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CA-3173684-C - ROBOT SYSTEM AND CONTROL METHOD

CA3173684CCA 3173684 CCA3173684 CCA 3173684CCA-3173684-C

Abstract

The present disclosure relates to the field of medical equipment and discloses a control method for a robot system, where the robot system includes a plurality of motion arms, the plurality of motion arms include a first motion arm and a second motion arm, and the control method includes: determining a motion mode of ends of the first motion arm and the second motion arm of the robot system, where the motion mode includes synchronous motion of the ends of the first motion arm and the second motion arm; determining motion paths of the first motion arm and the second motion arm based on the motion mode and a relative end pose relationship between the first motion arm and the second motion arm; and controlling, based on the corresponding motion paths, the first motion arm and the second motion arm to move, such that the ends of the first motion arm and the second motion arm move in the motion mode, and the relative end pose relationship remains unchanged during the motion. Therefore, the ends of the plurality of motion arms move as a whole, and the relative pose relationship between the ends can remain unchanged during the motion, so that the plurality of motion arms move quickly and accurately.

Inventors

  • Kai Xu
  • Jiangran ZHAO
  • Haozhe Yang

Assignees

  • BEIJING SURGERII TECHNOLOGY CO., LTD.

Dates

Publication Date
20260505
Application Date
20210729
Priority Date
20200819

Claims (20)

  1. Claims 1. A control method for a robot system, wherein the robot system comprises a plurality of motion arms, the plurality of motion arms comprise a first motion arm and a second m 5 otion arm, and the control method comprises: determining a motion mode of a first end of the first motion arm and a second end of the second motion arm of the robot system, wherein the motion mode comprises synchronous motion of the first end of the first motion arm and the second end of the second motion arm; 10 determining a first motion path of the first motion arm and a second motion path of the second motion arm based on the motion mode and a relative end pose relationship between the first end of the first motion arm and the second end of the second motion arm; and controlling, based on the first motion path and the second motion path, the first 15 motion arm and the second motion arm to move, such that the first end of the first motion arm and the second end of the second motion arm move in the motion mode, and the relative end pose relationship remains unchanged during the motion; wherein determining the first motion path of the first motion arm and the second motion path of the second motion arm based on the motion mode and the relative end 20 pose relationship comprises: determining a target pose of the first end of the first motion arm based on the motion mode; determining a first target pose of the first motion arm based on a first current pose of the first motion arm and the target pose of the first end; 25 determining the first motion path of the first motion arm based on the first current pose and the first target pose of the first motion arm; determining a target pose of the second end of the second motion arm based on the motion mode and the relative end pose relationship; 44 determining a second target pose of the second motion arm based on a second current pose of the second motion arm and the target pose of the second end; and determining the second motion path of the second motion arm based on the second current pose and the second target pose of the first motion arm; wherein the determining a first target 5 pose of the first motion arm based on a first current pose of the first motion arm and the target pose of the first end comprises: selecting one of a plurality of joints of the first motion arm as a first feature joint; setting a first recommended target joint value of the first feature joint; and determining other target joint values of the first motion arm based on the target pose 10 of the first end and the first recommended target joint value; or the determining a second target pose of the second motion arm based on a second current pose of the second motion arm and the target pose of the second end comprises: selecting one of a plurality of joints of the second motion arm as a second feature joint; 15 setting a second recommended target joint value of the second feature joint; and determining other target joint values of the second motion arm based on the target pose of the second end and the second recommended target joint value.
  2. 2. The control method according to claim 1, further comprising: 20 determining the relative end pose relationship between the first end of the first motion arm and the second end of the second motion arm based on a type of a current surgery or configuration of an auxiliary connection apparatus.
  3. 3. The control method according to claim 1, wherein 25 the target pose of the first end comprises one of the following: a target position and a target posture of an end arm of the first motion arm; a target position and a target posture of a remote center of motion (RCM) mechanism of the first motion arm; or a target position and a target posture of an end, for being connected to an auxiliary connection apparatus, of the first motion arm; or the target pose of the second end comprises one of the following: a target position and a target posture of an end arm of the second motion arm; a target position and a target posture of a remote center of motion (RCM) 5 mechanism of the second motion arm; or a target position and a target posture of an end, for being connected to an auxiliary connection apparatus, of the second motion arm.
  4. 4. The control method according to claim 1, further comprising: 10 determining whether the other target joint values of the first motion arm are within joint motion ranges of corresponding joints; and increasing or decreasing progressively the first recommended target joint value by a predetermined adjustment value in response to determination that at least one of the other target joint values of the first motion arm is beyond the joint motion range of the 15 corresponding joint, to adjust the first recommended target joint value; or determining whether the other target joint values of the second motion arm are within joint motion ranges of corresponding joints; and increasing or decreasing progressively the second recommended target joint value by a predetermined adjustment value in response to determination that at least one of the 20 other target joint values of the second motion arm is beyond the joint motion range of the corresponding joint, to adjust the second recommended target joint value.
  5. 5. The control method according to claim 4, further comprising: determining the first target pose of the first motion arm based on the first 25 recommended target joint value and the other target joint values in response to determination that all the other target joint values of the first motion arm are within the joint motion range of the corresponding joint; or determining the second target pose of the second motion arm based on the second recommended target joint value and the other target joint values in response to 46 determination that all the other target joint values of the second motion arm are within the joint motion range of the corresponding joint.
  6. 6. The control method according to claim 4 or claim 5, further comprising: determining the other 5 target joint values of the first motion arm based on the target pose of the first end and an adjusted first recommended target joint value; or determining the other target joint values of the second motion arm based on the target pose of the second end and an adjusted second recommended target joint value. 10
  7. 7. The control method according to any one of claims 1, 4-6, further comprising: determining whether there is an interference relationship between the second motion arm and the first motion arm; and adjusting the first recommended target joint value or the second recommended target joint value in response to determination that there is an interference relationship 15 between the second motion arm and the first motion arm.
  8. 8. The control method according to any one of claims 1, 4-7, wherein the first feature joint is a joint, prone to collide with another motion arm in the plurality of motion arms, in the plurality of joints of the first motion arm; or 20 the second feature joint is a joint, prone to collide with another motion arm in the plurality of motion arms, in the plurality of joints of the second motion arm.
  9. 9. The control method according to any one of claims 1-8, further comprising: determining, based on a constraint relationship, whether there is an interference 25 relationship between the first motion arm and the second motion arm; and controlling the first motion arm and the second motion arm to stop moving, or sending alarm information, in response to determination that there is an interference relationship between the first motion arm and the second motion arm. 47
  10. 10. The control method according to claim 9, wherein the determining whether there is an interference relationship between the first motion arm and the second motion arm includes: determining that there is no interference relationship between the first motion arm and the second motion 5 arm based on the constraint relationship that is satisfied; and determining that there is an interference relationship between the first motion arm and the second motion arm based on the constraint relationship that is not satisfied.
  11. 11. The control method according to claim 9, wherein the constraint relationship 10 comprises at least one of the following: a relative position order relationship between the first motion arm and the second motion arm conforms to a predetermined relative position order relationship; a distance between a predetermined point associated with the first motion arm and a predetermined point associated with the second motion arm is greater than a 15 predetermined safety distance; a minimum distance between a predetermined line segment associated with the first motion arm and a predetermined line segment associated with the second motion arm is greater than a predetermined line segment safety distance; or a difference between a joint value of one or more joints of the first motion arm and 20 a joint value of a corresponding joint of the second motion arm is greater than a predetermined safety value.
  12. 12. The control method according to any one of claims 1-11, comprising: determining the first motion path of the first motion arm and the second motion 25 path of the second motion arm based on an interpolation method.
  13. 13. The control method according to claim 12, comprising: for each motion arm, determining a joint step size of each joint of the motion arm based on a target pose and an initial pose of the motion arm. 48
  14. 14. The control method according to claim 13, comprising: determining an ending pose of the motion arm in each motion cycle based on the joint step size of each joint of the motion arm; and determining a motion path of the motion 5 arm based on the ending pose in each motion cycle.
  15. 15. The control method according to any one of claims 1-14, wherein the synchronous motion comprises: synchronous translation, synchronous rotation, or a 10 combination of synchronous translation and synchronous rotation.
  16. 16. A robot system, comprising: a plurality of motion arms, wherein the plurality of motion arms comprise: a first motion arm; 15 a second motion arm; and a control apparatus configured to perform the control method according to any one of claims 1-15.
  17. 17. The robot system according to claim 16, wherein the robot system further 20 comprises an auxiliary connection apparatus, wherein the auxiliary connection apparatus at least comprises a first cannula for being connected to the first end and a second cannula for being connected to the second end, and the relative end pose relationship is determined based on shapes of and a relative position relationship between the first cannula and the second cannula.
  18. 18. The robot system according to claim 17, wherein a first auxiliary connection portion is provided on the first cannula, and a second auxiliary connection portion is provided on the second cannula; and a first arm connection portion for being connected to the first auxiliary connection 49 portion is provided at the end of the first motion arm, and a second arm connection portion for being connected to the second auxiliary connection portion is provided at the end of the second motion arm.
  19. 19. A computer-readable storage medium 5 comprising one or more instructions, wherein the instructions are executed by a processor to perform the control method according to any one of claims 1-15.
  20. 20. A computer system, including: 10 a memory for storing at least one instruction; and a processor configured to execute the at least one instruction, to perform the control method according to any one of claims 1-15.

Description

Robot system and control method Technical Field The present disclosure relates to the field of robotics, and in particular, to a robot 5 system and a control method. Background Art Laparoscopy is a type of surgery that has been widely applied, and has advantages of small incision sizes and the like. In recent years, motion arms of surgical robots are 10 used during surgeries to achieve higher stability and precision. During a surgery, a motion arm introduces a surgical instrument to a surgical site in a body (for example, the body of a human or an animal) through a trocar, to conduct the surgery. At present, a surgical robot is mainly used for surgical procedures including preoperative positioning, intraoperative operation, and postoperative arrangement. 15 Before a surgery, it is usually necessary that a surgical assistant (for example, an assistant surgeon or a nurse) adjusts a motion arm to a proper pose based on a type and pose of the surgery, connects the motion arm to a trocar in a fixed manner, and disposes a surgical instrument at an end of the motion arm, such that the surgical instrument is introduced into the body through the trocar. Motion of the motion 20 arm may be adjusted manually by the surgical assistant at a farther end of the motion arm (that is, an end close to a patient), or may be controlled by the surgical assistant or surgeon with operations on a control apparatus at a nearer end of the motion arm (that is, an end close to a place where control is performed by the surgeon). However, the motion arm may have risks of instability and collisions due to a large size and heavy weight, especially in single-incision surgeries. As a 5 result, it is complicated and time-consuming to adjust the motion arm. Similarly, such problems also exist in adjustment of the motion arm during and after a surgery. Summary of the Invention In some embodiments, the present disclosure provides a control method for a 10 robot system, where the robot system includes a plurality of motion arms, the plurality of motion arms include a first motion arm and a second motion arm, and the control method includes: determining a motion mode of a first end of the first motion arm and a second end of the second motion arm of the robot system, where the motion mode includes synchronous motion of the first end of the first motion 15 arm and the second end of the second motion arm; determining a first motion path of the first motion arm and a second motion path of the second motion arm based on the motion mode and a relative end pose relationship between the first end of the first motion arm and the second end of the second motion arm; and controlling, based on the first motion path and the second motion path, the first motion arm and 20 the second motion arm to move, such that the first end of the first motion arm and the second end of the second motion arm move in the motion mode, and the relative end pose relationship remains unchanged during the motion. In some embodiments, the present disclosure provides a robot system, including: a plurality of motion arms, where the plurality of motion arms include: a 25 first motion arm; a second motion arm; and a control apparatus configured to: determine a motion mode of a first end of the first motion arm and a second end of the second motion arm of the robot system, where the motion mode includes synchronous motion of the first end of the first motion arm and the second end of the second motion arm; determine a first motion path of the first motion arm and a 30 second motion path of the second motion arm based on the motion mode and a relative end pose relationship between the first end of the first motion arm and the CA 03173684 2022-9-27 2 second end of the second motion arm; and control, based on the first motion path and the second motion path, the first motion arm and the second motion arm to move, such that the first end of the first motion arm and the second end of the second motion arm move in the motion mode, and the relative end pose relationship 5 remains unchanged during the motion. In some embodiments, the present disclosure provides a computer-readable storage medium including one or more instructions, where the instructions are executed by a processor to perform a control method for a robot system; and the robot system includes a plurality of motion arms, the plurality of motion arms 10 include a first motion arm and a second motion arm, and the control method includes: determining a motion mode of a first end of the first motion arm and a second end of the second motion arm of the robot system, where the motion mode includes synchronous motion of the first end of the first motion arm and the second end of the second motion arm; determining a first motion path of the first motion 15 arm and a second motion path of the second motion arm based on the motion mode and a relative end pose relationship between the first end of the first motion arm and the second end of the