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CN-122008168-A - Contact sensing method, device, medium, equipment and system of continuum robot

CN122008168ACN 122008168 ACN122008168 ACN 122008168ACN-122008168-A

Abstract

The application belongs to the technical field of continuum robots, and discloses a contact sensing method, a device, a medium, equipment and a system of a continuum robot, wherein the scheme acquires force sense data of a robot main body at a near end, wherein the force sense data is data for representing the integral stress of the robot main body at the near end, and simultaneously acquires driving force data transmitted to the robot main body by a driving rope; and determining contact sensing information of the continuum robot according to the force sense data and the driving force data. According to the technical scheme, the force sense data and the driving force data are collected at the near end and the driving rope end, so that the situation that sensors are directly distributed on the robot main body is avoided, the occupation of a limited working space of the robot is avoided, meanwhile, the contact sensing information can be determined by utilizing the near-end force sense data and the driving force data, complex model calculation is not needed, the calculation complexity is remarkably reduced, and real-time and reliable contact sensing in operation is facilitated.

Inventors

  • ZHANG GANG
  • YAN JUNYAN
  • Zheng Xunren

Assignees

  • 深圳科微医疗科技有限公司

Dates

Publication Date
20260512
Application Date
20260227

Claims (15)

  1. 1. The contact sensing method of the continuum robot is characterized in that the continuum robot comprises a robot main body and a driving rope, wherein the driving rope is used for driving the robot main body to bend, and the contact sensing method comprises the following steps of: Acquiring force sense data of the robot main body at the proximal end, wherein the force sense data is data used for representing the integral stress of the robot main body at the proximal end; Acquiring driving force data transmitted to the robot main body by the driving rope; and determining contact sensing information of the continuum robot according to the force sense data and the driving force data, wherein the contact sensing information is information for representing the contact state of the continuum robot.
  2. 2. The contact sensing method according to claim 1, wherein the contact sensing information includes an external contact force, the external contact force being a contact force applied to the robot body through an external environment when the robot body is in contact with the external environment; determining contact sensing information of the continuum robot according to the force sense data and the driving force data, including: And determining the external contact force of the continuum robot according to the difference value between the force sense data and the driving force data.
  3. 3. The contact sensing method according to claim 2, wherein the contact sensing information further includes a contact position of the robot body when contact with an external environment occurs, the method further comprising: And determining the contact position of the robot main body when the robot main body is in contact with an external environment according to the external contact force and the driving force data.
  4. 4. A contact sensing method according to claim 3, wherein the robot body includes a plurality of flexible beams which are deformed by the driving of the driving rope, and determining a contact position of the robot body when the robot body is in contact with an external environment based on the external contact force and the driving force data includes: Presetting a contact position of a robot main body, and determining a distal end position of each flexible beam after deformation according to the preset contact position, the driving force data and the external contact force; Determining the total length of the driving rope according to the deformed distal end position of each flexible beam, wherein the total length of the driving rope comprises the length of the driving rope in the robot main body and the elastic extension length of the driving rope; Updating the preset contact position according to the difference between the total length of the driving rope and the preset length of the driving rope, and circularly iterating the updating process of the contact position until the difference converges; and taking the corresponding contact position when the difference value is converged as the contact position when the robot main body is contacted with the external environment.
  5. 5. The touch-aware method of claim 4, further comprising: determining the deformed distal end position of each flexible beam again according to the corresponding contact position, the driving force data and the external contact force when the difference value converges; and determining the shape of the robot main body according to the determined distal end position of each flexible beam after deformation.
  6. 6. The contact sensing method according to claim 4, wherein determining the distal end position of each of the flexible beams after deformation based on the preset contact position, the driving force data, and the external contact force, comprises: For each flexible beam, determining the deformed distal end position through an iterative calculation mode according to the preset contact position, the driving force data and the external contact force, wherein each round of iterative calculation comprises the following steps: Determining a force value and a moment value acting on the distal end of the flexible beam at this time according to the preset contact position, the driving force data, the distal end position after the flexible beam is deformed obtained last time and the external contact force, obtaining the distal end position after the flexible beam is deformed at this time according to the force value and the moment value acting on the distal end of the flexible beam and the elasticity modulus of the flexible beam determined last time, and determining the elasticity modulus of the flexible beam at this time according to the distal end position obtained this time; And circulating the iterative calculation process until the loss value between the last parameter value and the current parameter value converges, and determining the deformed distal end position of each flexible beam, wherein the parameter value comprises at least one of the deformed distal end position of the flexible beam, a force value acting on the distal end of the flexible beam, a moment value and the elastic modulus.
  7. 7. The contact sensing method according to claim 6, wherein determining the force value and the moment value acting on the distal end of the flexible beam this time based on the preset contact position, the driving force data, the distal end position after the flexible beam is deformed last obtained, and the external contact force, comprises: determining a force vector and a moment vector acting on the distal end of the flexible beam under a local coordinate system according to the preset contact position, the distal end position obtained last time after the flexible beam is deformed and the external contact force under a world coordinate system; determining the tension of the driving rope according to the distal end position of the deformed flexible beam obtained last time and the driving force data; And determining the force value and the moment value of the current acting on the distal end of the flexible beam according to the determined tension of the driving rope and the force vector and the moment vector acting on the distal end of the flexible beam under the local coordinate system.
  8. 8. The contact sensing method according to claim 7, wherein determining a force vector and a moment vector acting on the distal end of the flexible beam in a local coordinate system based on the preset contact position, the distal end position after the flexible beam is deformed obtained last time, and the external contact force in a world coordinate system, comprises: determining a moment vector acting on the distal end of the flexible beam under a local coordinate system according to the preset contact position, the distal end position obtained last time after the flexible beam is deformed and the external contact force under a world coordinate system; And determining a force vector acting on the distal end of the flexible beam under a local coordinate system according to the distal end position obtained last time after the flexible beam is deformed and the external contact force under a world coordinate system.
  9. 9. The contact sensing method of claim 6, wherein determining the modulus of elasticity of the flexible beam at the present time based on the distal end position obtained at the present time comprises: determining the austenitic composition ratio in the flexible beam according to the obtained distal end position; And determining the elastic modulus of the flexible beam according to the austenitic composition proportion.
  10. 10. The contact sensing method of claim 4, wherein determining the total length of the drive string based on the deformed distal end position of each of the flexible beams comprises: determining the length of the driving rope in the robot main body according to the deformed distal end position of each flexible beam; determining the elastic extension length of the driving rope after the robot main body is driven to bend according to the driving force data and the length of the driving rope before the robot main body is driven to bend; And obtaining the total length of the driving rope according to the sum of the length of the driving rope in the robot main body and the elastic extension length of the driving rope.
  11. 11. The touch-sensing method according to claim 10, wherein the robot body further comprises a rigid skeleton connected to both ends of each of the flexible beams, the driving ropes being penetrated in the rigid skeleton; determining the length of the drive rope in the robot body according to the deformed distal end position of each flexible beam, comprising: acquiring a first length of the driving rope penetrating through the rigid framework of the robot main body; determining the position coordinates of the driving rope at the end face of the rigid framework connected with the distal end of each flexible beam according to the deformed distal end position of each flexible beam; Determining a second length of the driving rope between the rigid frameworks at the two ends of each flexible beam according to the position coordinates of the driving rope at the end surfaces of the rigid frameworks connected with the distal ends of each flexible beam; And determining the length of the driving rope in the robot main body according to the first length and the second length.
  12. 12. The contact sensing device of the continuum robot is characterized by comprising a robot main body and a driving rope, wherein the driving rope is used for driving the robot main body to bend, and the contact sensing device comprises: A first acquisition module configured to acquire force sense data of the robot body at a proximal end, the force sense data being data representing an overall force of the robot body at the proximal end; A second acquisition module configured to acquire driving force data transmitted to the robot main body by the driving rope; And a determining module configured to determine contact sensing information of the continuum robot based on the force sense data and the driving force data, the contact sensing information being information indicating a contact state of the continuum robot.
  13. 13. A computer readable medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the touch sensing method according to any of claims 1 to 11.
  14. 14. An electronic device, comprising: one or more processors; Storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the contact awareness method of any of claims 1 to 11.
  15. 15. A robotic system, comprising: The robot comprises a robot body and a driving rope, wherein the driving rope is used for driving the robot body to bend; A first sensor mounted at a proximal end of the robot body for acquiring force sense data of the robot body at the proximal end; The second sensor is arranged on the driving rope and is used for collecting driving force data transmitted to the robot main body by the driving rope; The electronic device of claim 14.

Description

Contact sensing method, device, medium, equipment and system of continuum robot Technical Field The application relates to the technical field of continuum robots, in particular to a contact sensing method, a device, a medium, equipment and a system of a continuum robot. Background The continuum robot can complete complex actions in a narrow space, and has great potential in medical fields such as neurosurgery, otorhinolaryngology and laparoscopic surgery. Rope drive mechanisms are the most classical and most widely used drive means for continuum robots. Compared with other types of continuum robots, the rope driving design obviously embodies the principle of bionics. Similar to the human body structure, the driving rope is equivalent to muscle, the robot trunk is equivalent to skeleton, and the collaborative operation is realized through computer control. The continuum robot needs to sense the contact state of the robot itself in the motion process, such as the contact position, the contact force, the shape of the robot itself and the like when the robot contacts with the external environment, so as to realize high-precision control. In order to realize the contact sensing function of the continuum robot, in the related art, the shape or the contact force of the robot is directly measured by integrating strain gauges, optical fiber sensors, etc. inside the continuum robot, and this scheme requires additional space to integrate the sensors, which is difficult to be applied to a small continuum robot. Accordingly, there is a need to provide a contact sensing solution that can meet the miniaturization requirements of continuum robots. Disclosure of Invention In order to solve the problems, the application provides a contact sensing method, a device, a medium, equipment and a system of a continuum robot. According to one aspect of the embodiment of the application, a contact sensing method of a continuum robot is disclosed, wherein the continuum robot comprises a robot main body and a driving rope, the driving rope is used for driving the robot main body to bend, the contact sensing method comprises the steps of acquiring force sense data of the robot main body at a proximal end, wherein the force sense data are data used for representing the whole stress of the robot main body at the proximal end, acquiring driving force data transmitted to the robot main body by the driving rope, and determining contact sensing information of the continuum robot according to the force sense data and the driving force data, wherein the contact sensing information is information used for representing the contact state of the continuum robot. According to one aspect of the embodiment of the application, a contact sensing device of a continuum robot is disclosed, wherein the continuum robot comprises a robot main body and a driving rope, the driving rope is used for driving the robot main body to bend, the contact sensing device comprises a first acquisition module, a second acquisition module and a determining module, the first acquisition module is used for acquiring force sense data of the robot main body at a near end, the force sense data are data used for representing overall stress of the robot main body at the near end, the second acquisition module is used for acquiring driving force data transmitted to the robot main body by the driving rope, and the determining module is used for determining contact sensing information of the continuum robot according to the force sense data and the driving force data, and the contact sensing information is information used for representing contact state of the continuum robot. According to an aspect of an embodiment of the present application, a computer-readable medium is disclosed, on which a computer program is stored, which, when being executed by a processor, implements a contact sensing method as described in the above embodiments. According to one aspect of an embodiment of the present application, an electronic device is disclosed, including one or more processors, and a storage device for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the touch sensing method as described in the above embodiments. According to one aspect of an embodiment of the application, a robot system is disclosed, comprising a continuum robot comprising a robot body and a drive string for driving the robot body to bend, a first sensor mounted at a proximal end of the robot body for acquiring force sense data of the robot body at the proximal end, a second sensor mounted on the drive string for acquiring drive force data transmitted by the drive string to the robot body, an electronic device as described in the above embodiments. In the technical scheme provided by some embodiments of the application, firstly, force sense data of a robot main body at a proximal end is acquired, wherein the force sense data is data for represen