein,，In m/rad, i.e. meters/radian,In rad/s (i.e., radians/second).

Alternatively, accelerationBy the speed ofObtained by performing differential processing, as obtained based on the following formula (14):

Formula (14)

Wherein,Indicating that the tail end of the main control end is at the momentIs used for the acceleration of the vehicle,Representing historical momentsIs a function of the speed of the machine.

Since the joint has been obtained at a certain moment based on the above step 2-1)A kind of electronic deviceAnd history control parameters, by bringing the history control parameters into the formula (10), the displacement of the virtual slider at the moment can be calculatedSpeed and velocity ofAcceleration ofThe value is that the tail end of the main control end is at the momentIn order to respond to the displacement, speed and acceleration generated by the operation moment of the user, the displacement, speed and acceleration are converted into the moment of each joint based on the inverse kinematics of the robotAngle of (2)Angular velocity ofAngular accelerationThe joints are controlled by a motor to generate corresponding motions. Wherein the angle isCan be based on inverse kinematics solution, i.eCalculated, angular velocityAngular accelerationCan be calculated based on the formulas (8) and (9) in turn to obtain the current control parameters of each joint。

When the current gesture of the master control end is the current cartesian space gesture increment of each joint, that is, after step S405, the specific determination mode of the control parameter corresponding to each joint may still be calculated based on steps 2-1) to 2-3).

In summary, referring to fig. 12, in the master-slave motion control method provided by the embodiment of the present application, whether the current gesture of the master control end and the current gesture of the slave control end are matched may be determined by first obtaining the current gesture of the master control end and the current gesture of the slave control end, specifically, the current gesture matching difference value may be obtained by calculating the difference value between the current gesture of the master control end and the current gesture of the slave control end, and whether the current gesture matching difference value is greater than a preset gesture threshold value may be determined, when the current gesture matching difference value is less than or equal to the preset gesture threshold value, indicating that the master-slave gesture matches, then returning to the step of obtaining the current gesture of the master control end and the current gesture of the slave control end in real time. When the current gesture matching difference value is larger than the preset gesture threshold value, the main gesture and slave gesture are not matched, at this time, the system can prompt a user (namely an operation object) to actively move the main control end, specifically, the user can be prompted by one or more combination modes of display screen display, feedback of a touch sensor (such as prompt in a vibration mode) and flickering of an LED lamp, and then, whether the current gesture matching difference value of the main control end is reduced or not can be further judged, specifically, the current gesture matching difference value and the historical gesture matching difference value can be compared, if the current gesture matching difference value is larger than the historical gesture matching difference value, the current gesture matching difference value of the main control end is indicated to be increased, the guiding parameter is adjusted to be higher, and then, the guiding value of the guiding parameter fed back to the operation object by the main control end is increased, and the corresponding guiding force corresponding to the guiding parameter, namely the resistance felt by the operation object to move the main control end towards the current direction is increased. At this time, the operation object knows that the moving direction is wrong, and then adjusts the moving direction of the moving main control end. If the current gesture matching difference value is smaller than the historical gesture matching difference value, the current gesture matching difference value of the master control end is indicated to be reduced, the guiding parameter is adjusted down, the guiding value of the guiding parameter fed back to the operation object by the master control end is further reduced, the corresponding guiding force of the guiding parameter, namely the resistance felt by the operation object in the process of moving the master control end towards the current direction is reduced, at the moment, the operation object continuously moves the master control end along the current direction until the gesture matching difference value is smaller than a preset gesture threshold value, namely the master control end reaches the target gesture, and prompting is ended. Therefore, the matching efficiency of the master-slave gesture can be greatly improved, and related operations performed by operators based on the operation robot can be matched more efficiently.

It should be noted that, when the main control end is detected to move in the direction of increasing the gesture matching difference, the feedback of the operation force is removed, and the scheme also supports feedback of other modes, such as visual feedback based on display screen information, tactile feedback based on a tactile sensor, or mixed feedback combining the feedback methods.

The embodiment of the application also provides a master-slave motion control device of the surgical robot. Fig. 13 is a block diagram of a master-slave motion control apparatus of an exemplary surgical robot of the present application. The surgical robot comprises a slave control end for executing surgery and a master control end for controlling the slave control end; the master-slave motion control device of the surgical robot may include at least:

An obtaining module 1310, configured to obtain a current gesture of the master control end and a current gesture of the slave control end;

the judging module 1330 is configured to judge that the current gesture of the master control end matches the gesture of the current gesture of the slave control end;

The adjustment module 1350 is configured to adjust, based on a result of the determination of the gesture matching condition, a guiding parameter of the master control end, where the guiding parameter characterizes a degree of deviation between a current direction of the master control end and a target direction of the master control end by the master control end guiding an operation object or by the control unit;

And the control module 1370 is configured to control the master control end according to the adjusted guiding parameter, so that the master control end matches with the slave control end in terms of posture.

In some exemplary embodiments, a control module is configured to determine a control parameter of the master based on the adjusted guiding parameter and a current posture of the master;

And controlling the main control terminal according to the control parameter.

In some exemplary embodiments, the control module is configured to obtain an operation force applied to the master control end by an operation object; the operating force is positively correlated with the indexing parameter;

Determining control parameters of the main control end based on the operation force, the adjusted guide parameters and the current gesture of the main control end;

And controlling the main control terminal according to the control parameter.

In some exemplary embodiments, the main control end comprises a plurality of connecting rods and joints, and adjacent connecting rods are rotatably connected through one joint; the slave end comprises a plurality of continuously connected flexible members.

In some exemplary embodiments, the obtaining module is configured to obtain a current angle of each joint of the master control end and a current changing angle of each flexible piece of the slave control end corresponding to each joint;

the judging module is used for judging whether the angle matching difference value between the current angle of the target joint of the main control end and the current change angle of the corresponding flexible piece is larger than a preset angle threshold value or not;

and the adjusting module is used for adjusting the guiding parameters of the main control end based on the judging result of the angle matching difference value and the preset angle threshold value.

In some exemplary embodiments, the obtaining module is configured to determine a current angle increment of each joint of the master control end and a current angle increment of each flexible element of the slave control end corresponding to each joint;

The judging module is used for judging whether the angle increment matching difference value between the current angle increment of the target joint of the main control end and the current angle increment of the corresponding flexible piece is larger than a preset angle increment threshold value or not;

and the adjusting module is used for adjusting the guiding parameters of the main control end based on the judging result of the angle increment matching difference value and the preset angle increment threshold value.

In some exemplary embodiments, the acquiring module is configured to acquire a current angle and an initial angle of each joint of the master control end;

determining the difference value between the current angle and the initial angle of each joint of the main control end as the current angle increment of each joint of the main control end;

acquiring the current change angle and the initial angle of each flexible piece of the slave control end corresponding to each joint;

and determining the difference value between the current changing angle and the initial angle of each flexible piece of the slave control end as the current angle increment of each flexible piece of the slave control end.

In some exemplary embodiments, the obtaining module is configured to determine a current cartesian space pose of an end of the master end and a current cartesian space pose of an end of the slave end;

The judging module is used for judging whether the pose matching difference value between the current Cartesian space pose at the tail end of the master control end and the current Cartesian space pose at the tail end of the slave control end is larger than a preset space pose threshold value or not;

And the adjusting module is used for adjusting the guiding parameters of the main control terminal based on the judging result of the pose matching difference value and the preset space pose threshold value.

In some exemplary embodiments, the obtaining module is configured to obtain a current cartesian space pose of a distal end of the master end, and obtain a length, a bending angle, and a rotation angle of a flexible member of a distal end of the slave end;

And determining the Cartesian space pose of the tail end of the slave control end based on the length, the bending angle and the rotation angle of the flexible piece of the tail end of the slave control end.

In some exemplary embodiments, the adjusting module is configured to adjust the guiding parameter of the master control end based on a determination result of a difference between a current gesture of the master control end and a current gesture of the slave control end and a preset gesture threshold.

In some exemplary embodiments, a control module is configured to determine external moments of joints of the master end based on the operating force;

Acquiring historical control parameters of each joint of the main control end;

Determining current control parameters of each joint of the main control end based on the adjusted guide parameters, the second-order spring model coefficients and the historical control parameters of the joint;

And controlling the main control end based on the current control parameters of all joints of the main control end.

In some exemplary embodiments, the control module is configured to calculate a jacobian matrix based on a current angle of each joint of the master;

and determining the external moment of each joint of the main control end based on the jacobian matrix and the operation force.

A specific embodiment of a surgical robot according to an embodiment of the present disclosure is described below. The embodiment of the disclosure also provides a surgical robot, which comprises a master control end, a slave control end and the control device in the embodiment; the slave control end follows the movement of the master control end; the control device is used for carrying out master-slave motion control on the master control end and the slave control end.

The specific manner in which the various modules perform the operations in connection with the apparatus and systems of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Embodiments of the present application also provide a computer readable storage medium that may be provided in a terminal to store at least one instruction or at least one program for implementing a master-slave motion control method of a surgical robot in a method embodiment, the at least one instruction or the at least one program being loaded and executed by a processor to implement the master-slave motion control method of a surgical robot as provided in the method embodiment described above.

Alternatively, in the present description embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The memory of the embodiments of the present specification may be used for storing software programs and modules, and the processor executes various functional applications and data processing by executing the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for functions, and the like; the storage data area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the processor.

Embodiments of the present application also provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the master-slave motion control method of the surgical robot provided by the method embodiment.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. 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.

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 the device and server embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and references to the parts of the description of the method embodiments are only required.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, and the relevant program may be stored in a computer readable storage medium, where the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing is only illustrative of the present application and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present application.

Claims

1. A master-slave motion control method of a surgical robot, wherein the surgical robot comprises a slave control end for performing surgery and a master control end for controlling the slave control end; the method comprises the following steps:

2. The control method according to claim 1, wherein the controlling the master control according to the adjusted guiding parameter includes:

And controlling the main control terminal according to the control parameter.

3. The control method according to claim 1, wherein the controlling the master control according to the adjusted guiding parameter includes:

Acquiring an operation force applied to the main control end by an operation object; the operating force is positively correlated with the indexing parameter;

And controlling the main control terminal according to the control parameter.

4. The control method according to claim 3, wherein the main control end comprises a plurality of connecting rods and joints, and adjacent connecting rods are rotatably connected through one joint; the slave end comprises a plurality of continuously connected flexible members.

5. The control method according to claim 4, wherein the current posture of the master control end and the current posture of the slave control end are obtained; judging the gesture matching condition of the current gesture of the master control end and the current gesture of the slave control end, adjusting the guiding parameter of the master control end based on the judging result of the gesture matching condition, and comprising the following steps:

Acquiring the current angle of each joint of the master control end and the current change angle of each flexible piece of the slave control end corresponding to each joint;

Judging whether the angle matching difference value between the current angle of the target joint of the main control end and the current change angle of the corresponding flexible piece is larger than a preset angle threshold value or not;

and adjusting the guiding parameters of the main control terminal based on the judging result of the angle matching difference value and the preset angle threshold value.

6. The control method according to claim 4, wherein the current posture of the master control end and the current posture of the slave control end are obtained; judging the gesture matching condition of the current gesture of the master control end and the current gesture of the slave control end, adjusting the guiding parameter of the master control end based on the judging result of the gesture matching condition, and comprising the following steps:

determining the current angle increment of each joint of the master control end and the current angle increment of each flexible piece of the slave control end corresponding to each joint;

judging whether the angle increment matching difference value between the current angle increment of the target joint of the main control end and the current angle increment of the corresponding flexible piece is larger than a preset angle increment threshold value or not;

and adjusting the guiding parameters of the main control terminal based on the judging result of the angle increment matching difference value and the preset angle increment threshold.

7. The control method according to claim 6, wherein determining the current angle increment of each joint of the master control end and the current angle increment of each flexible member of the slave control end corresponding to each joint includes:

acquiring the current angle and the initial angle of each joint of the main control end;

8. The control method according to claim 4, wherein the current posture of the master control end and the current posture of the slave control end are obtained; judging the gesture matching condition of the current gesture of the master control end and the current gesture of the slave control end, adjusting the guiding parameter of the master control end based on the judging result of the gesture matching condition, and comprising the following steps:

Determining the current Cartesian space pose of the tail end of the master control end and the current Cartesian space pose of the tail end of the slave control end;

Judging whether the position and posture matching difference value of the current Cartesian space position and posture of the tail end of the master control end and the current Cartesian space position and posture of the tail end of the slave control end is larger than a preset space position and posture threshold value or not;

And adjusting the guiding parameters of the main control terminal based on the pose matching difference value and the judging result of the preset space pose threshold value.

9. The control method according to claim 8, wherein determining the current cartesian space pose of the end of the master and the current cartesian space pose of the end of the slave comprises:

acquiring the current Cartesian space pose of the tail end of the master control end, and acquiring the length, the bending angle and the rotation angle of the flexible piece of the tail end of the slave control end;

10. The method according to any one of claims 1-4, wherein the adjusting the guiding parameter of the master control terminal based on the determination result of the posture matching condition includes:

and adjusting the guiding parameters of the master control end based on the judgment result of the gesture matching difference value of the current gesture of the master control end and the current gesture of the slave control end and a preset gesture threshold.

11. The control method according to claim 5, wherein the determining the control parameter of the master terminal based on the operation force, the adjusted guide parameter, and the current posture of the master terminal includes:

determining the external moment of each joint of the main control end based on the operation force;

Acquiring historical control parameters of each joint of the main control end;

12. The control method according to claim 11, characterized in that the determining the external moment of each joint of the master control based on the operation force includes:

Calculating a jacobian matrix based on the current angles of all joints of the main control end;

13. A master-slave motion control device of a surgical robot, wherein the surgical robot comprises a slave control end for performing surgery and a master control end for controlling the slave control end; the device comprises:

14. A surgical robot comprising a master control end, a slave control end and the control device of claim 13;

the slave control end follows the movement of the master control end;

15. A computer readable storage medium, wherein at least one instruction or at least one program is stored in the computer readable storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the master-slave motion control method of the surgical robot according to any one of claims 1 to 12.