CN119632686B - Structural parameter determining method and device for surgical robot, electronic equipment and storage medium - Google Patents
Structural parameter determining method and device for surgical robot, electronic equipment and storage mediumInfo
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- CN119632686B CN119632686B CN202510186086.XA CN202510186086A CN119632686B CN 119632686 B CN119632686 B CN 119632686B CN 202510186086 A CN202510186086 A CN 202510186086A CN 119632686 B CN119632686 B CN 119632686B
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Abstract
本发明公开了一种手术机器人的结构参数确定方法、装置、电子设备及存储介质。该方法包括：获取腔镜手术机器人的机械臂末端运动旋量和机械臂末端操作力；基于所述腔镜手术机器人的机械臂末端运动旋量和机械臂末端操作力，对预先构建的机械臂结构寻优目标函数进行求解，得到腔镜手术机器人的机械臂的目标结构参数；其中，所述目标结构参数包括连杆质量、惯性矩、质心位置和连杆长度。上述技术方案，实现了腔镜手术机器人的机械臂结构参数自动求解与优化，提升了机械臂结构参数确定效率以及机械臂结构参数的精确度。
The present invention discloses a method, device, electronic device and storage medium for determining the structural parameters of a surgical robot. The method comprises: obtaining the end motion rotation quantity and the end operating force of the robotic arm of the laparoscopic surgical robot; based on the end motion rotation quantity and the end operating force of the robotic arm of the laparoscopic surgical robot, solving a pre-constructed robotic arm structure optimization objective function to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot; wherein the target structural parameters include the mass of the connecting rod, the moment of inertia, the center of mass position and the length of the connecting rod. The above technical scheme realizes the automatic solution and optimization of the structural parameters of the robotic arm of the laparoscopic surgical robot, and improves the efficiency of determining the structural parameters of the robotic arm and the accuracy of the structural parameters of the robotic arm.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for determining structural parameters of a surgical robot, an electronic device, and a storage medium.
Background
In modern medical technology, the application of endoscopic surgical robots has become an important means for improving surgical accuracy and reducing surgical risks.
At present, the mechanical structural design of the endoscopic surgery robot is particularly difficult and complicated due to the requirements of working space, operation precision, dynamic response capability and the like of the endoscopic surgery robot. The traditional mechanical structure design often depends on experience and trial and error, and the method is low in efficiency and difficult to achieve optimal design, and has the problems of low mechanical arm structure parameter determination efficiency and inaccurate mechanical arm structure parameters.
Disclosure of Invention
The invention provides a structural parameter determining method, a structural parameter determining device, electronic equipment and a storage medium of a surgical robot, so as to improve the structural parameter determining efficiency of a mechanical arm and the accuracy of the structural parameter of the mechanical arm.
According to an aspect of the present invention, there is provided a structural parameter determining method of a surgical robot, including:
Acquiring the movement rotation of the tail end of a mechanical arm and the operation force of the tail end of the mechanical arm of the endoscopic surgery robot;
solving a pre-constructed mechanical arm structure optimizing objective function based on the mechanical arm tail end movement rotation and the mechanical arm tail end operation force of the endoscopic surgery robot to obtain a target structure parameter of the mechanical arm of the endoscopic surgery robot;
Wherein the target structural parameters include link mass, moment of inertia, centroid position, and link length.
According to another aspect of the present invention, there is provided a structural parameter determining apparatus of a surgical robot, including:
a data acquisition module of a laparoscopic surgery robot, the device is used for acquiring the movement rotation of the tail end of the mechanical arm and the operating force of the tail end of the mechanical arm of the endoscopic surgery robot;
The target structure parameter determining module is used for solving a pre-constructed mechanical arm structure optimizing target function based on the mechanical arm tail end movement rotation and the mechanical arm tail end operating force of the endoscopic surgery robot to obtain target structure parameters of the mechanical arm of the endoscopic surgery robot;
Wherein the target structural parameters include link mass, moment of inertia, centroid position, and link length.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor;
And a memory communicatively coupled to the at least one processor;
The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the structural parameter determining method of the surgical robot according to any embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the structural parameter determining method of the surgical robot according to any embodiment of the present invention.
According to the technical scheme, the target structure parameters of the mechanical arm of the endoscopic surgery robot are obtained by obtaining the movement rotation quantity of the mechanical arm end and the operation force of the mechanical arm end of the endoscopic surgery robot, and then solving a pre-constructed mechanical arm structure optimizing target function according to the movement rotation quantity of the mechanical arm end and the operation force of the mechanical arm end of the endoscopic surgery robot, wherein the target structure parameters comprise the mass of a connecting rod, the moment of inertia, the mass center position and the length of the connecting rod. According to the technical scheme, the automatic solving and optimizing of the mechanical arm structural parameters of the endoscopic surgical robot are realized, the mechanical arm structural parameter determining efficiency and the mechanical arm structural parameter accuracy are improved, accordingly, the energy required by mechanical arm movement is reduced, and the mechanical arm movement stability is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a structural parameter determining method of a surgical robot according to a first embodiment of the present invention;
Fig. 2 is a flowchart of a method for determining structural parameters of a surgical robot according to a second embodiment of the present invention;
Fig. 3 is a flowchart of a structural parameter determining method of a surgical robot according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of a structural parameter determining apparatus of a surgical robot according to a fourth embodiment of the present invention;
Fig. 5 is a schematic structural view of an electronic device implementing a structural parameter determining method of a surgical robot according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical scheme of the application obtains, stores, uses, processes and the like the data, which all meet the relevant regulations of national laws and regulations.
Example 1
Fig. 1 is a flowchart of a method for determining structural parameters of a surgical robot according to an embodiment of the present invention, where the method may be applied to a case where structural parameters of a mechanical arm of a laparoscopic surgical robot are automatically optimized, and the method may be performed by a structural parameter determining device of the surgical robot, where the structural parameter determining device of the surgical robot may be implemented in a form of hardware and/or software, and the structural parameter determining device of the surgical robot may be configured in an electronic device such as a laparoscopic surgical robot or a computer. As shown in fig. 1, the method includes:
S110, acquiring the movement rotation of the tail end of the mechanical arm and the operation force of the tail end of the mechanical arm of the endoscopic surgery robot.
In embodiments of the present invention, the laparoscopic surgical robot refers to medical equipment designed to perform various minimally invasive procedures. The rotation of the end of the arm refers to the rotation used to describe the state of motion of the end effector of the arm (e.g., a hand grip or suction cup, etc.) in space. The manipulator end-effector is a force generated by interaction between the manipulator end-effector and the external environment or workpiece when the manipulator performs a work task.
Illustratively, the rotation of the end of the mechanical arm and the end operating force of the mechanical arm can be obtained through various physical calculations related to the laparoscopic surgical robot, and the rotation of the end of the mechanical arm and the end operating force of the mechanical arm can also be obtained through direct acquisition by a sensor, which is not particularly limited herein.
And S120, solving a pre-constructed mechanical arm structure optimizing objective function based on the mechanical arm tail end movement rotation and the mechanical arm tail end operation force of the endoscopic surgical robot to obtain the objective structural parameters of the mechanical arm of the endoscopic surgical robot.
In the embodiment of the invention, the mechanical arm structure optimizing objective function refers to a function for analyzing the quality of different design schemes in the mechanical arm structure design and optimization process.
The mechanical arm structure optimizing objective function may be determined according to a dynamic model of the relationship between the mechanical arm joint moment and the mechanical arm movement, or may be obtained by learning the relationship between the historical mechanical arm end movement rotation, the historical mechanical arm end operation force and the mechanical arm structure parameter by using a machine learning model, which is not particularly limited herein.
The target structural parameters may include link mass, moment of inertia, centroid position, and link length of the robotic arm. The mass of the connecting rod refers to the weight or mass of a substance of the connecting rod, and the dynamic performance and stability of the mechanical arm are directly influenced. The moment of inertia reflects the ability of the link to resist changing its state of motion during rotation or translation. The centroid position refers to the center point of the mass distribution of the connecting rod, which directly affects the balance and stability of the mechanical arm. The length of the connecting rod refers to the distance between the joint axes at the two ends of the connecting rod, and the working range and the flexibility of the mechanical arm are determined.
According to the technical scheme, the target structure parameters of the mechanical arm of the endoscopic surgery robot are obtained by obtaining the movement rotation quantity of the mechanical arm end and the operation force of the mechanical arm end of the endoscopic surgery robot, and then solving a pre-constructed mechanical arm structure optimizing target function according to the movement rotation quantity of the mechanical arm end and the operation force of the mechanical arm end of the endoscopic surgery robot, wherein the target structure parameters comprise the mass of a connecting rod, the moment of inertia, the mass center position and the length of the connecting rod. According to the technical scheme, the automatic solving and optimizing of the mechanical arm structural parameters of the endoscopic surgical robot are realized, the mechanical arm structural parameter determining efficiency and the mechanical arm structural parameter accuracy are improved, accordingly, the energy required by mechanical arm movement is reduced, and the mechanical arm movement stability is improved.
Example two
Fig. 2 is a flowchart of a method for determining structural parameters of a surgical robot according to a second embodiment of the present invention, where the method of this embodiment may be combined with each of the alternatives in the method for determining structural parameters of a surgical robot provided in the foregoing embodiment. The structural parameter determining method of the surgical robot provided by the embodiment is further optimized. The method comprises the steps of obtaining the mechanical arm joint position, the mechanical arm joint speed and the mechanical arm joint moment of the endoscopic surgical robot, determining the mechanical arm end movement rotation based on the mechanical arm joint position and the mechanical arm joint speed, and determining the mechanical arm end operation force based on the mechanical arm joint position and the mechanical arm joint moment.
As shown in fig. 2, the method includes:
S210, acquiring the joint position, the joint speed and the joint moment of a mechanical arm of the laparoscopic surgery robot.
In the embodiment of the invention, the mechanical arm joint position refers to an angle where a mechanical arm joint of the laparoscopic surgery robot moves, for example, the mechanical arm joint position may be 10 degrees or the like. The manipulator joint speed refers to the manipulator joint movement speed of the laparoscopic surgical robot, for example, the manipulator joint speed may be 10 °/s. The joint moment of the mechanical arm refers to the torque required by the mechanical arm of the endoscopic surgical robot on the joint.
For example, the arm joint position may be acquired by a displacement sensor, the arm joint speed may be acquired by a speed sensor, and the arm joint torque may be acquired by a torque sensor.
And S220, determining the movement rotation of the tail end of the mechanical arm based on the joint position of the mechanical arm and the joint speed of the mechanical arm.
In the embodiment of the invention, the movement rotation of the tail end of the mechanical arm can be calculated according to the joint position and the joint speed of the mechanical arm.
Optionally, the calculation formula for determining the rotation of the movement of the tail end of the mechanical arm is as follows:
;
Wherein, the Indicating the rotation of the movement of the tail end of the mechanical arm,The joint position of the mechanical arm is indicated,The joint speed of the mechanical arm is represented,And the jacobian matrix corresponding to the joint position of the mechanical arm is represented.
And S230, determining the tail end operation force of the mechanical arm based on the joint position of the mechanical arm and the joint moment of the mechanical arm.
In the embodiment of the invention, the manipulator tail end operating force can be calculated according to the manipulator joint position and the manipulator joint moment.
Optionally, the calculation formula for determining the arm end operation force is as follows:
;
Wherein, the Indicating the end operating force of the mechanical arm,The joint position of the mechanical arm is indicated,Representing a jacobian matrix corresponding to the joint position of the mechanical arm,Representing the joint moment of the mechanical arm.
S240, solving a pre-constructed mechanical arm structure optimizing objective function based on the mechanical arm tail end movement rotation and the mechanical arm tail end operation force of the endoscopic surgical robot to obtain the objective structural parameters of the mechanical arm of the endoscopic surgical robot.
According to the technical scheme, the mechanical arm joint position, the mechanical arm joint speed and the mechanical arm joint moment of the endoscopic surgery robot are obtained, so that the movement rotation of the tail end of the mechanical arm is determined according to the mechanical arm joint position and the mechanical arm joint speed, and the operation force of the tail end of the mechanical arm is determined according to the mechanical arm joint position and the mechanical arm joint moment, the precise collection and the determination of the movement rotation of the tail end of the mechanical arm and the operation force of the tail end of the mechanical arm are realized, and an accurate data basis is provided for automatic solving and optimizing of mechanical arm structural parameters of the endoscopic surgery robot.
Example III
Fig. 3 is a flowchart of a method for determining structural parameters of a surgical robot according to a third embodiment of the present invention, where the method according to the present embodiment may be combined with each of the alternatives in the method for determining structural parameters of a surgical robot according to the foregoing embodiment. The structural parameter determining method of the surgical robot provided by the embodiment is further optimized. Optionally, the method comprises the steps of solving a pre-built mechanical arm structure optimizing objective function based on the mechanical arm end movement rotation and the mechanical arm end operating force of the endoscopic surgery robot to obtain target structure parameters of the mechanical arm of the endoscopic surgery robot, wherein the method comprises the steps of inputting the mechanical arm end movement rotation and the mechanical arm end operating force of the endoscopic surgery robot into the pre-built mechanical arm structure optimizing objective function, and solving the target structure parameters of the mechanical arm of the endoscopic surgery robot through a pre-built intelligent algorithm, and the pre-built intelligent algorithm is at least one of a genetic algorithm, a particle swarm algorithm, an ant swarm algorithm, a regression algorithm and a least square algorithm.
As shown in fig. 3, the method includes:
s310, acquiring the movement rotation of the tail end of the mechanical arm and the operation force of the tail end of the mechanical arm of the endoscopic surgery robot.
S320, inputting the movement rotation of the tail end of the mechanical arm and the operation force of the tail end of the mechanical arm of the endoscopic surgery robot into a pre-constructed mechanical arm structure optimizing objective function, and solving through a preset intelligent algorithm to obtain the objective structural parameter of the mechanical arm of the endoscopic surgery robot, wherein the preset intelligent algorithm is at least one of a genetic algorithm, a particle swarm algorithm, an ant colony algorithm, a regression algorithm and a least square algorithm.
In the embodiment of the invention, the actual physical meaning and manufacturability of the mechanical arm of the endoscopic surgical robot are ensured, and the optimizing range can be set for the mass of the connecting rod, the moment of inertia, the mass center position and the length of the connecting rod according to the design requirement, so that the endoscopic surgical robot is not particularly limited. Further, the motion rotation of the tail end of the mechanical arm and the operation force of the tail end of the mechanical arm of the endoscopic surgery robot can be input into a pre-constructed optimizing objective function of the mechanical arm structure, and the optimal connecting rod mass, moment of inertia, mass center position and connecting rod length are obtained through solving through a preset intelligent algorithm, so that the joint force/moment of the mechanical arm and the variation quantity of the joint force/moment of the mechanical arm are minimum when the mechanical arm of the endoscopic surgery robot executes the preset tail end motion rotation and the operation force of the tail end of the mechanical arm, energy required by the movement of the mechanical arm is reduced, and the stability of the movement of the mechanical arm is improved.
Optionally, before solving the pre-constructed mechanical arm structure optimizing target function based on the mechanical arm end movement rotation and the mechanical arm end operation force of the endoscopic surgical robot to obtain the target structure parameter of the mechanical arm of the endoscopic surgical robot, the method further comprises the steps of establishing a dynamic model of the mechanical arm joint moment and the mechanical arm end movement relation, and determining the mechanical arm structure optimizing target function based on the dynamic model of the mechanical arm joint moment and the mechanical arm end movement relation.
It should be noted that the relation between the joint moment of the mechanical arm and the movement of the tail end of the mechanical arm is represented by a dynamic model, so that the change condition of the joint moment under different movement conditions is more intuitively described. Furthermore, the mechanical arm structural parameter optimization method based on the dynamic model is simple and efficient, the dependence of the traditional structural parameter optimization method on experience is solved, and the mechanical arm structural parameter optimization efficiency and uniformity are improved.
Optionally, the mechanical arm structure optimizing objective function is:
;
;
;
;
Wherein, the A dynamic model for representing the relation between the joint moment of the mechanical arm and the motion of the mechanical arm,Representation ofIs used for the differentiation of the (c) and (d),The mass of the connecting rod is represented,The moment of inertia is indicated as such,The centroid position is indicated and,Indicating the length of the connecting rod,Representing a jacobian matrix related to the length of the link,Representing an inertial matrix related to the mass of the connecting rod, moment of inertia, centroid position and connecting rod length,The function of the force vector is represented,Representation ofIs used for the differentiation of the (c) and (d),Indicating the rotation of the movement of the tail end of the mechanical arm,Representation ofIs used for the differentiation of the (c) and (d),Indicating the arm end operating force.
In the embodiment of the invention, the force vector function may be a force vector function that is a combination of centripetal force, coriolis force, gravity, friction force, and the like. In particular, the method comprises the steps of,Can be according toThe model is converted to a model, wherein,Representing a mechanical arm end force-moment vector。
According to the technical scheme, the optimal connecting rod mass, moment of inertia, centroid position and connecting rod length are obtained through solving by the preset intelligent algorithm, so that the minimum joint force/moment and variation of the mechanical arm are ensured when the mechanical arm of the endoscopic surgery robot executes the preset end movement rotation and the mechanical arm end operation force, the energy required by the movement of the mechanical arm is reduced, and the movement stability of the mechanical arm is improved.
Example IV
Fig. 4 is a schematic structural diagram of a structural parameter determining apparatus of a surgical robot according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus includes:
An endoscopic surgery robot data acquisition module 410 for acquiring a robot arm end movement rotation and a robot arm end operation force of the endoscopic surgery robot;
The target structure parameter determining module 420 is configured to solve a pre-constructed mechanical arm structure optimizing target function based on the mechanical arm end movement rotation and the mechanical arm end operation force of the laparoscopic surgery robot, so as to obtain a target structure parameter of the mechanical arm of the laparoscopic surgery robot;
Wherein the target structural parameters include link mass, moment of inertia, centroid position, and link length.
According to the technical scheme, the target structure parameters of the mechanical arm of the endoscopic surgery robot are obtained by obtaining the movement rotation quantity of the mechanical arm end and the operation force of the mechanical arm end of the endoscopic surgery robot, and then solving a pre-constructed mechanical arm structure optimizing target function according to the movement rotation quantity of the mechanical arm end and the operation force of the mechanical arm end of the endoscopic surgery robot, wherein the target structure parameters comprise the mass of a connecting rod, the moment of inertia, the mass center position and the length of the connecting rod. According to the technical scheme, the automatic solving and optimizing of the mechanical arm structural parameters of the endoscopic surgical robot are realized, the mechanical arm structural parameter determining efficiency and the mechanical arm structural parameter accuracy are improved, accordingly, the energy required by mechanical arm movement is reduced, and the mechanical arm movement stability is improved.
In some alternative embodiments, the laparoscopic surgical robot data acquisition module 410 includes:
The mechanical arm data acquisition unit is used for acquiring the mechanical arm joint position, the mechanical arm joint speed and the mechanical arm joint moment of the endoscopic surgery robot;
the mechanical arm tail end movement rotation determining unit is used for determining mechanical arm tail end movement rotation based on the mechanical arm joint position and the mechanical arm joint speed;
And a mechanical arm end operating force determining unit for determining the mechanical arm end operating force based on the mechanical arm joint position and the mechanical arm joint moment.
In some alternative embodiments, the calculation formula for determining the rotation of the end movement of the mechanical arm is as follows:
;
Wherein, the Indicating the rotation of the movement of the tail end of the mechanical arm,The joint position of the mechanical arm is indicated,The joint speed of the mechanical arm is represented,And the jacobian matrix corresponding to the joint position of the mechanical arm is represented.
In some alternative embodiments, the calculation formula for determining the manipulator end-of-arm operating force is as follows:
;
Wherein, the Indicating the end operating force of the mechanical arm,The joint position of the mechanical arm is indicated,Representing a jacobian matrix corresponding to the joint position of the mechanical arm,Representing the joint moment of the mechanical arm.
In some alternative embodiments, the target structure parameter determination module 420 includes:
The intelligent algorithm optimizing unit is used for inputting the movement rotation of the tail end of the mechanical arm and the operation force of the tail end of the mechanical arm of the endoscopic surgery robot into a pre-constructed mechanical arm structure optimizing objective function, and solving the mechanical arm structure optimizing objective function through a preset intelligent algorithm to obtain the objective structural parameters of the mechanical arm of the endoscopic surgery robot;
the preset intelligent algorithm is at least one of a genetic algorithm, a particle swarm algorithm, an ant colony algorithm, a regression algorithm and a least square algorithm.
In some alternative embodiments, a structural parameter determination device of a surgical robot includes:
the dynamic model building module is used for building a dynamic model of the relation between the joint moment of the mechanical arm and the movement of the tail end of the mechanical arm;
the mechanical arm structure optimizing target function determining module is used for determining the mechanical arm structure optimizing target function based on a dynamic model of the relation between the mechanical arm joint moment and the mechanical arm tail end movement.
In some alternative embodiments, the robotic arm structure optimization objective function is:
;
;
;
;
Wherein, the A dynamic model for representing the relation between the joint moment of the mechanical arm and the motion of the mechanical arm,Representation ofIs used for the differentiation of the (c) and (d),The mass of the connecting rod is represented,The moment of inertia is indicated as such,The centroid position is indicated and,Indicating the length of the connecting rod,Representing a jacobian matrix related to the length of the link,Representing an inertial matrix related to the mass of the connecting rod, moment of inertia, centroid position and connecting rod length,The function of the force vector is represented,Representation ofIs used for the differentiation of the (c) and (d),Indicating the rotation of the movement of the tail end of the mechanical arm,Representation ofIs used for the differentiation of the (c) and (d),Indicating the arm end operating force.
The structural parameter determining device of the surgical robot provided by the embodiment of the invention can execute the structural parameter determining method of the surgical robot provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example five
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., helmets, eyeglasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An I/O interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including an input unit 16, such as a keyboard, mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, optical disk, etc., and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a structural parameter determination method of a surgical robot, the method comprising:
Acquiring the movement rotation of the tail end of a mechanical arm and the operation force of the tail end of the mechanical arm of the endoscopic surgery robot;
solving a pre-constructed mechanical arm structure optimizing objective function based on the mechanical arm tail end movement rotation and the mechanical arm tail end operation force of the endoscopic surgery robot to obtain a target structure parameter of the mechanical arm of the endoscopic surgery robot;
Wherein the target structural parameters include link mass, moment of inertia, centroid position, and link length.
In some embodiments, the structural parameter determination method of the surgical robot may be implemented as a computer program, which is tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the structural parameter determination method of the surgical robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the structural parameter determination method of the surgical robot in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system-on-chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
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| US11766775B2 (en) * | 2021-05-20 | 2023-09-26 | Ubkang (Qingdao) Technology Co., Ltd. | Method, device and computer-readable storage medium for designing serial manipulator |
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| WO2024174060A1 (en) * | 2023-02-20 | 2024-08-29 | Shanghai Flexiv Robotics Technology Co., Ltd. | Method for determining external force applied to robotic arm, robotic arm and storage medium |
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