Method and device for planning initial pose of surgical arm of endoscopic surgical robot

Abstract

The invention discloses a method and device for planning an initial pose of a surgical arm of an endoscopic surgical robot. The method comprises the following steps: acquiring a set minimally invasive incision position and a surgical area position; obtaining various initial position schemes of a surgical arm joint according to the minimally invasive incision position and the surgical area position; and calculating the performance index of each initial position scheme of the surgical arm joint according to the surgical area position. According to the method and device, the various initial position schemes of the surgical arm joint are obtained through minimally invasive incision position and the surgical area position, and the performance index of each initial position scheme of the surgical arm joint is calculated. A medical worker can visually analyze the advantages and disadvantages of the various initial position schemes of the surgical arm joint by observing the performance indexes, and therefore, on one hand, the method can reduce the workload of the medical worker, and on the other hand, the preoperative preparation work of the surgical robot assisted minimally invasive surgery can be quickly completed, so that the setup speed of the medical worker on the initial pose of the surgical arm is accelerated.

Description

technical field [0001] The present invention relates to the technical field of endoscopic surgery, in particular to a method and device for planning an initial pose of an operating arm of an endoscopic surgery robot. Background technique [0002] Different from traditional minimally invasive surgery, when using a laparoscopic surgical robot for minimally invasive surgery, while selecting the position of the minimally invasive incision, it is also necessary to adjust the initial pose of the surgical arm. It is necessary to consider the motion performance of the surgical arm and The interference between the surgical arms and the unreasonable initial posture of the surgical arm will lead to insufficient working space for micro-instruments in the body, difficulty in reaching the target area, and even collision of the surgical arms, making the operation impossible to continue. [0003] Based on the existing endoscopic surgical robots, since the medical staff do not understand the...

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Problems solved by technology

[0002] Different from traditional minimally invasive surgery, when using a laparoscopic surgical robot for minimally invasive surgery, while selecting the position of the minimally invasive incision, it is also necessary to adjust the initial pose of the surgical arm. It is necessary to consider the motion performance of the surgical arm and The interference between the surgical arms and the unreasonable initial posture of the surgical arm will lead to insufficient working space for the micro-instruments in the body, making it difficult to reach the target area and even collision of the surgical arm, resulting in the inability to continue the operation

[0003] Based on the existing endoscopic surgical robots, since the medical staff do not understand the relevant knowledge of robotics, they can only rely on long-term clinical experience to make subjective judgments when performing preoperative preparations for robot-assisted minimally invasive surgery, and cannot quickly complete the operation. Preoperative Planning Preparation of the Surgical Arm

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