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CN-119839848-B - Mechanical arm follow-up control method, equipment and storage medium of interventional operation robot

CN119839848BCN 119839848 BCN119839848 BCN 119839848BCN-119839848-B

Abstract

The invention belongs to the technical field of interventional robots, and provides a mechanical arm follow-up control method, equipment and a storage medium of an interventional operation robot, wherein the method comprises the steps that a positioning system acquires initial positioning information of an interventional part and a movable controlled mechanical arm and sends the initial positioning information to a controller; the positioning system acquires real-time positioning information of the intervention part and the movable control mechanical arm and sends the real-time positioning information to the controller, the controller judges whether the real-time positioning information exceeds a safety threshold range by comparing the initial positioning information with the real-time positioning information, if yes, the controller controls the movable control mechanical arm to adjust the space state so that the positioning information of the intervention part and the movable control mechanical arm returns to the safety threshold range state and updates the initial positioning information, the problem that blood vessels are damaged due to relative movement of the intervention part of a patient and the mechanical arm is solved, and safety of an intervention operation process is improved.

Inventors

  • XU YANG

Assignees

  • 深圳爱博合创医疗机器人有限公司

Dates

Publication Date
20260508
Application Date
20241125

Claims (12)

  1. 1. A robotic arm servo control method of an interventional procedure robot, wherein the robotic arm servo control method is applied to a robotic control system comprising a positioning system, a controller and a movably controlled robotic arm, the method comprising: the positioning system acquires initial positioning information of an intervention part and the movable controlled mechanical arm and sends the initial positioning information to the controller; the positioning system acquires real-time positioning information of the intervention part and the movable control mechanical arm and sends the real-time positioning information to the controller; The controller judges whether the real-time positioning information exceeds a safety threshold range or not by comparing the initial positioning information with the real-time positioning information; if yes, the controller controls the movable control mechanical arm to adjust the space state, so that the positioning information of the intervention part and the movable control mechanical arm returns to the safety threshold range state, and the initial positioning information is updated; If not, the positioning system continues to acquire the real-time positioning information of the intervention part and the movable control mechanical arm, and sends the real-time positioning information to the controller.
  2. 2. The method of claim 1, wherein the initial positioning information of the intervention site and the movable control mechanical arm comprises an initial relative position and an initial relative angle of the intervention site and the movable control mechanical arm, and the real-time positioning information of the intervention site and the movable control mechanical arm comprises a real-time relative position and a real-time relative angle of the intervention site and the movable control mechanical arm.
  3. 3. The method for controlling the follow-up of a manipulator of an interventional surgical robot according to claim 2, wherein the positioning system acquires initial positioning information of an intervention site and the movable controlled manipulator and transmits the initial positioning information to the controller, and the method specifically comprises the steps of: The positioning system identifies the spatial position relation between the intervention part and the marker mounted on the movable control mechanical arm by using a positioning method, establishes a coordinate system o p x p y p z p of the intervention part under a reference coordinate system OXYZ and a coordinate system o s x s y s z s of the movable control mechanical arm based on the spatial position relation of the marker, and measures the initial relative position of the intervention part and the movable control mechanical arm And an initial relative angle (alpha, beta, gamma), said initial relative position to be obtained And the initial relative angles (α, β, γ) are sent to the controller; The positioning method comprises a binocular vision positioning method or an electromagnetic induction method or a ranging positioning method, and the ranging positioning method comprises a laser positioning method or an ultrasonic positioning method.
  4. 4. The method for controlling the follow-up of a manipulator of an interventional surgical robot according to claim 2, wherein the positioning system acquires initial positioning information of an intervention site and the movable controlled manipulator and transmits the initial positioning information to the controller, and the method specifically comprises the steps of: Identifying image features of the intervention part by using artificial intelligence and image identification modes, establishing a coordinate system o p x p y p z p of the intervention part based on the image features, establishing a coordinate system o s x s y s z s of the movable control mechanical arm, and measuring initial relative positions of the intervention part and the movable control mechanical arm And an initial relative angle (alpha, beta, gamma), said initial relative position to be obtained And the initial relative angles (α, β, γ) are sent to the controller.
  5. 5. The method for controlling the follow-up of a manipulator of an interventional surgical robot according to any one of claims 2 to 4, wherein the positioning system acquires real-time positioning information of the interventional site and the movable controlled manipulator and sends the real-time positioning information to the controller, and the method specifically comprises the steps of: the positioning system measures the real-time relative position of the intervention part and the movable control mechanical arm And real-time relative angles |alpha ', |beta ', |gamma ', transmitting the obtained real-time relative position and the obtained real-time relative angle to the controller; wherein, the coordinate system where the real-time positioning information is located is o p ' p 'y p ′z p '.
  6. 6. The method according to claim 5, wherein the step of the controller determining whether the real-time positioning information exceeds a safety threshold range by comparing the initial positioning information with the real-time positioning information, comprises: the controller judges through comparison Whether any one of d sa and |alpha ', |beta ',|gamma ' | exceeds theta sa is exceeded, so that whether the real-time positioning information exceeds a safety threshold range is judged; Wherein d sa is the maximum distance that the movable control mechanical arm can move relative to the intervention part under the premise of ensuring that the safety of a patient is not compromised, and theta sa is the maximum angle that the movable control mechanical arm can move relative to the intervention part under the premise of ensuring that the safety of the patient is not compromised.
  7. 7. The method according to claim 6, wherein if yes, the controller controls the movable control arm to adjust a spatial state, so that positioning information of the intervention site and the movable control arm returns to a safe threshold range state, and updates the initial positioning information, and the method specifically includes: If it is The controller controls the movable control mechanical arm to adjust the space state to obtain the adjusted relative position Relative angles (α ", β", γ "); The positioning system adjusts the relative position after finishing adjustment Measuring the relative angles (α ", β", γ ") and returning the measurement results to the controller; when the controller judges that the relative position and the relative angle are both within the safe range The controller locks each joint of the movable control mechanical arm and updates the initial positioning information.
  8. 8. The method for controlling the follow-up of a mechanical arm of an interventional surgical robot according to claim 1, wherein a motor is mounted on a joint of the movable controlled mechanical arm; the step of controlling the movable control mechanical arm to adjust the space state by the controller so that the positioning information of the intervention part and the movable control mechanical arm returns to the safety threshold range state comprises the following steps: The controller adjusts the space state by controlling the motor on the joint of the movable control mechanical arm, so that the positioning information of the intervention part and the movable control mechanical arm returns to the safety threshold range state.
  9. 9. The method for controlling the follow-up of the mechanical arm of the interventional operation robot according to claim 1, wherein the flexible intelligent material is arranged on the mechanical arm which can be controlled movably and comprises a piezoelectric material, a bionic muscle material or a memory material; the step of controlling the movable control mechanical arm to adjust the space state by the controller so that the positioning information of the intervention part and the movable control mechanical arm returns to the safety threshold range state comprises the following steps: the controller controls the piezoelectric material, the bionic muscle material or the memory material on the movable control mechanical arm, so that the positioning information of the intervention part and the movable control mechanical arm returns to a safe threshold range state.
  10. 10. The method for controlling the follow-up of a mechanical arm of an interventional operation robot according to claim 1, wherein the movable controlled mechanical arm is a structure of a flexible mechanical arm controlled by a pull wire; the step of controlling the movable control mechanical arm to adjust the space state by the controller so that the positioning information of the intervention part and the movable control mechanical arm returns to the safety threshold range state comprises the following steps: The controller controls the flexible mechanical arm through controlling a stay wire of the flexible mechanical arm, so that positioning information of the intervention part and the movable controlled mechanical arm returns to a safe threshold range state.
  11. 11. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method for robotic arm follow-up control of an interventional surgical robot according to any one of claims 1 to 10.
  12. 12. 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 robotic arm follow-up control method of an interventional surgical robot according to any one of claims 1 to 10.

Description

Mechanical arm follow-up control method, equipment and storage medium of interventional operation robot Technical Field The invention relates to the technical field of robot control systems, in particular to a method, equipment and a storage medium for controlling the follow-up of a mechanical arm of an interventional operation robot. Background During existing robotic interventional procedures, the position of the robotic arm is fixed, or the position of the robotic arm relative to the patient's bed is fixed, and the patient intervention site, such as the leg, arm or neck, may in some cases be moved, which results in a non-fixed relative position between the patient intervention site and the robotic arm. During actual surgery, the patient may adjust his or her body position under local anesthesia due to discomfort or may have a seizure at the intervention site due to cramping, which may lead to abrupt changes in the relative position of the intervention site. In the manual intervention operation process, due to the extremely high flexibility of the hands, doctors can adjust in time according to the body change of patients. During robotic interventions, due to the high stiffness in the fixed situation, this may lead to some relatively stiff and sharp interventional devices, such as sheaths, which suddenly move relative to the vessel at the interventional site, resulting in a safety risk such as vascular penetration or delamination. Therefore, there is a need for a follow-up control method that enables the robotic arm to move with the intervention site, so as to reduce the risk of damaging the blood vessel caused by the movement of the patient by the intervention device. Disclosure of Invention The invention provides a mechanical arm follow-up control method, equipment and a storage medium, and aims to solve the technical problem of damaging blood vessels caused by relative movement between a patient intervention part and a mechanical arm. In order to achieve the above object, a first aspect of the present invention proposes a robotic arm follow-up control method of an interventional surgical robot, the robotic arm follow-up control method being applied to a robotic control system including a positioning system, a controller and a movably controlled robotic arm, the method comprising: the positioning system acquires initial positioning information of an intervention part and the movable controlled mechanical arm and sends the initial positioning information to the controller; the positioning system acquires real-time positioning information of the intervention part and the movable control mechanical arm and sends the real-time positioning information to the controller; The controller judges whether the real-time positioning information exceeds a safety threshold range or not by comparing the initial positioning information with the real-time positioning information; if yes, the controller controls the movable control mechanical arm to adjust the space state, so that the positioning information of the intervention part and the movable control mechanical arm returns to the safety threshold range state, and the initial positioning information is updated; If not, the positioning system continues to acquire the real-time positioning information of the intervention part and the movable control mechanical arm, and sends the real-time positioning information to the controller. Further, the initial positioning information of the intervention part and the movable control mechanical arm comprises an initial relative position and an initial relative angle of the intervention part and the movable control mechanical arm, and the real-time positioning information of the intervention part and the movable control mechanical arm comprises a real-time relative position and a real-time relative angle of the intervention part and the movable control mechanical arm. Further, the positioning system acquires initial positioning information of the intervention part and the movable control mechanical arm, and sends the initial positioning information to the controller, and the method specifically comprises the following steps: The positioning system identifies the spatial position relation between the intervention part and the marker mounted on the movable control mechanical arm by using a positioning method, establishes a coordinate system o pxpypzp of the intervention part under a reference coordinate system OXYZ and a coordinate system o sxsyszs of the movable control mechanical arm based on the spatial position relation of the marker, and measures the initial relative position of the intervention part and the movable control mechanical arm And an initial relative angle (alpha, beta, gamma), said initial relative position to be obtainedAnd the initial relative angles (α, β, γ) are sent to the controller; The positioning method comprises a binocular vision positioning method or an electromagnetic induction method or a ranging posit