CN113017941B

CN113017941B - Interaction control method and device for acting force of mechanical arm, electronic equipment and storage medium

Info

Publication number: CN113017941B
Application number: CN202110270122.2A
Authority: CN
Inventors: 黄志俊; 陈鹏; 刘金勇
Original assignee: Lancet Robotics Co Ltd
Current assignee: Lancet Robotics Co Ltd
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2024-07-05
Anticipated expiration: 2041-03-12
Also published as: CN113017941A

Abstract

The disclosure relates to a method and a device for controlling interaction of acting force of a mechanical arm, electronic equipment and a storage medium, wherein the method comprises the following steps: under the condition that the tail end reaches the boundary of the conical region, acquiring a first stress parameter detected by a stress sensor; determining tangential force and normal force of the tail end according to the first stress parameter and the size parameter of the conical region; the normal force is set to zero so that the motion trajectory of the tip is the boundary around the conical region. According to the mechanical arm acting force interaction control method, a movable conical region of the mechanical arm can be set, when the tail end of the mechanical arm reaches the boundary of the conical region, the movement track of the tail end of the mechanical arm is limited to surround the boundary of the conical region, excessive grinding and contusion caused by the fact that the tail end of the mechanical arm exceeds the boundary of the conical region can be prevented, structures such as acetabular fossa, ligaments and soft tissue nerves are protected, grinding and contusion can be prevented from being in place, true acetabular fossa can be fully revealed, and the accuracy of prosthesis implantation is improved.

Description

Interaction control method and device for acting force of mechanical arm, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of medical instruments, and in particular relates to a method and a device for interaction control of acting force of a mechanical arm, electronic equipment and a storage medium.

Background

Artificial joint replacement is currently the most effective means of treating advanced osteoarthritis. The procedure requires removal of the diseased femoral head from the patient and installation of a corresponding acetabular block prosthesis. Before installing the prosthesis, the acetabular fossa of the human body must be ground until the acetabular fossa conforms to the external dimensions of the acetabular prosthesis, and then the acetabular cup is placed into the acetabular fossa.

In the related art, in a hip replacement operation, a doctor holds a device with a rubbing to grind an acetabulum, the operation is a manual operation, and uncertainty of grinding effect is large, for example, influence of factors such as force magnitude, direction, angle and the like of the doctor is large, or influence of expertise and experience of the doctor is large. In the grinding process, excessive grinding force, insufficient grinding depth, eccentric grinding, abnormal anatomical position missing caused by eccentric grinding, uneven grinding caused by sliding of a grinding head and the like are easy to occur. Therefore, the probability of the grinding result not matching with the implanted prosthesis is high, and if the mismatching occurs, the pain of the patient and the bad rehabilitation of the exercise function, that is, the poor operation effect, are caused.

Compared with manual grinding, the mechanical arm of the joint replacement surgery robot can grind more accurately, and the accuracy of prosthesis implantation is improved. The current core difficulty in grinding by a robot is that feedback and control of force in operation are difficult to control in the process of grinding and contusion of acetabulum at the tail end of a mechanical arm, so that excessive grinding and contusion are caused, acetabular fossa is punctured, structures such as ligaments, soft tissue nerves and the like outside a target anatomical structure are damaged, or grinding and contusion are not in place, and a true acetabular bottom cannot be fully exposed.

Disclosure of Invention

Based on the above factors, the grinding device can assist doctors to grind hemispheres with constant positions and single curvatures, improves the machining precision of grinding and rubbing machining, improves the matching degree of acetabulum and prosthesis, enables the mechanical arm to be controllable in the working process, and improves the safety of doctors and patients.

The disclosure provides a mechanical arm acting force interaction control method and device, electronic equipment and storage medium.

According to an aspect of the present disclosure, there is provided a method for controlling interaction of acting force of a mechanical arm, where the mechanical arm includes a distal end and an operation end, and a stress sensor is disposed at a position near the operation end of the mechanical arm, including: under the condition that the tail end reaches the boundary of a preset conical area, acquiring a first stress parameter detected by the stress sensor; determining tangential force of the tail end tangential to the boundary of the conical region and normal force of the tail end normal to the boundary of the conical region according to the first stress parameter and the size parameter of the conical region; the normal force is set to zero such that the trajectory of movement of the tip is the boundary around the conical region.

In one possible implementation, determining the tangential force of the tip tangential to the boundary of the conical region and the normal force normal to the boundary of the conical region according to the first stress parameter and the dimensional parameter of the conical region includes: determining a second stress parameter of the tail end according to the size parameter of the conical region and the first stress parameter; and determining the tangential force and the normal force according to a second stress parameter of the tail end.

In one possible implementation, the size parameter of the conical region includes a vertex angle of the conical region, and determining the second stress parameter of the tip according to the size parameter of the conical region and the first stress parameter includes: and determining a second stress parameter of the tail end according to the vertex angle of the conical region and the first stress parameter.

In one possible implementation, the method further includes: determining a third force parameter of the tip after the normal force is set to zero; and determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move tangentially.

In one possible implementation manner, the operation end is configured to receive an operation action on the mechanical arm, and the size parameter of the conical area includes a first circle diameter of the conical area, and the method further includes: determining a current first position of the tip; determining a second circle diameter of the movement track of the tail end according to the first position; and carrying out feedback correction processing on the second circle diameter according to the first circle diameter, so that the movement track of the tail end is limited to encircle the boundary of the conical region.

In one possible implementation, determining the current first position of the tip includes: determining the position relationship between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm; determining a second position of the operating end according to the operating action; and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

In one possible implementation, feedback correction processing is performed on the second circle diameter according to the first circle diameter, so that the movement track of the tail end is limited to a boundary surrounding the conical region, including: determining a track deviation according to the second circle diameter and the first circle diameter; performing feedback correction according to the track deviation to obtain adjustment parameters; and adjusting the movement track of the tail end according to the adjustment parameters, so that the movement track of the tail end is limited to move around the boundary of the conical region.

According to an aspect of the present disclosure, there is provided a mechanical arm acting force interaction control device, including: the first stress parameter module is used for acquiring a first stress parameter detected by the stress sensor under the condition that the tail end reaches the boundary of a preset conical area; the normal force module is used for determining tangential force of the tail end tangential to the boundary of the conical region and normal force of the tail end normal to the boundary of the conical region according to the first stress parameter and the size parameter of the conical region; and the limiting module is used for setting the normal force to zero so that the movement track of the tail end is a boundary surrounding the conical area.

In one possible implementation, the normal force module is further configured to: determining a second stress parameter of the tail end according to the size parameter of the conical region and the first stress parameter; and determining the tangential force and the normal force according to a second stress parameter of the tail end.

In one possible implementation, the dimensional parameter of the conical region includes a vertex angle of the conical region, and the normal force module is further configured to: and determining a second stress parameter of the tail end according to the vertex angle of the conical region and the first stress parameter.

In one possible implementation, the apparatus further includes: a third stress parameter module for determining a third stress parameter of the tip after the normal force is set to zero; a fourth stress parameter module, configured to determine a fourth stress parameter at the stress sensor according to the third stress parameter, so that an operation end of the mechanical arm moves tangentially

In a possible implementation manner, the operation end is configured to receive an operation action on the mechanical arm, and the dimensional parameter of the conical area includes a first circle diameter of the conical area, and the apparatus further includes: a correction module for: determining a current first position of the tip; determining a second circle diameter of the movement track of the tail end according to the first position; and carrying out feedback correction processing on the second circle diameter according to the first circle diameter, so that the movement track of the tail end is limited to encircle the boundary of the conical region.

In one possible implementation, the correction module is further configured to: determining the position relationship between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm; determining a second position of the operating end according to the operating action; and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

In one possible implementation, the correction module is further configured to: determining a track deviation according to the second circle diameter and the first circle diameter; performing feedback correction according to the track deviation to obtain adjustment parameters; and adjusting the movement track of the tail end according to the adjustment parameters, so that the movement track of the tail end is limited to move around the boundary of the conical region.

According to an aspect of the present disclosure, there is provided an electronic apparatus including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to perform the above method.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

According to the virtual boundary interaction method of the embodiment of the disclosure, a movable conical region of the mechanical arm can be set, when the tail end of the mechanical arm reaches the boundary of the conical region, the motion track of the tail end of the mechanical arm is limited to the boundary surrounding the conical region, excessive grinding and contusion caused by the fact that the tail end of the mechanical arm exceeds the boundary of the conical region can be prevented, structures such as acetabular fossa, ligaments and soft tissue nerves are protected, grinding and contusion can be prevented from being in place, a true acetabular fossa can be fully revealed, and the accuracy of prosthesis implantation is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the technical aspects of the disclosure.

FIG. 1 illustrates a flow chart of a robotic arm effort interaction control method according to an embodiment of the disclosure;

FIG. 2 shows a schematic view of a conical region according to an embodiment of the present disclosure;

FIG. 3 illustrates an application diagram of a robotic arm effort interaction control method according to an embodiment of the disclosure;

FIG. 4 illustrates a block diagram of a robotic arm effort interaction control device according to an embodiment of the disclosure;

fig. 5 shows a block diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.

Fig. 1 shows a flowchart of a method for controlling interaction of a mechanical arm force according to an embodiment of the disclosure, as shown in fig. 1, the method includes:

In step S11, under the condition that the end reaches the boundary of the preset conical area, acquiring a first stress parameter detected by the stress sensor;

in step S12, determining a tangential force of the tip tangential to the boundary of the conical region and a normal force of the tip normal to the boundary of the conical region according to the first stress parameter and the size parameter of the conical region;

In step S13, the normal force is set to zero so that the movement locus of the tip is a boundary around the conical region.

In one possible implementation, the virtual boundary interaction method may be performed by a terminal device, for example, a processor of a robotic arm, or a processor of a joint replacement surgical robot, etc. The present disclosure is not limited by the type of apparatus that performs the method.

In one possible implementation, when the acetabular fossa is ground and frustrated by the robotic arm of the joint replacement surgical robot, the range of motion of the robotic arm may be limited in order to enable accurate machining, i.e., without excessive grinding and without undue grinding and frustration. In an example, the range of motion of the robotic arm may be generally defined within a conical region. The mechanical arm comprises a tail end and an operation end. The tip may be provided with a grinding and polishing rod or the like for grinding and polishing, and the operating end may be provided with a handle for receiving an operation of an operator. The operating end can be positioned at the bottom of the conical region, the tail end can be positioned at the top of the conical region, and the movable range of the bottom of the conical region is larger than that of the top. The operator can operate the mechanical arm at the operation end to perform a larger range of movement, and the movement causes the tail end of the mechanical arm to perform a smaller range of movement, namely, the movement range of the operation end of the mechanical arm is larger than that of the tail end, so that the operation end can be used for finely operating the tail end, and the processing accuracy of the acetabulum can be improved.

In one possible implementation, the range of the conical region may be determined by setting a size parameter of the conical region, for example, the size parameter of the conical region may be set by an upper computer (e.g., a processor of the joint replacement robot) of the mechanical arm, and after the size parameter is set, the controller of the mechanical arm may limit the movement range of the mechanical arm within the conical region, that is, if the mechanical arm reaches the range of the conical region, the mechanical arm may be controlled not to move outside the conical region, that is, limit the movement range of the mechanical arm within the conical region. In an example, the robot arm tip may be restricted from moving outward when it reaches the boundary of the conical region, but instead the robot arm tip is moved around the boundary of the conical region, i.e., the movement trace of the tip is made to be around the boundary of the conical region. The above-described process of limiting the arm tip may enable the arm tip to accurately machine the acetabular fossa, i.e., without excessive or out of place grinding.

Fig. 2 is a schematic diagram of a conical area according to an embodiment of the disclosure, as shown in fig. 2, a dashed area in fig. 2 is the conical area, a solid rod-shaped object is the mechanical arm, the mechanical arm can move within the range of the conical area, and the moving range of the tail end of the mechanical arm is smaller than the moving range of the operating end of the mechanical arm. The end is provided with the grinding and filing rod for grinding and filing processing, and the operating end is provided with the handle for receiving operation, so that the end can finely perform grinding and filing processing.

In one possible implementation, to achieve the above object, the arm tip may be made to no longer move toward the outside of the conical region by limiting the force of the arm tip toward the outside of the conical region when the arm tip reaches the boundary of the conical region, i.e., the arm tip is made to have no power to move toward the outside of the conical region.

In one possible implementation, the position of the arm tip may be determined first and a determination may be made as to whether the position of the arm tip reaches the boundary of the conical region. In an example, the position of the distal end of the manipulator may be determined by manipulation of the manipulator end, the manipulator end and manipulator end being rigidly connected by the manipulator and thus the relative positions of the distal end and manipulator end being fixed, and thus movement of the manipulator end may change the position of the distal end. The position of the tip may be determined by manipulating parameters of the movement of the tip, which may include, for example, distance, angle, etc. of movement, the present disclosure is not limited to parameters of movement.

In one possible implementation, after determining the position of the end of the mechanical arm, it may be determined whether the position of the end of the mechanical arm reaches the boundary of the conical region, for example, may be determined by a distance between the position of the end and the boundary of the conical region, or may be determined by whether coordinates of the end position coincide with coordinates of the boundary of the conical region, and the present disclosure does not limit a manner of determining whether the position of the end reaches the boundary of the conical region.

In one possible implementation, if it is determined that the robotic arm tip position reaches the boundary of the conical region, the tip may be prevented from moving outward by limiting the normal force of the tip toward the outside of the conical region. Thus, the force parameters of the tip may be determined first, then the normal force of the tip may be determined, and further, the normal force may be limited.

In one possible implementation manner, a stress sensor is disposed near the operation end of the mechanical arm, and the stress parameter of the end can be solved by the stress parameter of the stress sensor because the position of the stress sensor is different from the position of the end. In step S11, a first stress parameter detected by the stress sensor may be first obtained, and in step S12, a second stress parameter of the tip may be solved by the first stress parameter, and thus a power, that is, a normal force, of the tip moving toward the outside of the conical region may be determined by the second stress parameter.

In one possible implementation, step S12 may include: determining a second stress parameter of the tail end according to the size parameter of the conical region and the first stress parameter; and determining the tangential force and the normal force according to a second stress parameter of the tail end.

In one possible implementation, the first stress parameter includes a stress F _x in an x-axis direction of the operation end, a stress F _y in a y-axis direction of the operation end, a stress F _z in a z-axis direction of the operation end, and a rotational force F _rx in the x-axis, a rotational force F _ry in the y-axis, and a rotational force F _rz in the z-axis.

In one possible implementation, when the second stress parameter of the end is solved by the first stress parameter, the stress decomposition process can be performed according to the parameter of the mechanical arm, and in the decomposition process, the decomposition can be performed according to the deflection angle of the mechanical arm relative to the perpendicular line of the conical region. When the mechanical arm reaches the boundary of the conical region, the deflection angle is equal to the vertex angle of the conical region. The size parameter of the conical region comprises the vertex angle of the conical region, and the second stress parameter of the tail end is determined according to the size parameter of the conical region and the first stress parameter, and comprises the following steps: and determining a second stress parameter of the tail end according to the vertex angle of the conical region and the first stress parameter.

In an example, the second force-bearing parameter of the end of the mechanical arm may be determined according to the following equation (1):

Wherein, F _{tcp_x} is the force applied in the x-axis direction of the end of the mechanical arm, F _{tcp_y} is the force applied in the y-axis direction of the end of the mechanical arm, and F _{tcp_z} is the force applied in the z-axis direction of the end of the mechanical arm. Alpha is the deflection angle of the tail end of the mechanical arm relative to the perpendicular line of the conical area, and when the tail end of the mechanical arm reaches the boundary of the conical area, alpha is equal to the vertex angle of the conical area.

In one possible implementation, the tangential force and the normal force of the end of the mechanical arm may be solved according to the second stress parameter, which may be determined by the following equation (2), in an example:

Wherein F _q is tangential force and F _f is normal force.

In one possible implementation, after determining the tangential force and the normal force, in order to make the mechanical arm tip no longer move in the normal direction, i.e. no longer move outside the conical region, the tangential force F _q may be limited to 0, and only the tangential force may be retained, i.e. the mechanical arm tip may not have a power to move in the normal direction (i.e. outside) of the conical region, and only move in the tangential direction, i.e. around the boundary of the conical region.

In this way, when the mechanical arm end reaches the boundary of the conical region, the normal force born by the mechanical arm end is limited to 0, and only the tangential force is reserved, so that the mechanical arm end does not have power to move towards the outside of the conical region and can move along the tangential direction, namely, move around the boundary of the conical region, and excessive grinding and contusion of the acetabular fossa by the mechanical arm end can be prevented.

In one possible implementation, after limiting the normal force to 0, the force parameter of the force sensor at this time, that is, the force parameter of the operation end at this time, may be solved, so that the operator may operate the mechanical arm along the tangential direction after the normal force is limited.

In one possible implementation, after the normal force is set to 0, a third stress parameter of the end of the mechanical arm after the normal force is set to zero may be solved according to equations (1) and (2), and in an example, the third stress parameter may be determined according to the following equation (7):

wherein, F '_{tcp_x} is the stress in the x-axis direction of the tail end of the mechanical arm after the normal force is set to 0, and F' _{tcp_y} is the stress in the y-axis direction of the tail end of the mechanical arm after the normal force is set to 0.

Further, the force parameter of the force sensor at this time may be solved according to the third force parameter, that is, the fourth force parameter, which may be determined according to the following equation (4) in an example:

Wherein, F ' _x is the force in the x-axis direction of the operation end after the normal force is set to 0, F ' _y is the force in the y-axis direction of the operation end after the normal force is set to 0, and F ' _z is the force in the z-axis direction of the operation end after the normal force is set to 0.

In this way, the force parameters at the force sensor after the normal force is limited to 0 can be determined so that the operator can operate the mechanical arm in tangential direction after the normal force is limited.

In one possible implementation, after the end of the arm reaches the boundary of the conical region, the motion trajectory of the end of the arm may be limited to encircle the boundary of the conical region, i.e., not exceed the boundary of the conical region, nor move away from the boundary to the middle region of the conical region. By limiting the movement track of the tail end of the mechanical arm in the mode, the tail end of the mechanical arm cannot excessively grind and frustrate the acetabular fossa, and cannot grind and frustrate in place.

In one possible implementation, if the tip deviates from the boundary of the conical region as the robot arm tip moves around the boundary of the conical region, the trajectory of the tip may be corrected by a feedback correction method so that the motion trajectory remains on the boundary of the conical region. The operation end is used for receiving operation actions of the mechanical arm, the dimension parameter of the conical region comprises a first circle diameter of the conical region, and the method further comprises: determining a current first position of the tip; determining a second circle diameter of the movement track of the tail end according to the first position; and carrying out feedback correction processing on the second circle diameter according to the first circle diameter, so that the movement track of the tail end is limited to encircle the boundary of the conical region.

In one possible implementation, the tip is movable around the boundary after reaching the boundary of the conical region, and the second circle diameter of the circular movement is determined according to a first position of the conical tip, i.e. the second circle diameter is smaller when the first position is near the top of the conical region, and is larger when the first position is principle the top of the conical region.

In one possible implementation, the first position of the tip may be determined first by the following. In addition, when determining whether the tip has reached the boundary of the conical region, the position of the tip may be determined as follows. Determining a current first position of the tip includes: determining the position relationship between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm; determining a second position of the operating end according to the operating action; and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

In one possible implementation, a positional relationship between the end of the robotic arm and the operating end of the robotic arm may be determined. The positional relationship may be represented by a coordinate transformation matrix. In an example, the joint replacement surgical robot may be connected to the robot arm through a flange, a coordinate system T may be established at the end of the robot arm, a coordinate system E may be established at the flange, and a base coordinate system R of the robot may be established. Further, the transformation matrix between the robot arm end coordinate system T and the flange coordinate system E can be determined by the dimensions (such as length, angle and other parameters) of the robot armAnd the transformation matrix between the flange coordinate system E and the base coordinate system R can be determined by the structure of the robot (such as the distance, angle and the like between the flange and the origin of the robot coordinate system)Further, a transformation matrix between the robot arm end coordinate system T and the base coordinate system R can be determinedIn an example, a transformation matrix between the robot arm tip coordinate system T and the base coordinate system RCan be determined by the following equation (5):

in one possible implementation, the control signal may be generated by an operating parameter of the manipulator arm operating end (e.g., moving distance, angle, etc.) determines a second position of the manipulator's manipulator in the base coordinate system and by transforming the matrix The position of the manipulator end in the base coordinate system is transformed to determine the position (i.e., the first position) of the manipulator end in the base coordinate system.

Further, the second circle diameter of the motion trajectory of the tip may be determined according to the first position, and in an example, since the tip of the arm surrounds the boundary of the cone, the trajectory of the tip of the arm is circular, and the diameter of the trajectory (i.e., the second circle diameter) that the tip of the arm is surrounding may be determined according to the first position of the tip of the arm. In an example, the second circle diameter may be determined by the following equation (6):

The above formula (9) can determine the radius of motion of the end of the mechanical arm, and the second circle diameter can be determined by the radius of motion.

Further, the dimensional parameter of the conical region includes a first circle diameter of the conical region, for example, a diameter at a cross section of the conical region where the robot arm tip is located, i.e., the first circle diameter, may be determined by a height of the first position in a direction of a perpendicular to the conical region and a vertex angle of the conical region.

In one possible implementation, since the movement track of the end of the mechanical arm is limited to surround the boundary of the conical region, the second circle diameter of the movement track and the first circle diameter of the conical region should be equal, but in actual working conditions, there may be a deviation. The deviation of the first circle diameter and the second circle diameter may be used to represent an error of the motion trajectory, and if the error is 0, the motion trajectory of the robot arm tip may be maintained on the boundary of the conical region. Thus, the error can be made as small as possible by means of feedback correction. In an example, the error can be made as small as possible by PID correction (proportional-integral-derivative correction) methods, i.e., so that the motion trajectory of the robot arm tip can be maintained at the boundary of the conical region

In one possible implementation, the track deviation may be obtained by a difference between the second circle diameter and the first circle diameter, i.e. track deviation error=l _s-L_t, where L _t is the first circle diameter.

In one possible implementation, the proportional coefficient Kp, the integral coefficient KI, the differential coefficient KD, and the discrete sampling period T may be set when PID correction is performed. Further, the adjustment parameter may be determined by the following formula (7):

output＝output_1+a₀*error-a1*error_1+a2*error_2 (7)

Wherein, output is the adjustment parameter of the current sampling period, output_1 is the adjustment parameter of the previous sampling period, error_1 is the track deviation of the previous sampling period, and error_2 is the track deviation of the previous two sampling periods. That is, by the above formula (7), the track deviation is made to gradually decrease with the sampling period by the action of the adjustment parameter.

Wherein the parameter a ₀,a₁,a₂ can be determined by the following formula (8):

In one possible implementation, through the above feedback correction process, correction parameters may be obtained such that the track deviation is reduced, and after correcting the track, the stress parameter at the stress sensor may be determined by the following formula (9):

that is, the stress parameter at the stress sensor (the operation end) is adjusted by feedback adjustment of the motion trajectory, so that the operator can operate the mechanical arm around the boundary of the conical region.

According to the virtual boundary interaction method of the embodiment of the disclosure, when the tail end of the mechanical arm reaches the boundary of the conical area, the normal force can be limited to zero, so that the tail end of the mechanical arm moves along the tangential direction, namely, the movement track of the tail end of the mechanical arm is limited to the boundary surrounding the conical area. Further, the error between the actual motion trail of the mechanical arm end and the boundary of the conical region can be made as small as possible by a feedback correction method, so that the mechanical arm end is kept on the boundary of the conical region. The mechanical arm can prevent the tail end of the mechanical arm from exceeding the boundary of the conical area to cause excessive grinding and contusion, protect the acetabular fossa, ligaments, soft tissue nerves and other structures, prevent the grinding and contusion from being in place, fully expose the true acetabular fossa and improve the accuracy of the implantation of the prosthesis.

Fig. 3 is an application diagram of a mechanical arm acting force interaction control method according to an embodiment of the disclosure, as shown in fig. 3, a grinding rod for grinding and filing is arranged at the tail end of a mechanical arm, a handle is arranged at an operation end of the mechanical arm, and an operator operation can be received at the operation end, so that the tail end can finely perform grinding and filing.

In one possible implementation, the mechanical arm can move within the range of the conical region, so that the tail end of the mechanical arm can move around the boundary of the conical region, and the tail end of the mechanical arm can be ground and frustrated in the process of moving around the boundary of the conical region, so that the ground and frustrated acetabular fossa can conform to the outline dimension of the acetabular prosthesis.

In one possible implementation, the size parameter of the conical region, i.e., the size of the conical region, may be set by a host computer of the robotic arm (e.g., a processor of the joint replacement surgical robot). When the tip of the mechanical arm reaches the boundary of the conical region, its normal force towards the outside of the conical region may be limited to 0, leaving only tangential forces such that the mechanical arm tip moves tangentially along the boundary of the conical region, i.e. around the boundary of the conical region.

In one possible implementation, during the movement, a deviation may occur, a diameter (second circle diameter) of an actual movement track of the end of the mechanical arm may be determined by the current first position of the end, and a first circle diameter of the conical region may be determined, and further, the deviation of the first circle diameter and the second circle diameter may be PID corrected to reduce the deviation, so that the movement track of the end of the mechanical arm may be maintained on a boundary of the conical region.

In one possible implementation manner, the virtual boundary interaction method can be used for grinding and contusion processing of the acetabular fossa in joint replacement operation, so that the ground acetabular fossa conforms to the outline dimension of the acetabular prosthesis, the accuracy of prosthesis implantation is improved, and excessive grinding and contusion and poor grinding and contusion can be prevented. The application field of the virtual boundary interaction method is not limited by the disclosure.

Fig. 4 shows a block diagram of a robotic arm effort interaction control device according to an embodiment of the disclosure, as shown in fig. 4, the device comprising: the first stress parameter module 11 is configured to obtain a first stress parameter detected by the stress sensor when the end reaches a boundary of a preset conical area; a normal force module 12, configured to determine a tangential force of the tip tangential to a boundary of the conical region and a normal force of the tip normal to the boundary of the conical region according to the first stress parameter and the size parameter of the conical region; and a limiting module 13, configured to set the normal force to zero, so that the movement track of the tip is a boundary surrounding the conical region.

It will be appreciated that the above-mentioned method embodiments of the present disclosure may be combined with each other to form a combined embodiment without departing from the principle logic, and are limited to the description of the present disclosure. It will be appreciated by those skilled in the art that in the above-described methods of the embodiments, the particular order of execution of the steps should be determined by their function and possible inherent logic.

In addition, the disclosure further provides a mechanical arm acting force interaction control device, an electronic device, a computer readable storage medium and a program, and the above may be used to implement any mechanical arm acting force interaction control method provided in the disclosure, and corresponding technical schemes and descriptions and corresponding descriptions referring to method parts are not repeated.

In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.

The disclosed embodiments also provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method. The computer readable storage medium may be a non-volatile computer readable storage medium.

The embodiment of the disclosure also provides an electronic device, which comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to perform the above method.

Embodiments of the present disclosure also provide a computer program product comprising computer readable code which, when run on a device, causes a processor in the device to execute instructions for implementing the robotic arm effort interaction control method provided in any of the embodiments above.

The disclosed embodiments also provide another computer program product for storing computer readable instructions that, when executed, cause a computer to perform the operations of the robot arm effort interaction control method provided in any of the above embodiments.

The electronic device may be provided as a terminal, server or other form of device.

Fig. 5 illustrates a block diagram of an electronic device 800, according to an embodiment of the disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.

Referring to fig. 5, an electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen between the electronic device 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only an edge of a touch or slide action, but also a duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operational mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the electronic device 800. For example, the sensor assembly 814 may detect an on/off state of the electronic device 800, a relative positioning of the components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in position of the electronic device 800 or a component of the electronic device 800, the presence or absence of a user's contact with the electronic device 800, an orientation or acceleration/deceleration of the electronic device 800, and a change in temperature of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices, either wired or wireless. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including computer program instructions executable by processor 820 of electronic device 800 to perform the above-described methods.

The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.

The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.

The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as SMALLTALK, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. The utility model provides a mechanical arm effort interaction control device, its characterized in that, the mechanical arm includes terminal and operating end, and is provided with the atress sensor in the position that is close to the mechanical arm operating end, the device includes:

the first stress parameter module is used for acquiring a first stress parameter detected by the stress sensor under the condition that the tail end reaches the boundary of a preset conical area;

The normal force module is used for determining tangential force of the tail end tangential to the boundary of the conical region and normal force of the tail end normal to the boundary of the conical region according to the first stress parameter and the size parameter of the conical region;

And the limiting module is used for setting the normal force to zero so that the movement track of the tail end is a boundary surrounding the conical area.

2. The apparatus of claim 1, wherein the normal force module is further to:

determining a second stress parameter of the tail end according to the size parameter of the conical region and the first stress parameter;

and determining the tangential force and the normal force according to a second stress parameter of the tail end.

3. The apparatus of claim 2, wherein the dimensional parameter of the conical region comprises a top angle of the conical region, the normal force module further configured to:

And determining a second stress parameter of the tail end according to the vertex angle of the conical region and the first stress parameter.

4. The apparatus of claim 1, wherein the apparatus further comprises:

A third stress parameter module for determining a third stress parameter of the tip after the normal force is set to zero;

and the fourth stress parameter module is used for determining the fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move tangentially.

5. The apparatus of claim 1, wherein the manipulator is configured to receive a manipulation of the robotic arm, and wherein the dimensional parameter of the conical region comprises a first circle diameter of the conical region, the apparatus further comprising: a correction module for:

Determining a current first position of the tip;

determining a second circle diameter of the movement track of the tail end according to the first position;

and carrying out feedback correction processing on the second circle diameter according to the first circle diameter, so that the movement track of the tail end is limited to encircle the boundary of the conical region.

6. The apparatus of claim 5, wherein the correction module is further to:

determining the position relationship between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm;

Determining a second position of the operating end according to the operating action;

and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

7. The apparatus of claim 5, wherein the correction module is further to:

determining a track deviation according to the second circle diameter and the first circle diameter;

Performing feedback correction according to the track deviation to obtain adjustment parameters;

and adjusting the movement track of the tail end according to the adjustment parameters, so that the movement track of the tail end is limited to move around the boundary of the conical region.

8. An electronic device, comprising:

A processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to invoke the instructions stored by the memory to perform the steps of:

Under the condition that the tail end of the mechanical arm reaches the boundary of a preset conical area, acquiring a first stress parameter detected by a stress sensor arranged on the operating end of the mechanical arm;

determining tangential force of the tail end tangential to the boundary of the conical region and normal force of the tail end normal to the boundary of the conical region according to the first stress parameter and the size parameter of the conical region;

The normal force is set to zero such that the trajectory of movement of the tip is the boundary around the conical region.

9. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, perform the steps of: