CN-121987350-A - Surgical robot control method, system and medium

CN121987350ACN 121987350 ACN121987350 ACN 121987350ACN-121987350-A

Abstract

The embodiment of the invention discloses a control method, a system and a medium for a surgical robot, wherein the method is based on torque feedback data and virtual fixed points of all joints of a mechanical arm, and calculating a speed control instruction of each joint of the mechanical arm so as to control the surgical robot to move around the virtual fixed point. The invention can accurately control the tail end of the mechanical arm to perform conical movement around a notch or a natural cavity channel, improves the accuracy and efficiency of inspection, establishes a rotation speed equation, can set different proportions according to torque sensitivity in different directions, thereby realizing finer and flexible movement control of the mechanical arm of the surgical robot, adapting to different medical operation scenes, optimizing joint configuration through zero space movement by utilizing the redundancy characteristic of the seven-axis mechanical arm, avoiding joint limit and singular point, and improving the movement safety and reliability of the mechanical arm.

Inventors

WANG HAIFENG
CHEN PENG
CHEN KUI
ZHANG ZHEMING
FAN PEIHUA
ZHANG BO

Assignees

上海市东方医院（同济大学附属东方医院）
无锡艾米特智能医疗科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251227

Claims (10)

1. A surgical robot control method, comprising: acquiring torque feedback data of each joint of the mechanical arm; setting a virtual stationary point in a mechanical arm tail end coordinate system; and calculating a speed control instruction of each joint of the mechanical arm according to the torque feedback data and the virtual fixed point of each joint of the mechanical arm so as to control the surgical robot to move around the virtual fixed point.
2. The method according to claim 1, wherein the acquiring torque feedback data of each joint of the mechanical arm includes: and acquiring moment vectors of all joints of the mechanical arm through joint torque sensors.
3. The surgical robot control method according to claim 2, wherein the acquiring the moment vector of each joint of the mechanical arm by the joint torque sensor further comprises: based on a jacobian matrix of the current joint gesture of the mechanical arm, converting moment vectors of all joints of the mechanical arm into six-dimensional external force at the tail end of the mechanical arm.
4. A surgical robot control method according to claim 3, wherein the setting of the virtual stationary point in the arm end coordinate system includes: And setting a virtual fixed point in a coordinate system of the tail end of the mechanical arm, and converting the six-dimensional external force of the tail end of the mechanical arm to the six-dimensional external force on the virtual fixed point.
5. The method according to claim 4, wherein calculating the speed control command of each joint of the manipulator according to the torque feedback data of each joint of the manipulator and the virtual stationary point to control the surgical robot to move around the virtual stationary point comprises: And converting the rotation speed under the virtual fixed point coordinate system into the rotation speed under the mechanical arm base coordinate system.
6. The surgical robot control method of claim 5, wherein the converting the rotational speed in the virtual stationary point coordinate system to the rotational speed in the robotic arm-based coordinate system, further comprises: and calculating the movement speed of each joint of the mechanical arm through the inverse matrix of the jacobian matrix.
7. The method according to claim 6, wherein calculating the speed control command of each joint of the manipulator according to the torque feedback data of each joint of the manipulator and the virtual stationary point to control the surgical robot to move around the virtual stationary point, further comprises: Calculating a zero space velocity vector based on the jacobian matrix of the current joint pose; and generating real-time speed control instructions of all joints of the mechanical arm by combining the joint speed vector around the virtual fixed point and the zero space speed vector so as to control the surgical robot to move around the virtual fixed point.
8. A surgical robot control method according to any one of claims 1 to 7, wherein the robotic arm is a seven-axis robotic arm.
9. A surgical robot control system employing the surgical robot control method of claim 1.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein computer executable instructions, which when executed by a processor are adapted to implement the surgical robot control method according to any one of claims 1 to 8.

Description

Surgical robot control method, system and medium Technical Field The embodiment of the invention relates to the technical field of surgical robots, in particular to a surgical robot control method, a surgical robot control system and a surgical robot control medium. Background In medical examination and operation, the tail end of a mechanical arm of the operation robot is required to perform conical motion examination in a specific range, but the traditional operation robot cannot accurately realize motion control around a virtual fixed point, so that the problems of limited motion range, inflexible operation, high operation requirement on doctors and the like are caused, in addition, joint limit or singular point easily occurs in the motion process of the operation robot of the seven-axis mechanical arm, the safety and the effectiveness of the operation are affected, and the redundancy characteristic of the seven-axis mechanical arm is not fully utilized. The above problems are to be solved. Disclosure of Invention To solve the related technical problems, the present invention provides a surgical robot control method, system and medium to solve the problems mentioned in the background section above. In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme: In a first aspect, an embodiment of the present invention provides a surgical robot control method, including: acquiring torque feedback data of each joint of the mechanical arm; setting a virtual stationary point in a mechanical arm tail end coordinate system; and calculating a speed control instruction of each joint of the mechanical arm according to the torque feedback data and the virtual fixed point of each joint of the mechanical arm so as to control the surgical robot to move around the virtual fixed point. As an optional implementation manner, the acquiring torque feedback data of each joint of the mechanical arm includes: and acquiring moment vectors of all joints of the mechanical arm through joint torque sensors. As an optional implementation manner, the acquiring, by the joint torque sensor, the moment vector of each joint of the mechanical arm further includes: based on a jacobian matrix of the current joint gesture of the mechanical arm, converting moment vectors of all joints of the mechanical arm into six-dimensional external force at the tail end of the mechanical arm. As an optional implementation manner, the setting the virtual stationary point in the end coordinate system of the mechanical arm includes: And setting a virtual fixed point in a coordinate system of the tail end of the mechanical arm, and converting the six-dimensional external force of the tail end of the mechanical arm to the six-dimensional external force on the virtual fixed point. As an optional implementation manner, the calculating the speed control instruction of each joint of the mechanical arm according to the torque feedback data of each joint of the mechanical arm and the virtual fixed point to control the surgical robot to move around the virtual fixed point includes: And converting the rotation speed under the virtual fixed point coordinate system into the rotation speed under the mechanical arm base coordinate system. As an alternative embodiment, the converting the rotation speed under the virtual stationary point coordinate system to the rotation speed under the mechanical arm base coordinate system further includes: and calculating the movement speed of each joint of the mechanical arm through the inverse matrix of the jacobian matrix. As an optional implementation manner, the calculating the speed control instruction of each joint of the mechanical arm according to the torque feedback data of each joint of the mechanical arm and the virtual fixed point to control the surgical robot to move around the virtual fixed point further includes: Calculating a zero space velocity vector based on the jacobian matrix of the current joint pose; and generating real-time speed control instructions of all joints of the mechanical arm by combining the joint speed vector around the virtual fixed point and the zero space speed vector so as to control the surgical robot to move around the virtual fixed point. As an alternative embodiment, the robot arm is a seven-axis robot arm, but not limited to. In a second aspect, an embodiment of the present invention provides a surgical robot control system, where the surgical robot control method set forth in the first embodiment includes: The joint torque acquisition module is used for acquiring torque feedback data of each joint of the mechanical arm; the virtual fixed point setting module is used for setting a virtual fixed point in a tail end coordinate system of the mechanical arm; and the mechanical arm motion control module is used for calculating a speed control instruction of each joint of the mechanical arm according to the torque feedback data and the virtual fi