Control system, control method, and surgical arm system

Patent metadata

Field	Value
Publication number	US-11395709-B2
Application number	US-201816484467-A
Country	US
Kind code	B2
Filing date	Jan 12, 2018
Priority date	Feb 28, 2017
Publication date	Jul 26, 2022
Grant date	Jul 26, 2022

Abstract

There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode.In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.

First claim

The invention claimed is:

1. A control system that controls a surgical arm device, comprising:
processing circuitry configured to
acquire inclination information of the surgical arm device, the inclination information resulting from inclination of an operating table to which the surgical arm device is attached;
calculate a correct direction of gravity force based on the inclination information;
set a computational condition including gravity compensation that compensates for the gravity force in the calculated correct direction of the gravity force; and
calculate a command value to the surgical arm device according to the computational condition.

2. The control system according to claim 1 ,
wherein the inclination information is angle information.

3. The control system according to claim 1 ,
wherein the processing circuitry acquires information regarding an inclination angle of a patient support surface of the operating table.

4. The control system according to claim 1 , wherein
the surgical arm device includes a multi-link structural body in which a plurality of links is coupled together by a joint,
the processing circuitry sets a motion purpose and a constraint condition of the multi-link structural body in an operation space describing inertia of force acting on the multi-link structural body and acceleration of the multi-link structural body in generalized inverse dynamics, and
the processing circuitry calculates a virtual force that acts on the operation space to implement the operation space acceleration indicating the motion purpose, on a basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to the gravity compensation according to the inclination information, converts the virtual force to a real force in consideration to the constraint condition, and calculates a torque command value for driving the joint on a basis of the real force.

5. The control system according to claim 4 ,
wherein the processing circuitry makes a further correction to the real force such that the joint does not deviate from a logical response model.

6. The control system according to claim 5 ,
wherein the processing circuitry corrects a torque target value calculated on a basis of the logical response model according to the real force and external torque acting on the joint by using disturbance torque of the joint to calculate the torque command value.

7. The control system according to claim 6 ,
wherein the processing circuitry estimates torque acting on the joint from an angular velocity of the joint, and estimates the disturbance torque on a basis of a difference between the estimated torque and the torque command value.

8. A control method for controlling a surgical arm device, comprising:
acquiring, using processing circuitry, inclination information of the surgical arm device, the inclination information resulting from inclination of an operating table to which the surgical arm device is attached;
calculating, using the processing circuitry, a correct direction of gravity force based on the inclination information;
setting, using the processing circuitry, a computational condition including gravity compensation that compensates for the gravity force in the calculated correct direction of the gravity force;
calculating, using the processing circuitry, a command value to the surgical arm device according to the computational condition; and
issuing, using the processing circuitry, the command value to the surgical arm device.

9. A surgical arm system comprising:
a multi-link structural body in which a plurality of links is coupled by a joint; and
processing circuitry configured to
acquire inclination information of the multi-link structural body, the inclination information resulting from inclination of an operating table to which the multi-link structural body is attached,
calculate a correct direction of gravity force based on the inclination information,
set a computational condition including gravity compensation that compensates for the gravity force in the calculated correct direction of the gravity force,
acquire a state of the joint,
calculate a command value to the multi-link structural body according to the computational condition and the state of the joint, and
control driving of the joint according to the calculated command value.

10. The surgical arm system according to claim 9 ,
wherein the inclination information is angle information.

11. The surgical arm system according to claim 9 ,
wherein the processing circuitry acquires information regarding an inclination angle of a patient support surface of the operating table.

12. The surgical arm system according to claim 9 ,
wherein, in generalized inverse dynamics, for implementing an operation space acceleration indicating a motion purpose of the multi-link structural body in an operation space describing an inertia of force acting on the multi-link structural body and an acceleration of the multi-link structural body, the processing circuitry drives the joint according to a torque command value that is based on a real force obtained by converting a virtual force acting on the operation space calculated on a basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to the inclination information.

13. The surgical arm system according to claim 12 ,
wherein the processing circuitry drives the joint according to a torque command value based on the real force to which a correction is made such that the joint does not deviate from a logical response model.

14. The surgical arm system according to claim 13 ,
wherein the joint is driven according to a torque command value in which a torque target value calculated on a basis of the logical response model according to the real force and external torque acting on the joint is corrected using disturbance torque based on a difference between estimated torque acting on the joint and a torque command value.

Assignees

• Sony Corp

Inventors

• Matsuda Yasuhiro
• Arai Jun
• Kasai Takara
• Kuroda Yohei
• Kokubo Wataru

Classifications

• A61G13/04

  tiltable around transverse or longitudinal axis · CPC title

• B25J9/0096

  co-operating with a working support, e.g. work-table · CPC title

• A61B34/37 Primary

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• B25J9/1607

  Calculation of inertia, jacobian matrixes and inverses · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title