CN-122005078-A - Motion control method, device, equipment and medium for surgical robot

CN122005078ACN 122005078 ACN122005078 ACN 122005078ACN-122005078-A

Abstract

The present disclosure provides a motion control method, apparatus, device, and medium for a surgical robot. The present disclosure relates to the field of robot control, a motion control method of a surgical robot includes that the surgical robot includes a plurality of active joints and follow-up joints; the control method comprises the steps of responding to a motion control instruction, determining respective expected angular velocities of a plurality of active joints of the surgical robot, determining an expected rotation angle of the follow-up joint based on relative position constraint of the follow-up joint and the plurality of active joints according to respective current active joint angles of the plurality of active joints, compensating initial driving instructions generated based on the plurality of expected angular velocities and the expected rotation angles by using the respective current active joint angles and the current angular velocities of the plurality of active joints to obtain a target driving instruction, and controlling the motion of the surgical robot by using the target driving instruction.

Inventors

PAN LIZHI
XU YIMING
LU BAOYUE
CAI CHENGCHENG
SUN WENZE
MA ZHIKANG
Dong Kailun
LI JINHUA

Assignees

天津大学医疗机器人与智能系统研究院

Dates

Publication Date: 20260512
Application Date: 20251226

Claims (10)

1. A method of controlling motion of a surgical robot, the surgical robot comprising a plurality of active joints and a follower joint, the method comprising: determining, in response to motion control instructions, an expected angular velocity of each of a plurality of active joints of the surgical robot; Determining an expected rotation angle of the follower joint based on relative positional constraints of the follower joint and the plurality of active joints according to current active joint angles of each of the plurality of active joints; Compensating an initial driving instruction generated based on a plurality of expected angular speeds and expected rotation angles by using the current active joint angles and the current angular speeds of the active joints respectively to obtain a target driving instruction; and controlling the surgical robot to move by utilizing the target driving instruction.
2. The control method according to claim 1, wherein, The active joint comprises a first rotary joint and a second rotary joint; the determining the expected rotation angle of the follower joint based on the relative position constraints of the follower joint and the plurality of the active joints according to the current active joint angles of the plurality of active joints respectively comprises: acquiring the respective active joint angles of the first rotary joint and the second rotary joint at the current moment; Determining the constraint plane based on the respective active joint angles of the first and second rotational joints using a kinematic model; And determining the expected rotation angle of the follow-up joint according to the current posture of the endoscope on the follow-up joint and the constraint plane.
3. The control method according to claim 2, wherein the determining the expected rotation angle of the slave joint based on the current pose of the endoscope on the slave joint and the constraint plane includes: determining a plurality of initial poses of the endoscope with the constraint of maintaining an axis of the endoscope within the constraint plane; determining an expected pose from a plurality of initial poses according to the relative positional relationship of the endoscope and the first rotary joint; and determining the expected rotation angle according to the rotation direction of the follow-up joint based on the posture change relation between the current posture and the expected posture of the endoscope.
4. The control method according to claim 1, wherein compensating the initial driving command generated based on the plurality of the expected angular velocities and the expected rotation angles using the current active joint angle and the current angular velocity of each of the plurality of active joints, to obtain the target driving command, comprises: Determining a target compensation instruction according to the current active joint angle and the current angular speed of each of the plurality of active joints based on a preset compensation coefficient; And synthesizing the target compensation instruction and the initial driving instruction to obtain a target driving instruction.
5. The control method according to claim 4, wherein, The compensation coefficient comprises damping coefficients and mass coefficients of each of the plurality of active joints; based on a preset compensation coefficient, determining a compensation instruction according to the current active joint angle and the current angular velocity of each of the plurality of active joints, wherein the method comprises the following steps: generating a friction compensation instruction of each of the plurality of active joints based on the damping coefficient of each of the plurality of active joints and the current angular velocity; generating a gravity compensation instruction of each of the plurality of active joints based on the current active joint angle and the quality coefficient of each of the plurality of active joints; the target compensation command is determined based on the friction compensation command and the gravity compensation command.
6. The control method according to claim 5, wherein, The damping coefficient comprises a coulomb friction coefficient and a viscous damping coefficient; Generating a friction compensation command of each of the plurality of active joints based on the damping coefficient of each of the plurality of active joints and the current angular velocity, including: for each active joint, acquiring a coulomb friction coefficient and a viscous damping coefficient corresponding to the active joint; And obtaining the friction compensation instruction according to the angular velocity of the active joint at the current moment by using a coulomb-viscous friction model.
7. The control method of claim 1, wherein the surgical robot further comprises a base, a fixed end, and a free end, the fixed end being fixed to the base, the motion control instructions for controlling the plurality of active joints to move the free end to a target position; The determining, in response to motion control instructions, an expected angular velocity of each of a plurality of active joints of the surgical robot, comprising: responding to the motion control instruction, constructing an admittance relation of the motion control instruction at the free end of the surgical robot, and obtaining a target six-dimensional speed of the free end; And performing inverse kinematics calculation on the target six-dimensional speed to obtain the expected angular speeds of each of a plurality of active joints of the surgical robot.
8. A motion control device for a surgical robot, comprising: a determination module for determining an expected angular velocity of each of a plurality of active joints of the surgical robot in response to a motion control instruction; The constraint module is used for determining an expected rotation angle of the follow-up joint based on relative position constraint of the follow-up joint and the plurality of active joints according to the current active joint angles of the plurality of active joints; A command generation module for compensating an initial driving command generated based on a plurality of expected angular velocities and the expected rotation angles by using the current active joint angles and the current angular velocities of the plurality of active joints, respectively, to obtain a target driving command, and And the control module is used for controlling the surgical robot to move by utilizing the target driving instruction.
9. An electronic device, comprising: one or more processors; A memory for storing one or more programs, Wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1 to 7.
10. A computer readable storage medium having stored thereon executable instructions which when executed by a processor cause the processor to implement the method of any of claims 1 to 7.

Description

Motion control method, device, equipment and medium for surgical robot Technical Field The present disclosure relates to the field of robot control, and more particularly, to a motion control method, apparatus, device, and medium for a surgical robot. Background Single-hole surgical robots are increasingly used in laparoscopic surgery by virtue of their low trauma and rapid postoperative recovery. One of the core requirements is that the robot arm can be rapidly adjusted in pose by dragging operation, so that the flexible requirements of doctors on the position and angle of the instrument in the operation process can be met. In the process of carrying out the conception of the present disclosure, the inventor finds that in the related art, the doctor often has a feel of operation feel of a touch during operation of the surgical robot, and the operation accuracy is low. Disclosure of Invention In view of the above, the present disclosure provides a method, apparatus, device, and medium for controlling motion of a surgical robot. One aspect of the present disclosure provides a motion control method of a surgical robot including a plurality of active joints and a follower joint, including determining respective expected angular velocities of the plurality of active joints of the surgical robot in response to a motion control instruction, determining an expected rotation angle of the follower joint based on relative positional constraints of the follower joint and the plurality of active joints according to respective current active joint angles of the plurality of active joints, compensating an initial driving instruction generated based on the plurality of expected angular velocities and the expected rotation angle using the respective current active joint angles and the current angular velocities of the plurality of active joints to obtain a target driving instruction, and controlling the surgical robot to move using the target driving instruction. According to the embodiment of the disclosure, the active joint comprises a first rotary joint and a second rotary joint, the expected rotation angle of the follow-up joint is determined based on the relative position constraint of the follow-up joint and the plurality of active joints according to the current active joint angles of the plurality of active joints, the method comprises the steps of obtaining the current active joint angles of the first rotary joint and the second rotary joint, determining a constraint plane based on the active joint angles of the first rotary joint and the second rotary joint by using a kinematic model, and determining the expected rotation angle of the follow-up joint according to the current gesture of an endoscope on the follow-up joint and the constraint plane. According to the embodiment of the disclosure, the expected rotation angle of the follow-up joint is determined according to the current posture of the endoscope on the follow-up joint and the constraint plane, and the method comprises the steps of determining a plurality of initial postures of the endoscope by taking the axis of the endoscope kept in the constraint plane as constraint, determining the expected posture from the plurality of initial postures according to the relative position relation of the endoscope and the first rotation joint, and determining the expected rotation angle according to the rotation direction of the follow-up joint based on the posture change relation of the current posture and the expected posture of the endoscope. According to the embodiment of the disclosure, the initial driving instruction generated based on the expected angular speeds and the expected rotation angles is compensated by using the current active joint angles and the current angular speeds of the active joints respectively to obtain a target driving instruction, wherein the target driving instruction is obtained by determining the target compensation instruction according to the current active joint angles and the current angular speeds of the active joints respectively based on preset compensation coefficients, and synthesizing the target compensation instruction and the initial driving instruction to obtain the target driving instruction. According to the embodiment of the disclosure, the compensation coefficient comprises damping coefficients and mass coefficients of each of a plurality of active joints, the compensation instruction is determined according to the current active joint angle and the current angular velocity of each of the plurality of active joints based on the preset compensation coefficient, the compensation instruction comprises friction compensation instructions of each of the plurality of active joints generated based on the damping coefficients and the current angular velocity of each of the plurality of active joints, gravity compensation instructions of each of the plurality of active joints generated based on the current active joint angle and