CN-116061171-B - Adjusting arm control method, device, system, computer equipment and storage medium

CN116061171BCN 116061171 BCN116061171 BCN 116061171BCN-116061171-B

Abstract

The application relates to an adjusting arm control method, an adjusting arm control device, an adjusting arm control system, computer equipment and a storage medium. The method comprises the steps of identifying a control type of a control instruction through the acquisition of the control instruction, determining a state of a trigger logic corresponding to the control type, dividing the control type into contact control and non-contact control, acquiring a tail end expected angular velocity corresponding to the control instruction based on the control type of the control instruction if the trigger logic is in an activated state, acquiring a tail end expected angular acceleration according to the tail end expected angular velocity, and controlling the tail end of an adjusting arm to execute preset operation according to the tail end expected angular velocity and the tail end expected angular acceleration. By adopting the method, the interaction modes of a plurality of adjusting arms can be provided, a processing logic is configured for each interaction mode to prevent false touch, and the adjusting arms can be controlled by adopting the corresponding interaction modes only by activating the corresponding triggering logic, so that the control efficiency of the adjusting arms is improved.

Inventors

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WANG JIAYIN
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Assignees

上海微创医疗机器人（集团）股份有限公司

Dates

Publication Date: 20260508
Application Date: 20220906

Claims (13)

1. A method of adjusting arm control, the method comprising: acquiring a control instruction, identifying a control type of the control instruction, and determining a state of a trigger logic corresponding to the control type; If the trigger logic is in an activated state, acquiring the end expected angular velocity corresponding to the control instruction based on the control type of the control instruction, calculating the end expected angular acceleration through differentiating the end expected angular velocity, and carrying out feature recognition on the input state by combining with LSTM; calculating a joint expected position corresponding to an adjusting arm joint according to the tail end expected angular velocity and the tail end expected angular acceleration, and acquiring an expected moment corresponding to the adjusting arm joint according to the joint expected position; controlling the adjusting arm joint based on the desired moment to control the end of the adjusting arm to perform a preset operation Wherein the determining the state of the trigger logic corresponding to the control type includes: The method comprises the steps of determining that a trigger logic is an instantaneous trigger logic or a continuous trigger logic if a control instruction is in contact control, determining that the trigger logic is a gesture trigger logic if the control instruction is in non-contact control, and determining that a current control instruction is false touch control if the current trigger logic is in an active state but the control type of the acquired control instruction is not corresponding to the current trigger logic.
2. The method of claim 1, wherein prior to the obtaining the control instruction, further comprising: Acquiring an activation instruction and identifying the activation type of the activation instruction, wherein the activation type is divided into contact activation and non-contact activation; if the activation type is contact activation, acquiring the input duration of the activation instruction; and if the input duration does not meet the continuous condition, activating the instantaneous trigger logic.
3. The method according to claim 2, wherein the method further comprises: And if the input duration meets the continuous condition, activating the continuous trigger logic.
4. The method according to claim 2, wherein the method further comprises: if the activation type is non-contact activation, gesture information in the activation instruction is acquired; And if the gesture information meets the transformation condition, activating the gesture triggering logic.
5. The method according to claim 1, wherein the method further comprises: And if the trigger logic is in an inactive state, not acquiring the end expected angular velocity corresponding to the control instruction, and taking the control instruction as a false touch instruction.
6. The method according to claim 1, wherein the obtaining the end desired angular velocity corresponding to the control instruction based on the control type of the control instruction includes: calculating an initial expected angular velocity corresponding to the control instruction based on the control type; and dead zone suppression is carried out on the initial expected angular velocity, and the value of the initial expected angular velocity is adjusted to obtain the terminal expected angular velocity.
7. The method of claim 6, wherein calculating an initial desired angular velocity corresponding to the control command based on a control type of the control command comprises: If the control instruction is contact control, acquiring angle information or angular velocity information from the control instruction; And calculating the initial expected angular velocity according to the angle information or the angular velocity information.
8. The method of claim 7, wherein the method further comprises: if the control instruction is non-contact control, gesture information is obtained from the control instruction; and calculating the initial expected angular velocity according to the gesture information.
9. The method of claim 6, wherein the dead zone suppressing the initial desired angular velocity, adjusting the value of the initial desired angular velocity to obtain the final desired angular velocity, comprises: If the magnitude of the initial expected angular velocity is in the dead zone range, the end expected angular velocity is 0; if the magnitude of the initial expected angular velocity is in a linear region range, taking the initial expected angular velocity as the tail end expected angular velocity; If the initial expected angular velocity is in the range of the positive amplitude limiting area, taking the positive amplitude limiting value as the end expected angular velocity; And if the magnitude of the initial expected angular velocity is in the range of the negative amplitude limiting area, taking the negative amplitude limiting value as the end expected angular velocity.
10. The method according to claim 1, wherein calculating the desired joint position of the adjustment arm joint according to the desired end angular velocity and the desired end angular acceleration includes: Acquiring the current joint position of the joint of the adjusting arm; according to the tail end expected angular velocity, the tail end expected angular acceleration and the joint position, obtaining a joint expected angular velocity, a joint expected angular acceleration and a joint velocity corresponding to a joint of the adjusting arm by differential kinematics calculation; And calculating the expected joint position by adopting integral kinematics according to the expected joint angular velocity, the expected joint angular acceleration and the joint velocity.
11. An adjustment arm control device, characterized in that the device comprises: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a control instruction, identifying a control type of the control instruction and determining a state of a trigger logic corresponding to the control type; The operation module is used for acquiring the end expected angular velocity corresponding to the control instruction based on the control type of the control instruction if the trigger logic is in an activated state, calculating the end expected angular acceleration through differentiating the end expected angular velocity, and carrying out feature recognition on the input state by combining with LSTM; The control module is used for calculating a joint expected position corresponding to an adjusting arm joint according to the tail end expected angular speed and the tail end expected angular acceleration, and acquiring an expected moment corresponding to the adjusting arm joint according to the joint expected position; The acquisition module is further used for determining that the trigger logic is instantaneous trigger logic or continuous trigger logic if the control instruction is contact control, determining that the trigger logic is gesture trigger logic if the control instruction is non-contact control, and determining that the current control instruction is false touch control if the current trigger logic is in an activated state but the control type of the acquired control instruction is not corresponding to the current trigger logic.
12. An adjustment arm control system, the system comprising: The control console is used for acquiring a control instruction, identifying the control type of the control instruction and determining the state of a trigger logic corresponding to the control type; if the trigger logic is in an activated state, calculating an initial expected angular velocity corresponding to the control instruction based on the control type, and transmitting the initial expected angular velocity to an adjusting arm trolley; The adjusting arm trolley is used for carrying out dead zone inhibition on the initial expected angular velocity, adjusting the value of the initial expected angular velocity to obtain an end expected angular velocity, calculating the end expected angular acceleration through differentiating the end expected angular velocity, and carrying out characteristic recognition on an input state by combining with LSTM; The control console is further used for determining that the trigger logic is instantaneous trigger logic or continuous trigger logic if the control instruction is contact control, determining that the trigger logic is gesture trigger logic if the control instruction is non-contact control, and determining that the current control instruction is false touch control if the current trigger logic is in an activated state but the control type of the acquired control instruction is not corresponding to the current trigger logic.
13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 10 when the computer program is executed.

Description

Adjusting arm control method, device, system, computer equipment and storage medium Technical Field The present application relates to the field of artificial intelligence, and in particular, to a method, apparatus, system, computer device, storage medium, and computer program product for controlling an adjusting arm. Background Currently, in a single-hole surgical robot system, an endoscope with multiple degrees of freedom and multiple instruments with multiple degrees of freedom are generally used for performing surgical operation by enabling the instruments and the endoscope to enter a patient through a single hole. In this system, both the instrument and the endoscope can be controlled independently by a master and slave. The instrument and the endoscope are integrally adjusted by the adjusting arm around the fixed point. The endoscope view can be adjusted by adjusting the position of the endoscope instrument, and the whole movement adjustment can be realized by adjusting the joint. When in an endoscope control mode, a worker can select the endoscope control mode only through a touch screen, the control means is single, and once the problem of unsmooth man-machine interaction occurs, the control efficiency is low. However, the current single-hole surgical robots have a problem of low control efficiency. Disclosure of Invention In view of the foregoing, it is desirable to provide an adjustment arm control method, apparatus, computer device, computer-readable storage medium, and computer program product that can improve the control efficiency of a robot. In a first aspect, the present application provides a method of adjusting arm control. The method comprises the following steps: Acquiring a control instruction, identifying a control type of the control instruction, and determining a state of a trigger logic corresponding to the control type; If the trigger logic is in an activated state, acquiring the end expected angular velocity corresponding to the control instruction based on the control type of the control instruction; and acquiring the end expected angular acceleration according to the end expected angular velocity, and controlling the tail end of the adjusting arm to execute a preset operation according to the end expected angular velocity and the end expected angular acceleration. In one embodiment, determining a state of trigger logic corresponding to a control type includes: if the control instruction is contact control, determining that the trigger logic is instantaneous trigger logic or continuous trigger logic; if the control instruction is non-contact control, determining the trigger logic as gesture trigger logic. In one embodiment, before the control instruction is acquired, the method further includes: acquiring an activation instruction and identifying the activation type of the activation instruction, wherein the activation type is divided into contact activation and non-contact activation; if the activation type is contact activation, acquiring the input duration of an activation instruction; and if the input duration does not meet the continuous condition, activating the instantaneous trigger logic. In one embodiment, the method further comprises: And if the input duration meets the continuous condition, activating the continuous triggering logic. In one embodiment, the method further comprises: If the activation type is non-contact activation, gesture information in an activation instruction is acquired; And if the gesture information meets the transformation condition, activating gesture triggering logic. In one embodiment, the method further comprises: if the trigger logic is in an inactive state, the end expected angular velocity corresponding to the control instruction is not acquired, and the control instruction is used as a false touch instruction. In one embodiment, based on a control type of the control instruction, acquiring the end desired angular velocity corresponding to the control instruction includes: Calculating an initial expected angular velocity corresponding to the control instruction based on the control type; and carrying out dead zone inhibition on the initial expected angular velocity, and adjusting the value of the initial expected angular velocity to obtain the terminal expected angular velocity. In one embodiment, calculating an initial desired angular velocity corresponding to the control instruction based on the control type of the control instruction includes: if the control instruction is contact control, acquiring angle information or angular velocity information from the control instruction; And calculating according to the angle information or the angular velocity information to obtain the initial expected angular velocity. In one embodiment, the method further comprises: If the control instruction is non-contact control, gesture information is obtained from the control instruction; And according to the gesture information, calculating to obtain th