WO2018041196A1 - 一种柔性手术工具系统及其在运动约束下的控制方法 - Google Patents

一种柔性手术工具系统及其在运动约束下的控制方法 Download PDF

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Publication number
WO2018041196A1
WO2018041196A1 PCT/CN2017/099846 CN2017099846W WO2018041196A1 WO 2018041196 A1 WO2018041196 A1 WO 2018041196A1 CN 2017099846 W CN2017099846 W CN 2017099846W WO 2018041196 A1 WO2018041196 A1 WO 2018041196A1
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Prior art keywords
surgical tool
flexible
freedom
flexible surgical
degree
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English (en)
French (fr)
Inventor
徐凯
赵江然
戴正晨
阳志雄
朱志军
梁博
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Beijing Surgerii Technology Co Ltd
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Beijing Surgerii Technology Co Ltd
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Priority to EP17845498.9A priority Critical patent/EP3508167B1/en
Publication of WO2018041196A1 publication Critical patent/WO2018041196A1/zh
Priority to US16/289,482 priority patent/US11191599B2/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation

Definitions

  • the invention relates to a medical device and a control method thereof, in particular to a flexible surgical tool system and a control method thereof under motion constraints.
  • Minimally invasive laparoscopic surgery has occupied an important position in surgery because of its small wound and rapid recovery.
  • Robot-assisted laparoscopic surgery greatly simplifies the doctor's operation while improving operational accuracy.
  • Existing Intuitive Surgical's da Vinci surgical robot assisted doctors completed the porous laparoscopic minimally invasive surgery and achieved great commercial success.
  • the flexible surgical instruments can achieve further miniaturization and better exercise performance, which is an important research direction for the development of the next generation of minimally invasive laparoscopic surgical instruments. .
  • the surgical instrument is carried by a robot or robotic arm through a sheath secured to the skin incision into the patient to complete the surgical procedure.
  • the effect of the movement of the surgical instrument on the spatial position of the sheath must be minimized to reduce the pulling of the skin incision. Therefore, a robot-assisted laparoscopic surgical system needs to perform a surgical procedure while meeting the above-described motion constraints.
  • Existing solutions often use mechanical structure design such as Remote Center of Motion (RCM) mechanism to meet the above motion constraints, and the flexibility of use is not high.
  • RCM Remote Center of Motion
  • an object of the present invention is to provide a control method for a flexible surgical tool system under motion constraints, which can realize a surgical tool system under the constraint of a sheath movement without using a dedicated remote motion center mechanism. Flexible control.
  • Another object of the present invention is to provide a flexible surgical tool system which can be preferably applied to a single-hole laparoscopic minimally invasive surgical robot system through a single surgical incision, and can also be applied to a porous laparoscopic surgical robot system. System.
  • a control method of a flexible surgical tool system under motion constraints comprising the following steps: 1) setting up a flexible surgical tool system including a multi-degree of freedom robotic arm, flexible a surgical tool, a remote control device, and a control computer;
  • the flexible surgical tool includes a flexible surgical tool drive unit, an outer cannula, a flexible multi-frame arm, and a surgical actuator;
  • the remote control device transmits a remote control device status signal to the a control computer, the control computer receives the remote control device status signal and converts the surgical actuator target pose according to the registration and mapping relationship;
  • the control computer receives the multi-degree-of-freedom robot arm respectively a feedback multi-degree of freedom robot arm joint position value and a flexible surgical tool feedback bending angle value fed back by the flexible surgical tool, and adopting a robot according to the multi-degree of freedom robot arm and the mechanical configuration of the flexible surgical tool Converting the kinematic model to the current pose of the surgical actuator;
  • the surgical actuator is expected to calculate the speed as follows:
  • the surgical actuator velocity vector including the linear velocity vector v and the angular velocity vector ⁇ ;
  • p t is the surgical actuator target position, ie the position vector contained in the surgical actuator target pose;
  • R t is the surgical actuator target posture rotation matrix, That is, the posture matrix contained in the target pose of the surgical actuator;
  • p c is the current position of the surgical actuator, that is, the position vector contained in the current posture of the surgical actuator;
  • R c is the current posture rotation matrix of the surgical actuator, that is, the surgical actuator
  • v lim is the surgical actuator linear velocity limit;
  • ⁇ lim is the surgical actuator angular velocity limit;
  • the unit vector of the axis of rotation required to rotate from the current posture of the surgical actuator to the target position of the surgical actuator Marked Is the unit vector.
  • the sheath space position is a spatial position where the sheath is fixed to the surgical incision.
  • the movement is defined such that the speed direction of the outer sleeve at a specific fixed point in the sheath should coincide with the tangential direction of the passage point through the outer sleeve at the specific fixed point;
  • the specific fixation point is the intersection of the channel axis through the outer cannula and the skin incision in the sheath.
  • the inverse kinematics algorithm under the multi-priority target is:
  • C is a motion-limited condition
  • H is a Jacobian matrix of motion-limited conditions
  • v RCM ⁇ is the tangent of the outer cannula at a particular fixed point in the sheath perpendicular to the channel axis of the outer cannula at that particular fixed point Speed vector of direction
  • J is the Jacobian matrix of the surgical actuator.
  • a flexible surgical tool system for implementing the above control method, characterized in that the system comprises a multi-degree-of-freedom robotic arm, a flexible surgical tool, a remote control device and a control computer; the remote control device interacts with the control computer for information
  • the remote control device transmits desired control information of the multi-degree-of-freedom robot arm and the flexible surgical tool to the control computer; the control computer and the multi-degree-of-freedom robot arm, the flexible surgical tool respectively Performing information interaction, respectively transmitting a control signal to the multi-degree-of-freedom robotic arm, the flexible surgical tool, and receiving a current state fed back by the multi-degree-of-freedom robotic arm and the flexible surgical tool, the current state including Determining a motion posture and external disturbance information of the multi-degree-of-freedom robot arm and the flexible surgical tool; the control computer returns the received information to the remote control device, and the remote control device outputs a force to Reflecting the degree of motion lag of the multi-degree-of-freedom robotic arm and the flexible surgical tool
  • the multi-degree-of-freedom robot arm is equipped with a robot arm controller for receiving a control signal from the Ethernet, and then transmitting to the motor driver through the controller area network bus to drive the corresponding motor movement; the multi-degree-of-freedom machine
  • Each of the arms is equipped with a rotation angle sensor for detecting the multi-degree-of-freedom robot arm joint position value in real time, and transmitting it to the robot arm controller through a controller area network bus in a feedback signal, the robot arm control The feedback signal is transmitted over the Ethernet to the control computer for calculation of the control loop.
  • the flexible surgical tool is provided with a flexible surgical tool controller, receiving a control signal from the Ethernet, and transmitting to the motor driver through the controller area network bus to drive the corresponding motor movement; each motor in the flexible surgical tool A rotation angle sensor is mounted on the output shaft, and the real-time measured output shaft rotation angle is transmitted to the flexible surgical tool controller through a controller area network bus in a feedback signal manner, and the flexible surgical tool controller performs positive
  • the kinematic algorithm obtains a flexural angle value of the flexible surgical tool and transmits it to the control computer via Ethernet for feedback loop calculation in the form of a feedback signal.
  • control computer transmits a control signal to the multi-degree-of-freedom robot arm and the flexible surgical tool joint motor driver via a local area network bus, the multi-degree-of-freedom robot arm and the flexible surgery
  • Each joint motor driver in the tool selectively reads the corresponding control signal for driving the corresponding motor movement
  • the rotation angle sensor is mounted on each of the joints of the multi-degree-of-freedom robot arm and the output shaft of each of the flexible surgical tools .
  • the flexible surgical tool is fixed at the end of the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm has a plurality of degrees of freedom;
  • the flexible surgical tool comprises a flexible surgical tool drive unit, an outer cannula, a flexible multi-structure An articulating body and a surgical actuator;
  • the surgical actuator being a mechanical, energy or sensing surgical actuator fixed to the end of the flexible multi-section arm body, one end of the flexible multi-section arm body
  • the outer sleeve is guided into the flexible surgical tool drive unit by the outer cannula; in use, the outer cannula passes through a sheath that is secured to the skin incision.
  • the present invention has the following advantages due to the above technical solution: the present invention includes a multi-degree-of-freedom robotic arm, a flexible surgical tool, a remote control device, and a control computer, and interacts with the control computer information through a remote control device to control the computer and multiple degrees of freedom.
  • the robot arm and the flexible surgical tool exchange information, implement the multi-degree-of-freedom robotic arm and change the position of the flexible surgical tool under the constraint of the sheath movement, supplemented by the precise bending of the flexible arm in any direction under the flexible surgical tool.
  • Flexible movement of the flexible surgical tool distal surgical actuator.
  • FIG. 1 is a schematic view showing a control structure of a flexible surgical tool system of the present invention
  • FIG. 2a is a schematic structural view of a flexible surgical tool system of the present invention
  • 2b is a schematic view showing the structure of a sheath having a plurality of channels in the flexible surgical tool system of the present invention
  • 2c is a schematic view showing the structure of a single-channel sheath in the flexible surgical tool system of the present invention
  • FIG. 3 is a flow chart showing the control method of the flexible surgical tool system of the present invention under motion constraints.
  • the present invention provides a flexible surgical tool system that includes a multi-degree of freedom robotic arm 101, a flexible surgical tool 102, a remote control device 201, and a control computer 202.
  • the remote control device 201 interacts with the control computer 202, and the desired control information for the multi-degree-of-freedom robot 101 and the flexible surgical tool 102 is transmitted to the control computer 202 by the remote control device 201; the control computer 202 and the multi-degree-of-freedom robot respectively 101.
  • the flexible surgical tool 102 performs information interaction, and the control computer 202 transmits control signals to the multi-degree-of-freedom robot arm 101 and the flexible surgical tool 102, respectively, and receives the current state fed back by the multi-degree-of-freedom robot arm 101 and the flexible surgical tool 102.
  • the current state includes, but is not limited to, the motion posture and external disturbance information of the multi-degree-of-freedom robot 101 and the flexible surgical tool 102, and the control computer 202 processes the received information and returns to the remote control device 201, and the remote control device 201 outputs a certain value.
  • the force is used to reflect the degree of motion lag or external disturbance information of the multi-degree of freedom robot arm 101 and the flexible surgical tool 102.
  • the aforementioned control signals are transmitted over a connection constructed by Ethernet.
  • the multi-degree-of-freedom robot arm 101 is equipped with a robot arm controller for receiving a control signal from the Ethernet, and then transmitting it to the motor driver through the controller area network bus (CAN) to drive the corresponding motor motion, and further The multi-degree-of-freedom robot 101 is driven to operate.
  • the multi-degree-of-freedom robot arm 101 is equipped with a rotation angle sensor for detecting the multi-degree-of-freedom robot arm joint position value 303 in real time, and transmits it to the robot arm controller through a controller area network bus (CAN) in a feedback signal manner.
  • the robot controller transmits a feedback signal (including the multi-degree of freedom robot joint position value 303) to the control computer 202 via the Ethernet for calculation of the control loop.
  • the flexible surgical tool 102 is provided with an embedded computer based on an ARM chip, which is a flexible surgical tool controller, receives control signals from the Ethernet, and then passes through a controller area network bus (CAN). It is passed to the motor drive to drive the corresponding motor motion, thereby driving the flexible surgical tool 102.
  • ARM chip which is a flexible surgical tool controller
  • a rotation angle sensor is mounted on the output shaft of each motor in the flexible surgical tool 102, and the real-time measured output shaft rotation angle is transmitted to the flexible surgical tool controller through a controller area network bus (CAN) in a feedback signal manner, and the flexibility is
  • the surgical tool controller performs a positive kinematics algorithm to obtain a flexible surgical tool to construct a bending angle value 304 and transmit it to the control computer 202 via Ethernet for feedback calculations in the form of feedback signals.
  • the control computer 202 broadcasts all joint control signals to the multi-degree of freedom robotic arm 101 and the articulated motor drivers of the flexible surgical tool 102 in a broadcast manner via a controller area network bus (CAN).
  • CAN controller area network bus
  • the multi-degree-of-freedom robotic arm 101 and each of the articulation motor drivers in the flexible surgical tool 102 selectively read the corresponding control signals for driving the respective motor motion.
  • the rotation angle sensor in the multi-degree-of-freedom robot 101 transmits the multi-degree-of-freedom robot arm joint position value 303 detected in real time through a controller area network bus (CAN) to the control computer 202 for control loop in a feedback signal manner.
  • CAN controller area network bus
  • the calculation of the rotation angle sensor in the flexible surgical tool 102 transmits the real-time measured output shaft rotation angle to the control computer 202 via a controller area network bus (CAN) in a feedback signal, and the control computer 202 performs a positive kinematics algorithm.
  • the flexible surgical tool is configured to bend the angle value 304 and perform a calculation of the control loop.
  • the flexible surgical tool 102 is fixed to the end of the multi-degree-of-freedom robotic arm 101; the multi-degree-of-freedom robotic arm 101 has a plurality of degrees of freedom (usually greater than or equal to six), and the portable surgical tool 102 can be carried to achieve a large space.
  • the flexible surgical tool 102 includes a flexible surgical tool drive unit 104, an outer cannula 105, a flexible multi-jointed arm body 106, and a surgical actuator 107.
  • the surgical actuator 107 is secured to the end of the flexible multi-section arm body 106, one end of which is guided into the flexible surgical tool drive unit 104 by an outer sleeve 105.
  • the outer sleeve 105 can be a straight tube or a curved rigid pipe of any curve, the front section is a rigid straight tube, and the rear section is a rigid arc-shaped elbow.
  • the outer cannula 105 passes through a sheath 103 secured to the skin incision, the sheath 103 having a plurality of channels providing access to the instruments required for single-hole laparoscopic surgery, typically three surgical tools and an imaging illumination tool.
  • the surgical tool channel is an inclined channel, which not only allows the feeding of the outer cannula and the rotational movement about its own axis, nor does it limit the deflection movement of the outer cannula 105 in any direction with the sheath spatial position as the center of rotation.
  • the multi-degree of freedom robotic arm 101 carries the flexible surgical tool 102 such that the surgical actuator 107, the flexible multi-frame arm 106, and a portion of the outer cannula 105 enter the patient through the passage provided by the sheath 103.
  • the outer sleeve 105 is a pre-bent sleeve, it helps to form a triangular-arched surgical posture through the plurality of flexible arm bodies 106 of the sheath 103 in the initial straight state, thereby performing single-hole laparoscopic surgery.
  • the multi-degree of freedom robotic arm 101 can achieve a wide range of motion of the flexible surgical tool 102, which can achieve a small range of precise flexible movement of the flexible multi-frame arm body 106 within the patient and to the surgical actuator 107 drive.
  • the multi-degree-of-freedom robot 101 carries the flexible surgical tool 102 for surgical operation, it is necessary to ensure that the outer sleeve 105 of the flexible surgical tool 102 is in the channel provided by the sheath 103 fixed at the skin incision, the outer sleeve The tube 105 is always deflected about a particular fixation point (i.e., the point in the sheath 103 or sheath 108 for passage through the channel axis of the outer cannula 105 to the skin incision) and only A linear feed motion along the axial direction of the aforementioned passage and a rotational motion about the axis are generated to avoid the outer sleeve 105 and the sheath 103 from pulling against the skin incision during
  • the outer sleeve 105 shown in this embodiment is a rigid straight sleeve that can pass through a sheath 108 that includes only one channel, the sheath 108 is also fixed to the skin.
  • the outer cannula 105, the flexible multi-jointed arm body 106, and the surgical actuator 107 in the flexible surgical tool system can also be subjected to a multi-sleeve surgical procedure by a plurality of sheaths 108.
  • the surgical actuator 107 may be a mechanical surgical actuator such as a surgical forceps, a scissors, a hemostat, etc.; the surgical actuator 107 may also be an energy surgical actuator such as an electric knife, an electrocoagulation head, or the like;
  • the surgical actuator 107 can also be a force sensor member that measures the external disturbances of the surgical actuator 107 itself.
  • the surgical actuator 107 is fixed to the end of the flexible multi-section arm body 106, and the flexible multi-section arm body 106 has one or more flexible constituting structures that can be bent in any direction, and the direction of each flexible constituting structure is in any direction.
  • the bending can be parameterized by a flexible surgical tool constructing a bending angle value comprising a bending plane pointing angle value of the flexible forming structure and a bend in the bending plane Turn the angle value.
  • the flexible surgical tool driving unit 104 includes a mechanical transmission structure, a motor driver, and the like, and can realize motion driving of the flexible multi-section arm body 106 and the surgical actuator 107.
  • the present invention is based on the above flexible surgical tool system, and also provides a control method of the flexible surgical tool system under motion constraints.
  • the control computer 202 implements the loop control, which includes the following steps:
  • the remote control device status signal 301 is transmitted to the control computer 202 by the remote control device 201, the remote control device status signal 301 is received by the control computer 202, and the surgical actuator target pose 302 is obtained according to the registration and mapping relationship;
  • the remotely controlled device status signal 301 includes the desired position and pointing signals of the surgical actuator 107.
  • the control computer 202 receives the multi-degree-of-freedom robot arm joint position value 303 fed back by the multi-degree-of-freedom robot arm 101 and the flexible surgical tool section turning angle value 304 fed back by the flexible surgical tool 102 (ie, the bending of each section structure)
  • the angle value is converted to the current pose 305 of the surgical actuator 107 using a robotic forward kinematics model based on the mechanical configuration of the multi-degree of freedom robotic arm 101 and the flexible surgical tool 102.
  • the control computer 202 calculates the surgical actuator desired speed 306 (including line speed and angular velocity) based on the surgical actuator target pose 302 and the surgical actuator current pose 305.
  • the surgical actuator 107 velocity vector (ie, the surgical actuator desired velocity 306), including the linear velocity vector v and the angular velocity vector ⁇ ;
  • p t is the surgical actuator target position, ie, the position vector contained in the surgical actuator target pose 302;
  • R t is the surgical actuator target posture rotation matrix, that is, the posture matrix included in the surgical actuator target pose 302;
  • p c is the current position of the surgical actuator, that is, the position vector contained in the current posture 305 of the surgical actuator;
  • R c The current posture rotation matrix of the surgical actuator, that is, the posture matrix contained in the current posture 305 of the surgical actuator;
  • v lim is the surgical actuator linear velocity limit value, that is, the artificial setting parameter;
  • ⁇ lim is the surgical actuator angular velocity limit value, That is, artificially setting parameters;
  • the unit vector of the axis of rotation required to rotate from the current posture of the surgical actuator to the target position of the surgical actuator Marked Is the unit vector.
  • the control computer 202 calculates the current relative outer sleeve of the sheath according to the multi-degree of freedom mechanical arm joint position value 303, the flexible surgical tool section bending angle value 304, and the sheath space position 307, and using the robot forward kinematics model. Location 308;
  • the sheath space position 307 is the spatial position at which the sheath 103 or sheath 108 is secured to the surgical incision.
  • the motion defining condition 309 for the sheath to be applied to the outer cannula is obtained by the sheath relative to the outer cannula position 308; the inverse kinematics algorithm 310 under the multi-priority target is applied based on the motion defining condition 309 and the surgical actuator desired speed 306. Calculating a multi-degree of freedom robot arm joint speed 311 and a flexible surgical tool section bending speed 312;
  • the motion defining condition 309 is such that the outer sleeve 105 is at a particular fixed point in the sheath 103 or sheath 108 (i.e., the point in the sheath 103 or sheath 108 for passage through the channel axis of the outer cannula 105 to the skin incision).
  • the channel axis of the outer cannula 105 coincides in the tangential direction of the particular fixation point to ensure that movement of the outer cannula 105 does not cause the sheath 103 to pull the surgical incision.
  • the multi-priority target inverse kinematics algorithm 310 is as follows:
  • C is a motion-limited condition
  • H is a Jacobian matrix of motion-limited conditions
  • v RCM is an outer sleeve 105 located at a particular fixed point in the sheath 103 or sheath 108 perpendicular to the outer sleeve 105 axis a velocity vector at the tangential direction of the particular fixed point
  • J is the Jacobian matrix of the surgical actuator 107.
  • the inverse kinematics algorithm 310 under the multi-priority target is an inverse kinematics operation obtained by combining the Jacobian matrix of the surgical actuator 107 with the Jacobian matrix of the motion-qualified condition, which satisfies both the sheath application and the sheath.
  • the motion limitation condition 309 of the outer cannula again ensures the achievement of the desired speed 306 of the surgical actuator.

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Abstract

一种柔性手术工具系统及其在运动约束下的控制方法，其包括由多自由度机械臂（101）、柔性手术工具（102）、远程操控设备（201）和控制计算机（202）构成的柔性手术工具系统；根据远程操控设备（201）状态信号（301）得出手术执行器（107）目标位姿（302）；根据多自由度机械臂（101）关节位置值（303）和柔性手术工具（102）构节弯转角度值（304），得出手术执行器（107）当前位姿（305）；根据手术执行器（107）目标位姿（302）和手术执行器（107）当前位姿（305）得出手术执行器（107）期望速度（306）；获取鞘套（103，108）施加于外套管（105）的运动限定条件（309），根据运动限定条件（309）和手术执行器（107）期望速度（306），得出多自由度机械臂（101）关节速度（311）以及柔性手术工具（102）构节弯转速度（312）；获得多自由度机械臂（101）目标关节位置值（313）、柔性手术工具（102）目标构节弯转角度值（314），并将其发送到相应控制器以驱动各个构节；控制循环结束并重复循环执行上述步骤的动作。

Description

一种柔性手术工具系统及其在运动约束下的控制方法
相关申请的交叉引用
本专利申请要求于2016年8月31日提交的、申请号为201610796033.0、发明名称为“一种柔性手术工具系统及其在运动约束下的控制方法”的中国专利申请的优先权，该申请的全文以引用的方式并入本文中。
技术领域
本发明涉及一种医疗器械及其控制方法，特别是关于一种柔性手术工具系统及其在运动约束下的控制方法。
背景技术
微创腔镜手术因其创口小、术后恢复快，已经在外科手术中占据了重要的地位。机器人辅助的腔镜手术可大大简化医生的操作，同时提高操作精度。现有Intuitive Surgical公司的da Vinci手术机器人辅助医生完成多孔腹腔镜微创手术，取得了商业上的巨大成功。相较末端通过杆件串联铰接实现有限弯转自由度的传统刚性手术器械，柔性手术器械可实现进一步的微型化和更好的运动性能，是下一代微创腔镜手术器械发展的重要研究方向。
在机器人辅助的微创腔镜手术过程中，手术器械在机器人或机械臂的携带下经固定于皮肤切口处的鞘套进入患者体内以完成手术操作。在手术操作过程中，须最大限度的减小手术器械的运动对鞘套空间位置的影响以减少对皮肤切口的牵拉。因此，机器人辅助的腔镜手术系统需要在满足上述运动约束下完成手术操作。现存的解决方案多采用机械结构设计如远程运动中心(Remote Center of Motion，RCM)机构以满足上述运动约束，使用灵活性不高。
发明内容
针对上述问题，本发明的目的是提供一种柔性手术工具系统在运动约束下的控制方法，该方法能在不采用专用远程运动中心机构的条件下，实现手术工具系统在鞘套运动约束下的灵活操控。
本发明的另一目的是提供一种柔性手术工具系统，该系统可经单一手术切口，较好地应用于单孔腔镜微创手术机器人系统，亦可应用于多孔腔镜手术机器人系 统。
为实现上述目的，本发明采取以下技术方案：一种柔性手术工具系统在运动约束下的控制方法，该方法包括以下步骤：1)设置一柔性手术工具系统，其包括多自由度机械臂、柔性手术工具、远程操控设备和控制计算机；柔性手术工具包括柔性手术工具驱动单元、外套管、柔性多构节臂体和手术执行器；2)所述远程操控设备将远程操控设备状态信号传输至所述控制计算机，所述控制计算机接收所述远程操控设备状态信号后并根据配准、映射关系换算得出手术执行器目标位姿；3)所述控制计算机分别接收由所述多自由度机械臂反馈的多自由度机械臂关节位置值和所述柔性手术工具反馈的柔性手术工具构节弯转角度值，并根据所述多自由度机械臂和所述柔性手术工具的机械构型采用机器人正向运动学模型换算得出手术执行器当前位姿；4)所述控制计算机根据所述手术执行器目标位姿和所述手术执行器当前位姿计算得出手术执行器期望速度；5)所述控制计算机根据所述多自由度机械臂关节位置值、所述柔性手术工具构节弯转角度值以及鞘套空间位置，并利用机器人正向运动学模型计算得出鞘套当前相对外套管位置；6)通过所述鞘套当前相对外套管位置得到鞘套施加于外套管的运动限定条件；根据所述运动限定条件和所述手术执行器期望速度，应用多优先级目标下的逆运动学算法计算得出多自由度机械臂关节速度以及柔性手术工具构节弯转速度；7)根据所述多自由度机械臂关节速度以及预设的控制循环时间，计算得出多自由度机械臂目标关节位置值，并将其发送到所述多自由度机械臂的控制器以驱动各个关节；8)根据所述柔性手术工具构节弯转速度以及所述控制循环时间，计算得出柔性手术工具目标构节弯转角度值，并将其发送到所述柔性手术工具的控制器以驱动各个构节；9)控制循环结束并重复循环执行所述步骤2)至所述步骤8)的动作。
优选地，所述步骤4)中，所述手术执行器期望速度计算方式如下：
Figure PCTCN2017099846-appb-000001
式中，
Figure PCTCN2017099846-appb-000002
为手术执行器速度向量，包括线速度向量v与角速度向量ω；pt为手术执行器目标位置，即手术执行器目标位姿中包含的位置向量；Rt为手术执行器目标姿态旋转矩阵，即手术执行器目标位姿中包含的姿态矩阵；pc为手术执行器当前位置，即手术执行器当前位姿中包含的位置向量；Rc为手术执行器当前姿态旋转矩阵，即手术执行器当前位姿中包含的姿态矩阵；vlim为手术执行器线速度限定值；ωlim为手术执行器角速度限定值；
Figure PCTCN2017099846-appb-000003
为从手术执行器当前姿态旋转到手术执行 器目标姿态所需围绕的旋转轴线的单位向量，
Figure PCTCN2017099846-appb-000004
为标明
Figure PCTCN2017099846-appb-000005
是单位向量。
优选地，所述步骤5)中，所述鞘套空间位置为鞘套固定于手术切口的空间位置。
优选地，所述步骤6)中，所述运动限定条件为外套管处于鞘套中特定固定点的速度方向应与通过外套管的通道轴线在所述特定固定点的切向方向一致；所述特定固定点为鞘套中用于通过外套管的通道轴线与皮肤切口的交点。
优选地，所述步骤6)中，多优先级目标下的逆运动学算法为：
Figure PCTCN2017099846-appb-000006
C＝vRCM⊥＝0
Figure PCTCN2017099846-appb-000007
Figure PCTCN2017099846-appb-000008
式中，C为运动限定条件；H为运动限定条件的雅克比矩阵；
Figure PCTCN2017099846-appb-000009
为多自由度机械臂关节速度及柔性手术工具构节弯转速度组成的向量；vRCM⊥为外套管位于鞘套中特定固定点处垂直于该外套管的通道轴线在该特定固定点的切线方向的速度向量；
Figure PCTCN2017099846-appb-000010
为手术执行器期望速度向量；J为手术执行器的雅克比矩阵。
一种实现上述控制方法的柔性手术工具系统，其特征在于：该系统包括多自由度机械臂、柔性手术工具、远程操控设备和控制计算机；所述远程操控设备与所述控制计算机进行信息交互，所述远程操控设备将对所述多自由度机械臂、所述柔性手术工具的期望控制信息传输至所述控制计算机；所述控制计算机分别与所述多自由度机械臂、所述柔性手术工具进行信息交互，分别向所述多自由度机械臂、所述柔性手术工具传输控制信号，并接收由所述多自由度机械臂、所述柔性手术工具反馈回的当前状态，该当前状态包括所述多自由度机械臂和所述柔性手术工具的运动姿态和受到外扰动信息；所述控制计算机将接收到的信息处理后返回至所述远程操控设备，所述远程操控设备输出作用力，以体现所述多自由度机械臂和所述柔性手术工具的运动滞后程度或所受外扰动信息；所述控制信号在以太网构建的连接上传输。
优选地，所述多自由度机械臂配有机械臂控制器，用于接收来自以太网的控制信号，再通过控制器局域网络总线传递给电机驱动器以驱动相应电机运动；所述多自由度机械臂各个关节安装有旋转角度传感器，用于实时检测所述多自由度机械臂关节位置值，并以反馈信号的方式通过控制器局域网络总线传递给所述机械臂控制器，所述机械臂控制器将反馈信号通过以太网传输到所述控制计算机进行控制循环的计算。
优选地，所述柔性手术工具中设置有柔性手术工具控制器，接收来自以太网的控制信号，再通过控制器局域网络总线传递给电机驱动器以驱动相应电机运动；所述柔性手术工具中各个电机的输出轴上安装有旋转角度传感器，将所实时测得的输出轴旋转角度以反馈信号的方式通过控制器局域网络总线传递给所述柔性手术工具控制器，所述柔性手术工具控制器执行正运动学算法，得到柔性手术工具构节弯转角度值，并以反馈信号的形式通过以太网传输到所述控制计算机进行控制循环的计算。
优选地，所述控制计算机通过局域网络总线以广播的方式将控制信号传输到所述多自由度机械臂以及所述柔性手术工具各关节电机驱动器，所述多自由度机械臂以及所述柔性手术工具中各关节电机驱动器选择性的读取所对应控制信号用以驱动相应电机运动；所述多自由度机械臂各个关节、所述柔性手术工具中各个电机的输出轴上均安装有旋转角度传感器。
优选地，所述柔性手术工具固定在所述多自由度机械臂末端，所述多自由度机械臂具有多个自由度；所述柔性手术工具包括柔性手术工具驱动单元、外套管、柔性多构节臂体和手术执行器；所述手术执行器为机械式、能量式或传感式手术执行器，其固定于所述柔性多构节臂体末端，所述柔性多构节臂体的一端通过所述外套管引导连接到所述柔性手术工具驱动单元中；使用时，所述外套管穿过固定于皮肤切口处的鞘套。
本发明由于采取以上技术方案，其具有以下优点：本发明包括多自由度机械臂、柔性手术工具、远程操控设备和控制计算机，通过远程操控设备与控制计算机信息交互，控制计算机分别与多自由度机械臂、柔性手术工具进行信息交互，实施了多自由度机械臂携带并在鞘套运动约束下改换柔性手术工具位姿，辅以柔性手术工具柔性臂体任意方向下的精准弯转，实现了柔性手术工具远端手术执行器的灵活运动。
附图说明
图1是本发明柔性手术工具系统控制架构示意图；
图2a是本发明柔性手术工具系统结构示意图；
图2b是本发明柔性手术工具系统中具有多个通道的鞘套结构示意图；
图2c是本发明柔性手术工具系统中单通道鞘套结构示意图；
图3是本发明柔性手术工具系统在运动约束下的控制方法流程示意图。
具体实施方式
以下将结合附图对本发明的较佳实施例进行详细说明，以便更清楚理解本发明的目的、特点和优点。应理解的是，附图所示的实施例并不是对本发明范围的限制，而只是为了说明本发明技术方案的实质精神。
如图1所示，本发明提供一种柔性手术工具系统，其包括多自由度机械臂101、柔性手术工具102、远程操控设备201和控制计算机202。远程操控设备201与控制计算机202进行信息交互，由远程操控设备201将对多自由度机械臂101、柔性手术工具102的期望控制信息传输至控制计算机202；控制计算机202分别与多自由度机械臂101、柔性手术工具102进行信息交互，控制计算机202分别向多自由度机械臂101、柔性手术工具102传输控制信号，并接收由多自由度机械臂101、柔性手术工具102反馈回的当前状态，该当前状态包括但不限于多自由度机械臂101和柔性手术工具102的运动姿态和受到外扰动信息，控制计算机202将接收到的信息处理后返回至远程操控设备201，远程操控设备201输出一定作用力，以体现多自由度机械臂101和柔性手术工具102的运动滞后程度或所受外扰动信息。优选的，前述控制信号在以太网构建的连接上传输。
上述各实施例中，多自由度机械臂101配有机械臂控制器，用于接收来自以太网的控制信号，再通过控制器局域网络总线(CAN)传递给电机驱动器以驱动相应电机运动，进而驱动多自由度机械臂101动作。多自由度机械臂101各个关节安装有旋转角度传感器，用于实时检测多自由度机械臂关节位置值303，并以反馈信号的方式通过控制器局域网络总线(CAN)传递给机械臂控制器，机械臂控制器将反馈信号(包含多自由度机械臂关节位置值303)通过以太网传输到控制计算机202进行控制循环的计算。
上述各实施例中，柔性手术工具102中设置有基于ARM芯片的嵌入式计算机，该嵌入式计算机为柔性手术工具控制器，接收来自以太网的控制信号，再通过控制器局域网络总线(CAN)传递给电机驱动器以驱动相应电机运动，进而驱动柔性手术工具102。柔性手术工具102中各个电机的输出轴上安装有旋转角度传感器，将所实时测得的输出轴旋转角度以反馈信号的方式通过控制器局域网络总线(CAN)传递给柔性手术工具控制器，柔性手术工具控制器执行正运动学算法，得到柔性手术工具构节弯转角度值304，并以反馈信号的形式通过以太网传输到控制计算机202进行控制循环的计算。
在一个优选的实施例中，多自由度机械臂101和柔性手术工具102中均不存在独自的控制器。优选的，控制计算机202通过控制器局域网络总线(CAN)以广播的方式将所有关节控制信号传输到多自由度机械臂101以及柔性手术工具102各关节电机驱动器。多自由度机械臂101以及柔性手术工具102中各关节电机驱动器选择性的读取所对应控制信号用以驱动相应电机运动。相似的，多自由度机械臂101中的旋转角度传感器将实时检测的多自由度机械臂关节位置值303，以反馈信号的方式通过控制器局域网络总线(CAN)传输到控制计算机202进行控制循环的计算；柔性手术工具102中的旋转角度传感器将所实时测得的输出轴旋转角度以反馈信号的方式通过控制器局域网络总线(CAN)传递给控制计算机202，控制计算机202执行正运动学算法，得到柔性手术工具构节弯转角度值304，并进行控制循环的计算。
如图2a～图2c所示，柔性手术工具102固定在多自由度机械臂101末端；多自由度机械臂101具有多个自由度(通常大于等于六)，可携带柔性手术工具102实现空间大范围的位姿变换。柔性手术工具102包括柔性手术工具驱动单元104、外套管105、柔性多构节臂体106和手术执行器107。手术执行器107固定于柔性多构节臂体106末端，柔性多构节臂体106的一端通过外套管105引导连接到柔性手术工具驱动单元104中。在本实施例中，外套管105可以采用直管或者任意曲线的弯曲刚性管道，其前段为刚性直管，后段为刚性圆弧形弯管。外套管105穿过固定于皮肤切口处的鞘套103，该鞘套103具有多个通道，为单孔腔镜手术所需的器械(一般为三个手术工具及一个成像照明工具)提供通道，其中的手术工具通道为倾斜通道，该通道不仅允许外套管的进给和绕其自身轴线的旋转运动，还不限制外套管105以鞘套空间位置为旋转中心，向任意方向的偏转运动。使用时，多自由度机械臂101携带柔性手术工具102，使其手术执行器107，柔性多构节臂体106以及部分外套管105通过鞘套103所提供通道进入患者体内。外套管105为预弯曲套管时，有助于通过鞘套103的多支柔性臂体106在初始直态时形成三角拱立的手术姿态，进而施展单孔腔镜手术。
在使用时，多自由度机械臂101可实现柔性手术工具102的大范围运动，柔性手术工具102可实现柔性多构节臂体106在病人体内的小范围精确灵活运动以及对手术执行器107的驱动。需要注意的是，当多自由度机械臂101携带柔性手术工具102进行手术操作时，需保证柔性手术工具102中外套管105处于固定于皮肤切口处的鞘套103所提供的通道中，该外套管105始终绕特定固定点(即鞘套103或鞘套108中用于通过外套管105的通道轴线与皮肤切口的交点)进行偏转运动，并只 产生沿前述通道的轴线方向的线性进给运动和绕该轴线的旋转运动，以避免手术操作时外套管105连同鞘套103对皮肤切口产生牵拉。
在一个优选的实施例中，如图2所示，本实施例展示的外套管105为刚性直套管时，其可穿过仅包含一个通道的鞘套108，该鞘套108同样固定于皮肤切口处，该柔性手术工具系统中的外套管105、柔性多构节臂体106、手术执行器107同样可通过多个鞘套108，进而施展多孔腔镜手术。
上述各实施例中，手术执行器107可为机械式手术执行器，如手术钳、剪刀、止血钳等；手术执行器107也可为能量式手术执行器，如电切刀、电凝头等；手术执行器107也可为力传感器件，测量该手术执行器107本身所受外扰动。手术执行器107固定于柔性多构节臂体106末端，柔性多构节臂体106为具有一个或多个可向任意方向弯转的柔性构节结构，每个柔性构节结构的向任意方向弯转可通过柔性手术工具构节弯转角度值来参数化表示，该柔性手术工具构节弯转角度值包括该柔性构节结构的弯转平面指向角度值及在该弯转平面中的弯转角度值。
上述各实施例中，柔性手术工具驱动单元104中包括机械传动结构以及电机驱动器等，可实现对柔性多构节臂体106以及手术执行器107的运动驱动。
如图3所示，本发明基于上述柔性手术工具系统，还提供一种柔性手术工具系统在运动约束下的控制方法，由控制计算机202实现循环控制，其包括以下步骤：
1)由远程操控设备201将远程操控设备状态信号301传输至控制计算机202，由控制计算机202接收远程操控设备状态信号301并根据配准、映射关系换算得出手术执行器目标位姿302；
其中，远程操控设备状态信号301包括期望的手术执行器107的位置和指向信号。
2)控制计算机202分别接收由多自由度机械臂101反馈的多自由度机械臂关节位置值303和柔性手术工具102反馈的柔性手术工具构节弯转角度值304(即各构节结构弯转角度值)，并根据多自由度机械臂101和柔性手术工具102的机械构型采用机器人正向运动学模型换算得出手术执行器107当前位姿305。
3)控制计算机202根据手术执行器目标位姿302和手术执行器当前位姿305计算得出手术执行器期望速度306(包括线速度和角速度)。
具体算法如下：
Figure PCTCN2017099846-appb-000011
式中，
Figure PCTCN2017099846-appb-000012
为手术执行器107速度向量(即手术执行器期望速度306)，包括线速度向量v与角速度向量ω；pt为手术执行器目标位置，即手术执行器目标位姿302中包含的位置向量；Rt为手术执行器目标姿态旋转矩阵，即手术执行器目标位姿302中包含的姿态矩阵；pc为手术执行器当前位置，即手术执行器当前位姿305中包含的位置向量；Rc为手术执行器当前姿态旋转矩阵，即手术执行器当前位姿305中包含的姿态矩阵；vlim为手术执行器线速度限定值，即人为设定参数；ωlim为手术执行器角速度限定值，即人为设定参数；
Figure PCTCN2017099846-appb-000013
为从手术执行器当前姿态旋转到手术执行器目标姿态所需围绕的旋转轴线的单位向量，
Figure PCTCN2017099846-appb-000014
为标明
Figure PCTCN2017099846-appb-000015
是单位向量。
4)控制计算机202根据多自由度机械臂关节位置值303、柔性手术工具构节弯转角度值304以及鞘套空间位置307，并利用机器人正向运动学模型计算得出鞘套当前相对外套管位置308；
鞘套空间位置307为鞘套103或鞘套108固定于手术切口的空间位置。
5)通过鞘套当前相对外套管位置308可以得到鞘套施加于外套管的运动限定条件309；根据运动限定条件309和手术执行器期望速度306，应用多优先级目标下的逆运动学算法310计算得出多自由度机械臂关节速度311以及柔性手术工具构节弯转速度312；
运动限定条件309为外套管105处于鞘套103或鞘套108中特定固定点(即鞘套103或鞘套108中用于通过外套管105的通道轴线与皮肤切口的交点)的速度方向应与通过外套管105的通道轴线在该特定固定点的切向方向一致，以保证外套管105的运动不会使得鞘套103牵拉手术切口。
6)根据多自由度机械臂关节速度311以及预设的控制循环时间315，计算得出多自由度机械臂目标关节位置值313，并将其发送到多自由度机械臂101的控制器以驱动各个关节。
7)根据柔性手术工具构节弯转速度312以及控制循环时间315，计算得出柔性手术工具目标构节弯转角度值314，并将其发送到柔性手术工具102的控制器以驱动各个构节。
8)控制循环结束并重复循环执行上述步骤1)至步骤7)的动作。
上述步骤5)中，多优先级目标下逆运动学算法310如下：
Figure PCTCN2017099846-appb-000016
C＝vRCM⊥＝0
Figure PCTCN2017099846-appb-000017
Figure PCTCN2017099846-appb-000018
式中，C为运动限定条件；H为运动限定条件的雅克比矩阵；
Figure PCTCN2017099846-appb-000019
为多自由度机械臂关节速度311及柔性手术工具构节弯转速度312组成的向量；vRCM⊥为外套管105位于鞘套103或鞘套108中特定固定点处垂直于该外套管105轴线在该特定固定点的切线方向的速度向量；
Figure PCTCN2017099846-appb-000020
为手术执行器107速度向量(即手术执行器期望速度306，包括线速度与角速度)；J为手术执行器107的雅克比矩阵。
多优先级目标下的逆运动学算法310是通过结合手术执行器107的雅克比矩阵和运动限定条件的雅克比矩阵得出改进的雅克比矩阵进行逆运动学运算，既满足了鞘套施加于外套管的运动限制条件309，又保证了手术执行器期望速度306的实现。
上述各实施例仅用于说明本发明，各部件的结构、尺寸、设置位置及形状都是可以有所变化的，在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进和等同变换，均不应排除在本发明的保护范围之外。

Claims (10)

  1. 一种柔性手术工具系统在运动约束下的控制方法，其特征在于，该方法包括以下步骤：
    1)设置一柔性手术工具系统，其包括多自由度机械臂、柔性手术工具、远程操控设备和控制计算机；柔性手术工具包括柔性手术工具驱动单元、外套管、柔性多构节臂体和手术执行器；
    2)所述远程操控设备将远程操控设备状态信号传输至所述控制计算机，所述控制计算机接收所述远程操控设备状态信号后并根据配准、映射关系换算得出手术执行器目标位姿；
    3)所述控制计算机分别接收由所述多自由度机械臂反馈的多自由度机械臂关节位置值和所述柔性手术工具反馈的柔性手术工具构节弯转角度值，并根据所述多自由度机械臂和所述柔性手术工具的机械构型采用机器人正向运动学模型换算得出手术执行器当前位姿；
    4)所述控制计算机根据所述手术执行器目标位姿和所述手术执行器当前位姿计算得出手术执行器期望速度；
    5)所述控制计算机根据所述多自由度机械臂关节位置值、所述柔性手术工具构节弯转角度值以及鞘套空间位置，并利用机器人正向运动学模型计算得出鞘套当前相对外套管位置；
    6)通过所述鞘套当前相对外套管位置得到鞘套施加于外套管的运动限定条件；根据所述运动限定条件和所述手术执行器期望速度，应用多优先级目标下的逆运动学算法计算得出多自由度机械臂关节速度以及柔性手术工具构节弯转速度；
    7)根据所述多自由度机械臂关节速度以及预设的控制循环时间，计算得出多自由度机械臂目标关节位置值，并将其发送到所述多自由度机械臂的控制器以驱动各个关节；
    8)根据所述柔性手术工具构节弯转速度以及所述控制循环时间，计算得出柔性手术工具目标构节弯转角度值，并将其发送到所述柔性手术工具的控制器以驱动各个构节；
    9)控制循环结束并重复循环执行所述步骤2)至所述步骤8)的动作。
  2. 如权利要求1所述的一种柔性手术工具系统在运动约束下的控制方法，其特征在于：所述步骤4)中，所述手术执行器期望速度计算方式如下：
    Figure PCTCN2017099846-appb-100001
    式中，
    Figure PCTCN2017099846-appb-100002
    为手术执行器速度向量，包括线速度向量v与角速度向量ω；pt为手术执行器目标位置，即手术执行器目标位姿中包含的位置向量；Rt为手术执行器目标姿态旋转矩阵，即手术执行器目标位姿中包含的姿态矩阵；pc为手术执行器当前位置，即手术执行器当前位姿中包含的位置向量；Rc为手术执行器当前姿态旋转矩阵，即手术执行器当前位姿中包含的姿态矩阵；vlim为手术执行器线速度限定值；ωlim为手术执行器角速度限定值；
    Figure PCTCN2017099846-appb-100003
    为从手术执行器当前姿态旋转到手术执行器目标姿态所需围绕的旋转轴线的单位向量，
    Figure PCTCN2017099846-appb-100004
    为标明
    Figure PCTCN2017099846-appb-100005
    是单位向量。
  3. 如权利要求1所述的一种柔性手术工具系统在运动约束下的控制方法，其特征在于：所述步骤5)中，所述鞘套空间位置为鞘套固定于手术切口的空间位置。
  4. 如权利要求1所述的一种柔性手术工具系统在运动约束下的控制方法，其特征在于：所述步骤6)中，所述运动限定条件为外套管处于鞘套中特定固定点的速度方向应与通过外套管的通道轴线在所述特定固定点的切向方向一致；所述特定固定点为鞘套中用于通过外套管的通道轴线与皮肤切口的交点。
  5. 如权利要求1所述的一种柔性手术工具系统在运动约束下的控制方法，其特征在于：所述步骤6)中，多优先级目标下的逆运动学算法为：
    Figure PCTCN2017099846-appb-100006
    C＝vRCM⊥＝0
    Figure PCTCN2017099846-appb-100007
    Figure PCTCN2017099846-appb-100008
    式中，C为运动限定条件；H为运动限定条件的雅克比矩阵；
    Figure PCTCN2017099846-appb-100009
    为多自由度机械臂关节速度及柔性手术工具构节弯转速度组成的向量；vRCM⊥为外套管位于鞘套中特定固定点处垂直于该外套管的通道轴线在该特定固定点的切线方向的速度向量；
    Figure PCTCN2017099846-appb-100010
    为手术执行器期望速度向量；J为手术执行器的雅克比矩阵。
  6. 一种实现如权利要求1至5任一项所述控制方法的柔性手术工具系统，其特征在于：该系统包括多自由度机械臂、柔性手术工具、远程操控设备和控制计算机；所述远程操控设备与所述控制计算机进行信息交互，所述远程操控设备将对所述多自由度机械臂、所述柔性手术工具的期望控制信息传输至所述控制计算机；所述控制计算机分别与所述多自由度机械臂、所述柔性手术工具进行信息交互，分别向所述多自由度机械臂、所述柔性手术工具传输控制信号，并接收由所述多自由度机械臂、所述柔性手术工具反馈回的当前状态，该当前状态包括所述多自由度机械 臂和所述柔性手术工具的运动姿态和受到外扰动信息；所述控制计算机将接收到的信息处理后返回至所述远程操控设备，所述远程操控设备输出作用力，以体现所述多自由度机械臂和所述柔性手术工具的运动滞后程度或所受外扰动信息；所述控制信号在以太网构建的连接上传输。
  7. 如权利要求6所述的一种柔性手术工具系统，其特征在于：所述多自由度机械臂配有机械臂控制器，用于接收来自所述以太网的所述控制信号，再通过控制器局域网络总线传递给电机驱动器以驱动相应电机运动；所述多自由度机械臂各个关节安装有旋转角度传感器，用于实时检测所述多自由度机械臂关节位置值，并以反馈信号的方式通过所述控制器局域网络总线传递给所述机械臂控制器，所述机械臂控制器将所述反馈信号通过所述以太网传输到所述控制计算机进行控制循环的计算。
  8. 如权利要求6所述的一种柔性手术工具系统，其特征在于：所述柔性手术工具中设置有柔性手术工具控制器，接收来自所述以太网的所述控制信号，再通过控制器局域网络总线传递给电机驱动器以驱动相应电机运动；所述柔性手术工具中各个电机的输出轴上安装有旋转角度传感器，用于实时检测所述输出轴旋转角度，并以反馈信号的方式通过控制器局域网络总线传递给所述柔性手术工具控制器，所述柔性手术工具控制器执行正运动学算法，得到柔性手术工具构节弯转角度值，并以反馈信号的形式通过所述以太网传输到所述控制计算机进行控制循环的计算。
  9. 如权利要求6所述的一种柔性手术工具系统，其特征在于：所述控制计算机通过局域网络总线以广播的方式将所述控制信号传输到所述多自由度机械臂以及所述柔性手术工具各关节电机驱动器，所述多自由度机械臂以及所述柔性手术工具中各关节电机驱动器选择性的读取所对应所述控制信号用以驱动相应电机运动；所述多自由度机械臂各个关节、所述柔性手术工具中各个电机的输出轴上均安装有旋转角度传感器。
  10. 如权利要求6所述的一种柔性手术工具系统，其特征在于：所述柔性手术工具固定在所述多自由度机械臂末端，所述多自由度机械臂具有多个自由度；所述柔性手术工具包括柔性手术工具驱动单元、外套管、柔性多构节臂体和手术执行器；所述手术执行器为机械式、能量式或传感式手术执行器，其固定于所述柔性多构节臂体末端，所述柔性多构节臂体的一端通过所述外套管引导连接到所述柔性手术工具驱动单元中；使用时，所述外套管穿过固定于皮肤切口处的鞘套。
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