CN116061176B - Motion compensation method, motion compensation device, electronic equipment and storage medium - Google Patents
Motion compensation method, motion compensation device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The disclosure relates to a motion compensation method, a motion compensation device, an electronic device and a storage medium, and belongs to the field of surgical equipment, wherein the motion compensation method comprises the following steps: acquiring expected values and measured values of a setting part in the surgical robot for the first motion parameters; obtaining error voltage according to a deviation value between an expected value of the first motion parameter and an actually measured value of the first motion parameter and a preset first parameter value; wherein the first parameter value represents a desired value of the first motion parameter at a unit voltage; obtaining compensation voltage according to the error voltage, the measured value of the second motion parameter and the preset second parameter value; wherein the first motion parameter comprises a second motion parameter, and the second parameter value represents an actual measurement value of the second motion parameter under unit voltage; determining a target voltage corresponding to the setting means based on the compensation voltage; a target voltage is applied to the setting member.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of surgical equipment, and more particularly relates to a motion compensation method, a motion compensation device, electronic equipment and a storage medium for a surgical robot.
Background
With the widespread use of medical robots, some surgical robots can help physicians treat patients, thereby improving the accuracy of the physician in the surgical procedure.
Currently, surgical robots generally include a support structure and a robotic arm, an adjustable beam may be mounted on top of the support structure, the beam being connected to the robotic arm and the position of the robotic arm may be adjusted by adjusting the beam. Under the condition that the self weight of the surgical robot is too large or the load is large, the stability degree of the beam in the moving process is difficult to control.
Disclosure of Invention
It is an object of embodiments of the present disclosure to provide a new solution for a motion compensation method, apparatus, electronic device and storage medium for a surgical robot.
According to a first aspect of the present disclosure, there is provided a motion compensation method for a surgical robot, the method comprising obtaining a desired value and an actual measured value for a first motion parameter of a setup component in the surgical robot; obtaining an error voltage according to a deviation value between the expected value of the first motion parameter and the measured value of the first motion parameter and a preset first parameter value; wherein the first parameter value represents a desired value of the first motion parameter at a unit voltage; obtaining a compensation voltage according to the error voltage, the measured value of the second motion parameter and the preset second parameter value; wherein the first motion parameter comprises the second motion parameter, and the second parameter value represents an actual measurement value of the second motion parameter under unit voltage; determining a target voltage corresponding to the setting means based on the compensation voltage; the target voltage is applied to the setting means.
Optionally, the first motion parameter includes a speed and an acceleration; the first parameter value includes a desired value of the speed at a unit voltage and a desired value of the acceleration at a unit voltage.
Optionally, the second motion parameter comprises speed.
Optionally, the acquiring the expected value and the measured value of the first motion parameter of the setting component in the surgical robot includes: obtaining the expected value of the first motion parameter through a tracking differentiator in the active disturbance rejection controller; wherein the expected value of the first motion parameter is obtained by the tracking differentiator based on the set value of the first motion parameter; and obtaining the actual measurement value of the set component for the motion parameter through an expansion state observer in the active disturbance rejection controller.
Optionally, the obtaining the compensation voltage according to the error voltage, the measured data and the preset second parameter includes: and obtaining a compensation voltage based on the input error voltage, the actual measurement value of the second motion parameter and the second parameter value preset in the interior through a state error feedback control law in the active disturbance rejection controller.
Optionally, before acquiring the desired data and the measured data for at least one motion parameter of the setting member in the surgical robot, further comprising: training the active disturbance rejection controller to obtain a trained active disturbance rejection controller; training the active disturbance rejection controller to obtain a trained active disturbance rejection controller, comprising: obtaining a plurality of training sample sets, the training sample sets comprising a first sample parameter for a tracking differentiator, a second sample parameter for an extended state observer, and a third sample parameter for a state error feedback control law; inputting a plurality of training sample sets into the active disturbance rejection controller to obtain a plurality of training results; the training result is the influence degree corresponding to each sample parameter respectively; screening sample parameters with highest influence degree from a plurality of training results respectively, and taking the sample parameters as genetic parameters; and training the active disturbance rejection controller by using the preset crossover probability, variation probability and the genetic parameter to obtain the trained active disturbance rejection controller.
Optionally, the setting component is a telescopic beam joint.
According to a second aspect of the present disclosure, there is also provided a motion compensation apparatus for a surgical robot, the apparatus comprising: the numerical value acquisition module is used for acquiring expected numerical values and actual measurement numerical values of the first motion parameters of the setting component in the surgical robot; the error voltage obtaining module is used for obtaining error voltage according to the deviation value between the expected value of the first motion parameter and the measured value of the first motion parameter and a preset first parameter value; wherein the first parameter value represents a desired value of the first motion parameter at a unit voltage; the compensation voltage obtaining module is used for obtaining compensation voltage according to the error voltage, the measured value of the second motion parameter and the preset second parameter value; wherein the first motion parameter comprises the second motion parameter, and the second parameter value represents an actual measurement value of the second motion parameter under unit voltage; a target voltage determining module for determining a target voltage corresponding to the setting means based on the compensation voltage; and a target voltage applying module for applying the target voltage to the setting part.
According to a third aspect of the present disclosure, there is also provided an electronic device comprising a motion compensation apparatus according to the second aspect of the present disclosure; or the electronic device comprises a memory for storing a computer program and a processor; the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method according to the first aspect of the present disclosure.
One advantageous effect of the embodiments of the present disclosure is that the desired value and the measured value of the setting member for the first motion parameter are obtained. The deviation value of the expected value and the measured value and the first parameter value are utilized to obtain corresponding error voltage, and then the compensation voltage for the setting component can be obtained through the measured value of the second motion parameter, the error voltage and the second parameter value. And applying a target voltage to the setting part according to the compensation voltage so as to improve the stability of the cross beam in the moving process.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, 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 of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
FIG. 1 is a schematic view of a component structure of a motion compensation system for a surgical robot to which a motion compensation method for a surgical robot according to one embodiment can be applied;
FIG. 2 is a flow diagram of a motion compensation method for a surgical robot according to another embodiment;
FIG. 3 is a schematic diagram of the structure of an active-disturbance-rejection controller according to another embodiment;
FIG. 4 is a block schematic diagram of a control device according to one embodiment;
fig. 5 is a schematic diagram of a hardware architecture of an electronic device according to one embodiment.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
< System example >
Fig. 1 is a schematic view of a composition structure of a motion compensation system for a surgical robot to which a motion compensation method for a surgical robot according to one embodiment can be applied. As shown in fig. 1, the system includes a support structure 100, a cross beam 200, an operating table 300, an operating platform 400, and a control device, and can be applied to a scene of a surgical robot.
The cross beam 200 may be mounted on the support structure 100, and a plurality of robotic arms may be mounted on the cross beam 200. The operation platform 400 is used for a doctor to operate, and the doctor can output a corresponding operation signal to the control device when operating on the operation platform 400.
The control device may be in communication with the operation platform 400, the cross beam 200, and the plurality of mechanical arms, or may be in electrical connection, so that the control device may control the cross beam 200 or the plurality of mechanical arms to move on the operation table 300 when obtaining the operation signal. The control device may be an electronic device with an arithmetic processing function, such as a computer, a tablet, etc., which is not particularly limited herein.
The memory of the control device is used for storing a computer program for controlling the control device processor to operate to implement the motion compensation method for a surgical robot according to any of the embodiments. The skilled person may design a computer program according to the solution of the embodiments of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.
< method example >
Fig. 2 is a flow diagram of a motion compensation method for a surgical robot according to one embodiment. The main body of the embodiment is, for example, the control device described above.
As shown in fig. 2, the motion compensation method for a surgical robot of the present embodiment may include the following steps S210 to S250:
step S210, obtaining expected values and measured values of the first motion parameters of the setting component in the surgical robot.
Wherein, the surgical robot can comprise different components, such as a mechanical arm, a cross beam and the like, and the different components can have different movement modes, such as extension, rotation, movement and the like, and correspondingly, the movement amplitude reflecting the different components can be reflected by different movement parameters, such as speed, acceleration, rotation speed and the like. The surgical robot may also collect measured values of different components for different motion parameters.
Specifically, the doctor can output corresponding operation signals through operating the operation platform, the control device can receive the corresponding operation signals and determine a setting component in the surgical robot corresponding to the operation signals, and the setting component is determined to be in an expected value of the first motion parameter according to the operation signals and controlled to act according to the expected value. Wherein, the expected value can be the value of the movement amplitude reflected by the operation signal generated by the operation platform operated by the doctor, and the larger the movement amplitude is, the larger the expected value is; the control device may adjust the motion amplitude to a value after the motion amplitude is excessively large. The control device may also acquire an actual measurement value of the first motion parameter for the setting member.
In one embodiment, the setting component is a telescopic cross beam joint.
Specifically, there are three telescopic crossbeam joints, namely a telescopic crossbeam root joint, a telescopic crossbeam middle joint and a telescopic crossbeam top joint, and each joint can be controlled by a motor. The surgical robot can be provided with a corresponding detection device to detect the first motion parameter of the telescopic crossbeam joint, so that the stability of the crossbeam in the whole motion process can be improved.
In one embodiment, step S210 may specifically include the following: obtaining an expected value of a first motion parameter through a tracking differentiator in the active disturbance rejection controller; wherein the expected value of the first motion parameter is obtained by a tracking differentiator based on the set value of the first motion parameter; the actual measurement value of the set component for the motion parameter is obtained through an extended state observer in the active disturbance rejection controller.
As shown in fig. 3, the above-mentioned control device may be configured with an active disturbance rejection controller, where the active disturbance rejection controller may be an ADRC active disturbance rejection controller, and the ADRC active disturbance rejection controller may include a tracking differentiator, an extended state observer, and a state error feedback control law, and may be used to eliminate disturbance of the surgical robot to reduce vibration generated by motor motion. The disturbances may include external disturbances and internal disturbances, and the internal disturbances may be load inertia of the motor and inertia of a rotor of the motor. The tracking differentiator may smooth the input operating signal to a desired value to reduce overshoot of the closed loop transfer function. The control device inputs data such as the actual speed, the output voltage and the like of the motor into the extended state observer, and the extended state observer can output corresponding observed speed, observed acceleration and observed disturbance. The observed disturbance may be the sum of the external disturbance and the internal disturbance.
Also, the expression of the tracking differentiator may be as follows:
where k is the gain factor of the tracking differentiator, x 1 () To track an object in a differentiator for tracking a velocity v, x 2 () Is x 1 () R is the tracking speed factor and h is the filtering factor.
In addition, the expression of the extended state observer may be as follows:
where t is the gain factor of the extended state observer, f (x (t), (t),.., (-1) () N-th derivative of x (t), w (t) is the sum of the external disturbance and the internal disturbance, b is the measured value of the speed at the unit voltage, u (t) is the output voltage, and y (t) is used for storing the initial x (t).
Specifically, as shown in fig. 3, the doctor may output the target speed for the setting component through the above-mentioned operation platform, and input the target speed into the tracking differentiator, and the tracking differentiator may obtain the tracking value of the first motion parameter, for example: the expected value of the tracking speed and the expected value of the tracking acceleration are the expected values. In the process of motor rotation, the control device can input the detected data such as the actual speed, output voltage and the like of the motor into the extended state observer, and the extended state observer can output the observed value of the first motion parameter, for example: the observed value of the observed speed and the observed value of the observed acceleration are the observed values. In other words, the response speed of applying the target voltage to the setting member can be effectively improved by controlling and adjusting the setting member by the active-disturbance-rejection controller.
Step S220, obtaining an error voltage according to a deviation value between an expected value of the first motion parameter and an actual measurement value of the first motion parameter and a preset first parameter value; wherein the first parameter value represents a desired value of the first motion parameter at a unit voltage.
The control device can preset different first parameter values, and each first parameter value corresponds to one first motion parameter respectively. The first parameter value may represent a desired value at a unit voltage corresponding to the first parameter value.
Specifically, after obtaining the expected value and the measured value of the first motion parameter, the control device may obtain an error voltage for the first motion parameter according to the deviation value between the expected value and the measured value of the first motion parameter and the corresponding first parameter value. Accordingly, in case the deviation value between the desired value of the first motion parameter and the measured value of the first motion parameter is zero, i.e. the error voltage is zero.
Step S230, obtaining a compensation voltage according to the error voltage, the measured value of the second motion parameter and the preset second parameter value; the first motion parameter comprises a second motion parameter, and the second parameter value represents an actual measurement value of the second motion parameter under unit voltage.
Wherein the first motion parameter includes a second motion parameter, and the second parameter value may represent an actually measured value of the second motion parameter at a unit voltage, specifically for example: the second motion parameter is exemplified by velocity, and the second parameter value may represent an actual measured value of velocity at a unit voltage.
Specifically, after the error voltage is obtained, the control device may obtain the compensation voltage according to the error voltage, the measured value of the second motion parameter, and the preset second parameter value. In other words, the compensation voltage is obtained through the set second parameter value of the second motion parameter, so that the accuracy of the obtained compensation voltage is effectively improved.
In one embodiment, the first motion parameter includes velocity and acceleration; the first parameter values include a desired value of speed at a unit voltage and a desired value of acceleration at a unit voltage.
Specifically, the first parameter value may be a desired value of the speed at the unit voltage and a desired value of the acceleration at the unit voltage.
In one embodiment, the second motion parameter comprises velocity. The second parameter value may be a measured value of speed at a unit voltage.
In particular, the amplitude of the movement of the setting member can be reflected mainly by the speed to increase the efficiency of the control device for obtaining the compensation voltage.
In one embodiment, step S230 specifically includes the following: and obtaining the compensation voltage based on the input error voltage, the measured value of the second motion parameter and the second parameter value preset in the interior by a state error feedback control law in the active disturbance rejection controller.
Specifically, taking the above-mentioned first parameter value as a desired value of speed at a unit voltage and a desired value of acceleration at a unit voltage as an example, the control device may set the expression of the above-mentioned state error feedback control law as follows:
e 1 ＝v 1 -v 1 formula (3);
e 2 ＝v 2 -v 2 formula (4);
u 0 ＝b 1 ×e 1 +b 2 ×e 2 equation (5);
u＝(u 0 -z 3 )/b 0 equation (6);
the state error feedback control law consists of a formula (3), a formula (4), a formula (5) and a formula (6). In the formula (3), v 1 Indicating the desired value of speed, z 1 Measured value representing speed e 1 Representing a deviation value for the speed; in the formula (4), v 2 Period of representing accelerationThe hope value, z 2 Representing the measured value of acceleration e 2 Representing a deviation value for acceleration; in formula (5), b 1 B is the desired value of the above-mentioned speed at unit voltage 2 U is the expected value of the acceleration at the unit voltage 0 The error voltage is the error voltage; in formula (6), b 0 Z is the measured value of the above speed at unit voltage 3 ＝z 1 ×b 0 。
Accordingly, the control device inputs the measured values of the error voltage and the speed into the above expression to obtain the corresponding compensation voltage. By the method, the compensation voltage is obtained, the influence of external disturbance on the motor movement of the telescopic cross beam can be reduced, and the stability of the motor movement of each joint of the telescopic cross beam is further improved.
Step S240, determining a target voltage corresponding to the setting part according to the compensation voltage.
Specifically, the control device may superimpose the compensation voltage on the output voltage described above, that is, determine the target voltage corresponding to the setting means.
Step S250, a target voltage is applied to the setting means.
Specifically, the control device may apply the target voltage to the setting component, so that the setting component may determine that the setting component gradually approaches between the expected value and the actually measured value for the first motion parameter under the condition that the setting component obtains the target voltage, so as to realize that the control device controls the stability degree in the motion process of the beam.
In one embodiment, the following is further included before step S210: training the active disturbance rejection controller to obtain a trained active disturbance rejection controller; training the active disturbance rejection controller to obtain a trained active disturbance rejection controller, comprising: obtaining a plurality of training sample sets, the training sample sets comprising a first sample parameter for a tracking differentiator, a second sample parameter for an extended state observer, and a third sample parameter for a state error feedback control law; inputting a plurality of training sample sets into an active disturbance rejection controller to obtain a plurality of training results; the training result is the influence degree corresponding to each sample parameter; sample parameters with highest influence degree are respectively screened from a plurality of training results and are used as genetic parameters; and training the active disturbance rejection controller by using preset crossover probability, variation probability and genetic parameters to obtain the trained active disturbance rejection controller.
The control device can optimize each parameter in the active disturbance rejection controller through a set genetic algorithm, wherein the genetic algorithm is the prior art and is not specifically described.
Specifically, a plurality of training sample sets are obtained, wherein the training sample sets comprise a first sample parameter for a tracking differentiator, a second sample parameter for an extended state observer and a third sample parameter for a state error feedback control law, wherein the first sample parameter can be a tracking speed factor r and a filtering factor h of the tracking differentiator, and the second sample parameter can be a gain factor beta of the extended state observer 01 、β 02 And beta 03 The third sample parameter may be the measured value b of the speed at unit voltage 0 The error voltage u 0 Etc., and are not particularly limited herein. Inputting a plurality of training sample sets into an active disturbance rejection controller to obtain a plurality of training results; the training result is the influence degree corresponding to each sample parameter. And respectively screening sample parameters with highest influence degree from a plurality of training results, and taking the sample parameters as genetic parameters. The cross probability and the variation probability are preset in the control device, and the self-interference controller is trained according to the principle of a genetic algorithm through the cross probability, the variation probability and the genetic parameters, so that the trained self-interference controller is obtained. In other words, the self-interference controller is optimized through the genetic algorithm, so that the accuracy of the compensation voltage obtained by the self-interference controller can be effectively improved.
< device example one >
Fig. 4 is a functional block diagram of a motion compensation apparatus according to one embodiment. As shown in fig. 4, the motion compensation apparatus 410 may include: a value obtaining module 411, configured to obtain an expected value and an actual measurement value of the first motion parameter of the setting component in the surgical robot; an error voltage obtaining module 412, configured to obtain an error voltage according to a deviation value between the expected value of the first motion parameter and the measured value of the first motion parameter, and a preset first parameter value; wherein the first parameter value represents a desired value of the first motion parameter at a unit voltage; the compensation voltage obtaining module 413 is configured to obtain a compensation voltage according to the error voltage, the measured value of the second motion parameter, and a preset second parameter value; wherein the first motion parameter comprises a second motion parameter, and the second parameter value represents an actual measurement value of the second motion parameter under unit voltage; a target voltage determination module 414 for determining a target voltage corresponding to the setting means based on the compensation voltage; the target voltage applying module 415 is configured to apply a target voltage to the setting component.
Optionally, the value obtaining module 411 is further configured to obtain the desired value of the first motion parameter through a tracking differentiator in the active disturbance rejection controller; wherein the expected value of the first motion parameter is obtained by a tracking differentiator based on the set value of the first motion parameter; the actual measurement value of the set component for the motion parameter is obtained through an extended state observer in the active disturbance rejection controller.
Optionally, the compensation voltage obtaining module 413 is further configured to obtain, by using a state error feedback control law in the active disturbance rejection controller, the compensation voltage based on the input error voltage and the measured value of the second motion parameter, and the second parameter value preset internally.
Optionally, a training module for obtaining a plurality of training sample sets, the training sample sets including a first sample parameter for a tracking differentiator, a second sample parameter for an extended state observer, and a third sample parameter for a state error feedback control law; inputting a plurality of training sample sets into an active disturbance rejection controller to obtain a plurality of training results; the training result is the influence degree corresponding to each sample parameter; sample parameters with highest influence degree are respectively screened from a plurality of training results and are used as genetic parameters; and training the active disturbance rejection controller by using preset crossover probability, variation probability and genetic parameters to obtain the trained active disturbance rejection controller.
The electronic device 400 may be the control apparatus described above.
< device example two >
Fig. 5 is a schematic diagram of a hardware structure of an electronic device according to another embodiment.
As shown in fig. 5, the electronic device 500 comprises a processor 510 and a memory 520, the memory 520 being for storing an executable computer program, the processor 510 being for performing a method as any of the method embodiments above, according to control of the computer program.
The electronic device 500 may be the control apparatus described above.
The above modules of the electronic device 400 may be implemented by the processor 510 executing the computer program stored in the memory 510 in this embodiment, or may be implemented by other structures, which are not limited herein.
In further embodiments, the electronic device may further include the motion compensation apparatus 410 described above, which is not limited herein.
The present invention 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 invention.
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.
Computer program instructions for carrying out operations of the present invention 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 invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present invention 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 invention. 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 invention. 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. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention 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 technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (7)
1. A method of motion compensation for a surgical robot, the method comprising:
acquiring expected values and measured values of a set part in the surgical robot for a first motion parameter;
obtaining an error voltage according to a deviation value between the expected value of the first motion parameter and the measured value of the first motion parameter and a preset first parameter value; wherein the first parameter value represents a desired value of the first motion parameter at a unit voltage;
obtaining a compensation voltage according to the error voltage, the measured value of the second motion parameter and the preset second parameter value; wherein the first motion parameter comprises the second motion parameter, and the second parameter value represents an actual measurement value of the second motion parameter under unit voltage;
determining a target voltage corresponding to the setting means based on the compensation voltage;
applying the target voltage to the setting means;
the first motion parameters include speed and acceleration;
the first parameter value includes a desired value of the speed at a unit voltage and a desired value of the acceleration at a unit voltage;
the second motion parameter includes velocity;
before acquiring the desired value and the measured value for at least one motion parameter of the setup component in the surgical robot, further comprising:
training the active disturbance rejection controller to obtain a trained active disturbance rejection controller;
training the active disturbance rejection controller to obtain a trained active disturbance rejection controller, comprising:
obtaining a plurality of training sample sets, the training sample sets comprising a first sample parameter for a tracking differentiator, a second sample parameter for an extended state observer, and a third sample parameter for a state error feedback control law;
inputting a plurality of training sample sets into the active disturbance rejection controller to obtain a plurality of training results; the training result is the influence degree corresponding to each sample parameter respectively;
screening sample parameters with highest influence degree from a plurality of training results respectively, and taking the sample parameters as genetic parameters;
and training the active disturbance rejection controller by using the preset crossover probability, variation probability and the genetic parameter to obtain the trained active disturbance rejection controller.
2. The method of claim 1, wherein the obtaining the desired and measured values of the set-up component for the first motion parameter in the surgical robot comprises:
obtaining the expected value of the first motion parameter through a tracking differentiator in the active disturbance rejection controller; wherein the expected value of the first motion parameter is obtained by the tracking differentiator based on the set value of the first motion parameter;
and obtaining the actual measurement value of the set component for the motion parameter through an expansion state observer in the active disturbance rejection controller.
3. The method of claim 2, wherein obtaining the compensation voltage based on the error voltage, the measured value of the second motion parameter, and the preset second parameter value comprises:
and obtaining a compensation voltage based on the input error voltage, the actual measurement value of the second motion parameter and the second parameter value preset in the interior through a state error feedback control law in the active disturbance rejection controller.
4. The method of claim 1, wherein the setting component is a telescoping cross beam joint.
5. A motion compensation apparatus for a surgical robot, the apparatus comprising:
the numerical value acquisition module is used for acquiring expected numerical values and actual measurement numerical values of the first motion parameters of the setting component in the surgical robot;
the error voltage obtaining module is used for obtaining error voltage according to the deviation value between the expected value of the first motion parameter and the measured value of the first motion parameter and a preset first parameter value; wherein the first parameter value represents a desired value of the first motion parameter at a unit voltage;
the compensation voltage obtaining module is used for obtaining compensation voltage according to the error voltage, the measured value of the second motion parameter and the preset second parameter value; wherein the first motion parameter comprises the second motion parameter, and the second parameter value represents an actual measurement value of the second motion parameter under unit voltage;
a target voltage determining module for determining a target voltage corresponding to the setting means based on the compensation voltage;
a target voltage applying module for applying the target voltage to the setting part; the first motion parameters include speed and acceleration; the first parameter value includes a desired value of the speed at a unit voltage and a desired value of the acceleration at a unit voltage; the second motion parameter includes velocity;
a training module for obtaining a plurality of training sample sets, the training sample sets including a first sample parameter for a tracking differentiator, a second sample parameter for an extended state observer, and a third sample parameter for a state error feedback control law; inputting a plurality of training sample sets into an active disturbance rejection controller to obtain a plurality of training results; the training result is the influence degree corresponding to each sample parameter; sample parameters with highest influence degree are respectively screened from a plurality of training results and are used as genetic parameters; and training the active disturbance rejection controller by using preset crossover probability, variation probability and genetic parameters to obtain the trained active disturbance rejection controller.
6. An electronic device comprising the motion compensation apparatus of claim 5; or the electronic device comprises a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the motion compensation method for a surgical robot according to any one of claims 1-4.
7. A computer readable storage medium, characterized in that it has stored thereon a program or instructions, which when executed by a processor, implement the steps of the motion compensation method for a surgical robot according to any of claims 1-4.
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