CN119033470A - Incremental master-slave heterogeneous minimally invasive surgery robot system and control algorithm - Google Patents
Incremental master-slave heterogeneous minimally invasive surgery robot system and control algorithm Download PDFInfo
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Abstract
The invention discloses an incremental master-slave heterogeneous minimally invasive surgery robot system and a control algorithm, which belong to the field of robots and comprise the steps of collecting position and posture information of hands of doctors, filtering jitter to obtain more accurate control signals, establishing a motion mapping relation between master hand equipment and slave hand equipment arms, taking mapped positions and postures as target positions and postures of the slave hand equipment arms, carrying out inverse kinematics calculation on mapped position and posture data according to the configuration of the slave hand equipment arms, calculating angle information of each joint of the slave hand equipment arms, and adopting a joint decoupling algorithm, a back clearance compensation method and a polynomial interpolation method to calculate actual positions of driving motors so as to realize accurate position and posture control of the slave hand equipment arms. The incremental master-slave heterogeneous minimally invasive surgical robot system and the control algorithm are adopted, so that the precision and safety of surgery are improved, the control flow is optimized, the regularity and the simplicity of surgical operation are improved, and the difficulty of system design and implementation is reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an incremental master-slave heterogeneous minimally invasive surgery robot system and a control algorithm.
Background
Currently, surgical robotic systems have been developed that are constrained by the space constraints of traditional surgery and by the artifacts that alleviate surgeon fatigue. The rise of modern minimally invasive surgery technology brings revolutionary changes to traditional surgery methods, and meanwhile, the application of surgical robots is also becoming more widespread in the field of modern minimally invasive surgery.
The instrument arm of the minimally invasive surgical robot, which is used as a key tool for replacing a doctor to perform a surgical operation, has a decisive influence on the flexibility of the operation and the control precision of the design configuration. These robots generally employ a master-slave mode of operation in which an operator manipulates a master hand device on a master console via real-time images obtained by a three-dimensional visual feedback system, while a slave hand instrument arm accurately reproduces the operator's hand movements based on the output of the control system. This master-slave mode of operation effectively frees doctors from the physical surgical environment, allowing them not to stand for long periods of time, but rather to sit in front of the console, prejudice to the surgical procedure, thereby greatly improving the accuracy and reliability of the procedure. The master-slave control strategy and the method are the core of the technical research of the minimally invasive surgical robot, and have extremely high research value and application prospect.
Disclosure of Invention
The invention aims to provide an incremental master-slave heterogeneous minimally invasive surgery robot system and a control algorithm, which improve the precision and safety of surgery, improve the regularity and simplicity of surgery operation and reduce the difficulty of system design and implementation.
The invention provides an incremental master-slave heterogeneous minimally invasive surgery robot system which comprises a hardware structure and a software structure, wherein the hardware structure comprises an upper computer and a lower computer connected with the upper computer, the upper computer is connected with a surgery robot, a foot pedal and a camera, the surgery robot comprises master hand equipment and slave hand equipment arms, a driving system is arranged in the lower computer and comprises seven driving units, each driving unit comprises a plurality of direct current motors, a speed reducer, an encoder and a driving motor, and the software structure comprises a user layer, a motion planning layer and a motion executing layer.
Preferably, the lower computer is TWINCAT system.
A control algorithm of an incremental master-slave heterogeneous minimally invasive surgery robot system comprises four stages:
a. acquiring position and posture information of the hands of a doctor through a main hand device, filtering physiological shake in the motion information of the hands of the doctor, and acquiring a more accurate control signal;
b. Establishing a motion mapping relation between the master hand equipment and the slave hand instrument arm, and taking the mapped position and gesture as target position and gesture of the slave hand instrument arm;
c. the mapped position and posture data are calculated according to inverse kinematics of the slave hand instrument arm configuration, and the angle information of each joint of the slave hand instrument arm is calculated;
d. The method is characterized in that the method comprises the steps of receiving processed joint angle information through an ADS communication technology based on TWINCAT system, calculating the actual position of each driving motor by adopting a joint decoupling algorithm, back clearance compensation and a polynomial interpolation method, and further controlling the driving motors to move so as to realize accurate pose control of the slave arm of the hand instrument.
Preferably, the butterworth filter is used for filtering physiological jitter in the hand movement information of the doctor.
Preferably, the motion mapping relationship between the master hand device and the slave hand device arm is established specifically as follows:
The method comprises the steps of obtaining the position P M0 of a dynamic zero point of a master hand device, obtaining the position P S0 of the dynamic zero point of a slave hand device, obtaining the position P MC of the master hand device and the position P SC of the slave hand device at a certain moment when a doctor operates the master hand device to move to the certain moment, calculating the position increment of the master hand device relative to the dynamic zero point position P M0 when the master hand device moves to the current position P MC, namely (P MC-PM0), multiplying the position increment by a scale factor k, acting the position increment on the dynamic zero point P S0 of the slave hand device arm, and calculating the current target position P SC of the tail end of the slave hand device, wherein the position mapping relation between the master hand device and the slave hand device is as follows:
PSC＝PS0+k(PMC-PM0)
The mapping relation between the tail end gesture of the slave hand instrument arm and the gesture increment of the master hand instrument is as follows:
RSC＝Rotz(ΔθMZ)*Roty(ΔθMY)*Rotx(ΔθMX)*RS0
R S0 is a dynamic zero point of the tail end gesture of the mechanical arm, and the dynamic zero point is also selected. Rotz (), roty (), rotx () respectively represents a 3×3 rotation matrix generated by rotating the slave manipulator arm around the Z, Y and X axes of the end tool coordinate system of the slave manipulator arm, delta theta MZ,ΔθMY and delta theta MX are respectively rotation increment of the wrist joint of the master manipulator, and R SC represents that the slave manipulator obtains the current target position and posture through a posture mapping relation on the basis of a dynamic zero point R S0.
Preferably, the solution of inverse kinematics is performed using a sequential quadratic programming method:
Taking limit of each joint of the slave hand instrument arm as a constraint condition, designing an objective function as the sum of the absolute value of the position error and the attitude error between the target pose matrix T d and the current actual pose matrix T c, and adopting the following formula:
Wherein the method comprises the steps of ,errorientation＝errr+errp+erry,errposition＝errx+erry+errz.
Preferably, the specific contents for realizing the accurate pose control of the slave hand instrument arm are as follows:
the joint motion angle obtained through inverse kinematics calculation is processed through a multi-joint decoupling algorithm to obtain a target motion angle of the driving motor, whether the joint performs reverse motion is judged, if the joint performs reverse motion, back clearance compensation processing is performed, and the compensated angle is output to a motor driver in the driving motor.
Therefore, the incremental master-slave heterogeneous minimally invasive surgery robot system and the control algorithm have the following beneficial effects:
(1) The method establishes a motion mapping relation between the master hand equipment and the slave hand instrument arm, allows a doctor to accurately and efficiently control the slave hand instrument arm to execute a series of operation actions by operating the master hand equipment, integrates the functions of master hand shake filtering and master hand safety limiting, and further improves the accuracy and safety of the operation;
(2) The control flow is optimized, the regularity and the simplicity of the operation are improved, and the difficulty of system design and implementation is reduced.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of a control system hardware structure according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system software structure according to an embodiment of the present invention;
Fig. 3 is a main hand jitter filtering diagram of an embodiment of the present invention.
Detailed Description
Examples
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, the invention discloses an incremental master-slave heterogeneous minimally invasive surgery robot system, which comprises a hardware structure and a software structure, wherein the hardware structure comprises an upper computer and a lower computer connected with the upper computer, the upper computer is connected with a surgery robot, a foot pedal and a camera, the surgery robot comprises master hand equipment and slave hand equipment arms, a driving system is arranged in the lower computer and comprises seven driving units, each driving unit comprises a plurality of direct current motors, a speed reducer, an encoder and a driving motor, and the software structure comprises a user layer, a motion planning layer and a motion executing layer.
The development environment of the upper computer is completed in a PC based on a Linux operating system, and ROS (Robot Operating System) is integrated in the PC. The ROS rich characteristic can help the robot project to develop rapidly, algorithm verification is achieved, and the development environment of the upper computer is Ubuntu18.04, ROS-media. The upper computer is responsible for some upper control algorithms and man-machine interaction interfaces, is connected with omega.7 master hand equipment, pedals and cameras, and achieves the functions of master-slave consistency control, master-slave safety restriction, motion visual field feedback, inverse kinematics calculation, ADS (TheAutomation Device Specification) communication and the like.
The lower computer is a driving system of the surgical robot, a set of driving unit is formed by a brushless direct current motor, a speed reducer, an encoder and a driver, motion control of a single motor is completed, the whole driving system has seven driving units, and seven degrees of freedom of an execution arm are correspondingly achieved. In order to realize precise control of multi-axis motion of the surgical robot, the embodiment adopts EtherCAT protocol as a field bus.
In the lower computer section, the present embodiment chooses to develop in a PC based on the Windows operating system, and the development environment uses TwinCAT3.
An ADS communication protocol based on TCP/IP is used for data communication between the upper and lower computers. The ADS communication protocol, proposed by Beckhoff based on the TCP/IP protocol, provides efficient, stable and reliable data transmission, enabling high-speed data transmission and low-delay response.
As shown in the software structure diagram of FIG. 2, each software layer is an independent process, and a plurality of threads are arranged in the software layer to execute respective work, so that the utilization rate of CPU resources is improved by multithreading.
In ROS, processes exist in the form of nodes, and data communication between different nodes can be achieved through topics.
The control system software structure is divided into a user layer, a motion planning layer and a motion executing layer. The user layer is responsible for human-computer interaction between the doctor and the surgical robot. The motion planning layer is responsible for completing the master-slave consistent motion of the master hand equipment and the slave hand instrument arm. The motion execution layer is responsible for controlling the completion of command motions from the respective drive motors of the hand instrument arm.
And the software development of the user layer and the motion planning layer is completed in the upper computer PC, and the software development of the motion execution layer is completed in the lower computer PC.
The user layer and the motion planning layer are developed in the ROS-based host PC. ROS support thread libraries based on the C++11 standard, using std:thread libraries to create and manage threads. The user layer and the motion planning layer act as two different software layers, embodied as two different nodes in the ROS, communicating through the ROS Master. When a node starts up, it registers its own name and topic, service, parameters, etc. information with the ROS Master, and other nodes can find and connect to the node through the ROS Master.
The user layer node mainly comprises a device main thread, a pedal detection thread, a camera shooting thread, a main hand force balancing thread, a main hand device acquisition thread and a main and slave safety limiting thread.
The device main thread is the core thread of the user layer. The equipment main thread firstly completes the connection of the main hand equipment, the pedal and the camera, then creates a pedal detection thread, a camera shooting thread, a main hand equipment acquisition thread, a main hand force balancing thread and a main hand force safety limiting thread based on the std provided by C++11, and finally calls a join () function to enable the threads to enter a blocking state so as to ensure that all the sub threads can be executed.
The pedal detection thread is responsible for detecting whether the pedal is stepped on or not in real time. When the doctor operates the main hand equipment to move to the working space boundary or the operation pose is uncomfortable and needs to be readjusted, the master-slave control can be disconnected by pressing the corresponding pedal, and the pose of the main hand equipment is readjusted. The scale factors of the master-slave control, the execution of master-slave safety zone limitation and the like can also be reselected through the pedal.
The main hand equipment force balance thread is responsible for counteracting the gravity generated by the wrist of the main hand equipment, and three motors controlling the position of the main hand equipment generate relevant moment by calling dhdSetForceAndTorqueAndGripperForce () functions in the SDK of the main hand equipment, so that the hand operation pressure of doctors is reduced, and the overall comfort level is improved.
The master-slave security restriction thread is responsible for restricting master devices to defined security zones. And selecting a master-slave safety limiting mode through a pedal, in the mode, calculating a reaction force through a spring damping model according to the position relation between the current position of the master hand device and the set safety region boundary, calling dhdSetForce () function to apply the reaction force in the opposite direction of the motion of the master hand, simulating the effect of spring damping, and rebounding the master hand device, so that the master hand device can only move in the set safety region.
The main hand equipment acquisition thread is responsible for acquiring hand motion information of a doctor in real time. The position and the gesture are acquired through dhdGetPositionAndOrientationRad () function provided by the SDK of the master hand device, the acquired position and the gesture are stored as an array of float64 types, the linear speed is acquired through dhdGetLinearVelocity () function, and the closing angle of the clamping jaw is acquired through DHDGETGRIPPERANGLERAD () function. The motion information of the master hand equipment is packaged into the custom animation surgical _robot_ msgs of ROS, namely Omega7_ pose, and the custom animation is published to topics/Omega 7_ pose through a publisher.
The motion planning layer operates as a ROS node. There is only one main thread in the motion planning layer, and a subscriber masterPoseSub is created in the main thread, and the subscriber subscribes to the/Omega 7_ pose topic published by the user layer, the/Omega 7_ pose topic is updated in real time, the sampling frequency is 100Hz, and whenever the topic has data update, the subscriber is entered into the callback function of masterPoseSub. In the callback function, the expected pose of the slave arm is obtained through a master-slave control method, then the expected angles of all joints of the slave arm are obtained through nonlinear inverse kinematics calculation, the angles are saved as an array by using float64[ ] types, and the angles are sent to a motion execution layer of a lower computer through an ADS communication protocol.
The motion execution layer is implemented in Windows-based TwinCAT 3. Firstly, carrying out hardware connection, placing an xml configuration file of a driver under a Config\Io EtherCAT directory of TwinCAT3, carrying out hardware scanning, and configuring an NC shaft to finish the hardware connection. The TwinCAT3 can acquire the expected joint angle obtained by inverse kinematics calculation in the upper computer every 10ms, calculates the expected angle of the driving motor through a wire driving model, controls the motor to move to a specified angle through the NC shaft, and completes the motion control of the slave hand instrument arm.
A control algorithm of an incremental master-slave heterogeneous minimally invasive surgery robot system comprises four stages:
a. acquiring position and posture information of the hands of a doctor through a main hand device, filtering physiological shake in the motion information of the hands of the doctor, and acquiring a more accurate control signal;
b. Establishing a motion mapping relation between the master hand equipment and the slave hand instrument arm, and taking the mapped position and gesture as target position and gesture of the slave hand instrument arm;
c. the mapped position and posture data are calculated according to inverse kinematics of the slave hand instrument arm configuration, and the angle information of each joint of the slave hand instrument arm is calculated;
d. The method is characterized in that the method comprises the steps of receiving processed joint angle information through an ADS communication technology based on TWINCAT system, calculating the actual position of each driving motor by adopting a joint decoupling algorithm, back clearance compensation and a polynomial interpolation method, and further controlling the driving motors to move so as to realize accurate pose control of the slave arm of the hand instrument.
The butterworth filter is adopted to realize the filtering of physiological jitter in the hand movement information of doctors. The Butterworth filter is a high-efficiency filter, and can effectively filter out signals in a specific frequency range, and retain useful motion information, so that the quality of control signals is improved.
As shown in fig. 3, the sampling frequency of the master hand device of the master hand jitter filtering chart is 100Hz, hand jitter signals of 8-12Hz need to be filtered, the passband range of the filter is set to be all frequency ranges except 8-12Hz, and the filter is implemented by using a second-order band-stop filter. The transfer function of a butterworth band-stop filter can be expressed as the product of two first order low-pass filters and two first order high-pass filters, as follows:
K is the gain factor, w 0 is the center frequency, s 0 is the zero point, and Q 0 is the quality factor. For an n-order band reject filter, this can be achieved by decomposing n into two integers p and q, where p and q are the orders of the two first order low pass filters, respectively. Substitution of s 2 to And into a bilinear transformation formula, a transfer function in the discrete time domain can be obtained:
where b_0, b_1, b_n and a_1, a_2, a_n is a coefficient of the filter. In Matlab, a butterworth second order band reject filter can be designed using a "button" function, and the calculation coefficients are a= [1, -1.447972597,0.775679511], b= [0.887839755, -1.447972597,0.8878397555], and a main hand jitter filter test is performed.
And respectively publishing the original position data and the filtered position data of the master hand equipment to corresponding topics, checking the filtering effect of the position signals in real time through an Rqt drawing tool carried by the ROS, wherein a solid line represents the original position signals of the master hand equipment, and a dotted line represents the position signals of the master hand equipment after being filtered. The broken line is more steady relative to the solid line, and the filtering effect is obvious.
The motion mapping relation between the master hand equipment and the slave hand instrument arm is established as follows:
The method comprises the steps of obtaining the position P M0 of a dynamic zero point of a master hand device, obtaining the position P S0 of the dynamic zero point of a slave hand device, obtaining the position P MC of the master hand device and the position P SC of the slave hand device at a certain moment when a doctor operates the master hand device to move to the certain moment, calculating the position increment of the master hand device relative to the dynamic zero point position P M0 when the master hand device moves to the current position P MC, namely (P MC-PM0), multiplying the position increment by a scale factor k, acting the position increment on the dynamic zero point P S0 of the slave hand device arm, and calculating the current target position P SC of the tail end of the slave hand device, wherein the position mapping relation between the master hand device and the slave hand device is as follows:
PSC＝PS0+k(PMC-PM0 )
The mapping relation between the tail end gesture of the slave hand instrument arm and the gesture increment of the master hand instrument is as follows:
RSC＝Rotz(ΔθMZ)*Roty(ΔθMY)*Rotx(ΔθMX)*RS0
R S0 is a dynamic zero point of the tail end gesture of the mechanical arm, and the dynamic zero point is also selected. Rotz (), roty (), rotx () respectively represents a 3×3 rotation matrix generated by rotating the slave manipulator arm around the Z, Y and X axes of the end tool coordinate system of the slave manipulator arm, delta theta MZ,ΔθMY and delta theta MX are respectively rotation increment of the wrist joint of the master manipulator, and R SC represents that the slave manipulator obtains the current target position and posture through a posture mapping relation on the basis of a dynamic zero point R S0.
Solving inverse kinematics by using a sequence quadratic programming method:
In the aspect of kinematics solution, the invention adopts a nonlinear optimized numerical inverse solution method with constraint, namely a sequence quadratic programming method (Sequential Quadratic Programming, SQP) to solve inverse kinematics. The SQP is an efficient algorithm, is suitable for solving the optimization problem containing both equation and inequality constraint, is particularly suitable for accurately calculating the angles of all joints of the mechanical arm, solves the inverse kinematics problem of the surgical mechanical arm by using the SQP algorithm, takes limit of all joints of the hand instrument arm as constraint conditions, and designs an objective function as the sum of the absolute values of the position error and the attitude error between the target pose matrix T d and the current actual pose matrix T c, wherein the sum is represented by the following formula:
wherein ,errorientation＝errr+errp+erry,errposition＝errx+erry+errz, the angular limits of the joints are shown in table 1:
Table 1 limiting the angles of the joints
The specific contents for realizing the accurate pose control of the slave hand instrument arm are as follows:
The joint decoupling algorithm is adopted when the joint motion is processed, and the back clearance compensation processing is carried out on the possible reverse motion, so that the smoothness and the accuracy of the mechanical arm motion are ensured. And obtaining a motor target movement angle through processing the joint movement angle obtained through inverse kinematics calculation by a multi-joint decoupling algorithm, judging whether the joint moves reversely, and if so, performing back clearance compensation processing. And finally outputting the compensated angle to a motor driver to control the motor to rotate, so that the precise pose control of the surgical mechanical arm can be completed.
Therefore, the incremental master-slave heterogeneous minimally invasive surgical robot system and the control algorithm establish a motion mapping relation between the master hand equipment and the slave hand equipment arm, and allow a doctor to accurately and efficiently control the slave hand equipment arm to execute a series of surgical actions by operating the master hand equipment. In addition, the main hand shake filtering and main hand safety limiting functions are integrated, and the accuracy and safety of the operation are further improved. Not only optimizes the control flow, improves the regularity and the simplicity of the operation, but also reduces the difficulty of system design and implementation. High precision and high efficiency in the operation process are ensured, so that the minimally invasive surgical robot system is more reliable and easier to operate.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted by the same, and the modified or substituted technical solution may not deviate from the spirit and scope of the technical solution of the present invention.
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