CN-116340739-B - Method and device for detecting contact force of instrument, computer equipment and storage medium

CN116340739BCN 116340739 BCN116340739 BCN 116340739BCN-116340739-B

Abstract

The present application relates to a method, an apparatus, a computer device, a storage medium and a computer program product for detecting an instrument contact force. The method comprises the steps of obtaining joint parameters corresponding to all joints of a target instrument in a current period, wherein the joint parameters comprise angle values and speed values of the joints. And determining a target detection mode from a plurality of preset detection modes. And determining the external moment of the target instrument in the current period according to the joint parameters and the target detection mode corresponding to each joint. And determining a numerical value which corresponds to the external torque and is used for reflecting the force according to the mapping relation between the torque and the force, and taking the determined numerical value as the value of the contact force of the tail end of the target instrument in the current period. In this way, the accuracy of contact force detection is improved.

Inventors

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Jin Lukai
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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: 20230323

Claims (11)

1. A method of detecting an instrument contact force, the method comprising: Acquiring joint parameters corresponding to each joint of a target instrument in a current period, wherein the joint parameters comprise an angle value and a speed value of the joint; Determining a target detection mode from a plurality of preset detection modes according to the requirement of the current period; according to the joint parameters corresponding to the joints and the target detection mode, determining the external moment of the target instrument in the current period; According to the mapping relation between the moment and the force, determining a numerical value which corresponds to the external moment and is used for reflecting the force, and taking the determined numerical value as the value of the contact force of the tail end of the target instrument in the current period; the joint comprises a first joint close to the tail end of the target instrument and a second joint not close to the tail end of the target instrument, wherein the driving mode of the second joint is a wire transmission mode, the second joint is a main joint directly driven by a motor, and the external torque of the target instrument in the current period is determined according to the joint parameters respectively corresponding to the joints and the target detection mode, and the external torque determining method comprises the following steps: according to joint parameters corresponding to the first joints respectively, determining theoretical moment corresponding to the first joints respectively through a dynamics model corresponding to a non-wire transmission mode; According to joint parameters corresponding to the second joints respectively, determining theoretical moment corresponding to the second joints respectively through a dynamic model corresponding to the wire transmission mode; For each first joint, acquiring first sensing data acquired by a sensor installed at a relevant position of the first joint, acquiring the variation of the reflection center wavelength of a grating in the sensor according to the first sensing data, determining the stress corresponding to the first joint based on the variation, determining the actual moment of the first joint based on the stress, acquiring current values corresponding to the second joints respectively, and determining the actual moment corresponding to the second joints respectively according to the mapping relation of the current and the moment; Aiming at each joint, taking the difference value between the theoretical moment and the actual moment corresponding to the aimed joint as the sub-external moment corresponding to the aimed joint, and fusing the sub-external moments corresponding to the joints respectively to obtain the external moment of the target instrument in the current period.
2. The method according to claim 1, wherein the determining the external torque of the target instrument in the current period according to the joint parameters and the target detection mode corresponding to each joint respectively includes: determining the actual moment corresponding to each joint according to the mapping relation between the current and the moment and the current value corresponding to each joint; Aiming at each joint, taking the difference value between the theoretical moment and the actual moment corresponding to the aimed joint as the sub-external moment corresponding to the aimed joint, and fusing the sub-external moments corresponding to the joints respectively to obtain the external moment of the target instrument in the current period.
3. The method according to claim 1, wherein the determining the external torque of the target instrument in the current period according to the joint parameters and the target detection mode corresponding to each joint respectively includes: acquiring current values corresponding to the joints respectively, and determining actual moments corresponding to the joints respectively according to the mapping relation between the current and the moment; And determining the external torque of the target instrument in the current period through an impulse model according to the joint parameters corresponding to each joint and the actual torque corresponding to each joint.
4. The method according to claim 3, wherein determining the external torque of the target instrument in the current period according to the joint parameters corresponding to the joints and the actual torques corresponding to the joints respectively through the impulse model comprises: determining impulse values corresponding to the joints respectively according to joint parameters corresponding to the joints respectively; and determining at least one preamble period before the current period, determining external force moment corresponding to each preamble period, and determining the external force moment of the target instrument in the current period through an impulse model according to the external force moment corresponding to each preamble period, the actual force moment corresponding to each joint in the current period and the impulse value corresponding to each joint.
5. The method according to claim 1, wherein the acquiring the joint parameters corresponding to the respective joints of the target instrument in the current cycle includes: acquiring a value of a contact force in a previous period, taking a period which is adjacent to and before the previous period as a target preamble period, and acquiring target parameters which respectively correspond to all joints of a target instrument in the target preamble period, wherein the target parameters comprise joint parameters; determining a measurement error according to the target parameters respectively corresponding to each joint of the target instrument in the target preamble period and the value of the contact force in the previous period; acquiring measurement data which are fed back by a motor in a target instrument and respectively correspond to all joints in a current period; And correcting the measurement data according to the measurement error to obtain target parameters corresponding to all the joints of the target instrument in the current period, and extracting joint parameters from the target parameters corresponding to all the joints of the target instrument in the current period.
6. The method according to claim 1, wherein the method further comprises: Under the condition that the using times of the target instrument is a using times threshold value, determining the value of the force to be compensated at the tail end of the target instrument according to the value of the contact force corresponding to the current period; According to the value of the force to be compensated, determining a compensation moment corresponding to the force to be compensated in the current period through a mapping relation between the translational degree of freedom and the pose degree of freedom; determining theoretical moment corresponding to each joint in the current period; and determining a target moment according to the theoretical moment and the compensation moment respectively corresponding to each joint in the current period, wherein the target moment is used for enabling the target instrument to reach the expected position.
7. The method according to claim 2, wherein the method further comprises: Under the condition that the using times of the target instrument are the using times threshold value, the pose moment generated when each first joint moves under the driving of the motor is obtained; Acquiring theoretical moments corresponding to each joint in the current period, and determining translation moment based on the value of the contact force corresponding to the current period and the theoretical moment corresponding to each joint in the current period; and determining a target moment according to the pose moment and the translation moment, wherein the target moment is used for enabling the target instrument to reach a desired position.
8. The method of claim 7, wherein determining the translational torque based on the value of the contact force corresponding to the current cycle and the theoretical torque corresponding to each joint in the current cycle, respectively, comprises: Determining the value of the force to be compensated at the tail end of the target instrument according to the value of the contact force corresponding to the current period; according to the value of the force to be compensated, determining a compensation moment corresponding to the force to be compensated in the current period through a mapping relation of translational degrees of freedom; and determining the translation moment according to the compensation moment and the actual moment corresponding to each joint in the current period.
9. The method according to any one of claims 1 to 8, further comprising: and sending an alarm signal to the display equipment under the condition that the value of the contact force is greater than or equal to a threshold value.
10. A device for detecting an instrument contact force, the device comprising: The parameter acquisition module is used for acquiring joint parameters corresponding to each joint of the target instrument in the current period, wherein the joint parameters comprise angle values and speed values of the joints; The detection mode determining module is used for determining a target detection mode from a plurality of preset detection modes according to the requirement of the current period; the external moment determining module is used for determining the external moment of the target instrument in the current period according to the joint parameters corresponding to each joint and the target detection mode; The contact force determining module is used for determining a numerical value which corresponds to the external torque and is used for reflecting the force according to the mapping relation between the torque and the force, and taking the determined numerical value as the value of the contact force of the tail end of the target instrument in the current period; The external force moment determining module is further used for determining theoretical moment corresponding to each first joint respectively through a dynamic model corresponding to a non-wire transmission mode according to joint parameters corresponding to each first joint, determining theoretical moment corresponding to each second joint respectively through a dynamic model corresponding to the wire transmission mode according to joint parameters corresponding to each second joint respectively, acquiring first sensing data acquired by a sensor installed at a relevant position of each first joint and according to the first sensing data, acquiring variation of reflection center wavelength of a grating in the sensor, determining stress corresponding to each first joint based on the variation, determining actual moment corresponding to each first joint based on the stress, acquiring current value corresponding to each second joint respectively, determining theoretical moment corresponding to each second joint respectively according to the joint parameters corresponding to each second joint through the dynamic model corresponding to the wire transmission mode, fusing the actual moment corresponding to each external force moment corresponding to the actual instrument, and fusing the actual moment corresponding to each external force moment corresponding to each real moment corresponding to each external instrument, and obtaining the actual moment corresponding to each external force moment corresponding to each external instrument.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 9.

Description

Method and device for detecting contact force of instrument, computer equipment and storage medium Technical Field The present application relates to the field of detection technology, and in particular, to a method, an apparatus, a computer device, a storage medium, and a computer program product for detecting a contact force of an instrument. Background Along with the development of instrument technology, in the process of carrying out abnormal repair on a target object, in order to facilitate operators to accurately repair the repair part of the target object, the operators can remotely operate the mechanical arm so that the instrument arranged on the mechanical arm repairs the repair part. During the repair process, the instrument may come into contact with the repair site, thereby generating a contact force. In order to avoid damage to the repair site due to excessive contact force, the contact force needs to be detected. In the conventional art, the contact force is often determined by a tamper-evident card or an image observation instrument. However, in the process of determining the contact force through the stamping card, the measured contact force cannot be directly obtained, the contact force can be determined through a long force transmission chain, and detection deviation is easy to generate, so that the detection precision is not high, namely the problem of low precision of detecting the contact force of the instrument exists. Disclosure of Invention In view of the foregoing, it is desirable to provide a method, an apparatus, a computer device, a computer-readable storage medium, and a computer program product for detecting an instrument contact force that can improve the accuracy of the detection of the instrument contact force. In a first aspect, the present application provides a method of detecting an instrument contact force. The method comprises the following steps: Acquiring joint parameters corresponding to each joint of a target instrument in a current period, wherein the joint parameters comprise an angle value and a speed value of the joint; determining a target detection mode from a plurality of preset detection modes; according to the joint parameters corresponding to the joints and the target detection mode, determining the external moment of the target instrument in the current period; and determining a numerical value which corresponds to the external torque and is used for reflecting the force according to the mapping relation between the torque and the force, and taking the determined numerical value as the value of the contact force of the tail end of the target instrument in the current period. In a second aspect, the application also provides a device for detecting the contact force of the instrument. The device comprises: The parameter acquisition module is used for acquiring joint parameters corresponding to each joint of the target instrument in the current period, wherein the joint parameters comprise angle values and speed values of the joints; the detection mode determining module is used for determining a target detection mode from a plurality of preset detection modes; the external moment determining module is used for determining the external moment of the target instrument in the current period according to the joint parameters corresponding to each joint and the target detection mode; And the contact force determining module is used for determining a numerical value which corresponds to the external torque and is used for reflecting the force according to the mapping relation between the torque and the force, and taking the determined numerical value as the value of the contact force of the tail end of the target instrument in the current period. In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of: Acquiring joint parameters corresponding to each joint of a target instrument in a current period, wherein the joint parameters comprise an angle value and a speed value of the joint; determining a target detection mode from a plurality of preset detection modes; according to the joint parameters corresponding to the joints and the target detection mode, determining the external moment of the target instrument in the current period; and determining a numerical value which corresponds to the external torque and is used for reflecting the force according to the mapping relation between the torque and the force, and taking the determined numerical value as the value of the contact force of the tail end of the target instrument in the current period. In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of: Acquiring joint parameters co