Master hand adjustment control method and device, equipment and medium

Abstract

The application provides a master hand adjustment control method and device, equipment and medium, which are applied to a master-slave surgical robot system including a master console and a patient surgical platform, the master console includes a master control arm, and the patient surgical platform includes a slave mechanical arm controlled by the master control arm; a first clutch device is arranged on the master control arm, and the method includes: when the first clutch device is triggered, a semi-free clutch activation mode is entered; in the mode, the Pitch, Yaw and Roll degrees of freedom of the master control arm where the first clutch device is located are in a following slave end state, and the motor torque upper limit of the Roll degree of freedom is significantly lower than that of the remaining degrees of freedom, allowing an operation user to rotate the target joint of the Roll degree of freedom by applying an external force, so that when a doctor needs to regrasp the handle to relieve wrist fatigue, the doctor can seamlessly and continuously complete posture self-adjustment without completely releasing the master hand, thereby reducing the number of operation interruptions and ensuring the smoothness of the operation rhythm.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a master hand adjustment control method, device, equipment, and medium. Background Technology

[0002] With the continuous advancement of medical devices, minimally invasive surgery is increasingly widely used in clinical practice due to its advantages such as less trauma, faster recovery, and less pain. Minimally invasive surgical robots, as key technological equipment, effectively overcome the limitations of traditional surgery, such as hand tremors, thanks to their high dexterity, high control precision, and intuitive image feedback. They are widely used in delicate surgical areas such as the abdominal, pelvic, and thoracic cavities. Among them, laparoscopic surgical robots, as the current mainstream type, achieve precise remote control of surgical instruments by doctors through real-time posture mapping between the master control arm (master hand) and the end effector (slave hand), significantly improving the reliability and operability of surgery.

[0003] To ensure comfortable operation in confined spaces, existing laparoscopic surgical robots are generally equipped with a two-stage clutch system: a finger lever and a foot pedal. The lever disconnects only a single master-slave position mapping, while the foot pedal disconnects both sides simultaneously. However, both triggering methods can only freeze the position mapping channel to facilitate adjustment of the master hand's position; the posture remains servo-locked. If the surgeon needs to grip the handle more firmly when their wrist angle is uncomfortable, they must release the lever or repeatedly press the pedal. This highlights the contradiction between the interruption of mapping and the disruption of the surgical rhythm, revealing common defects such as limited functionality, inability to release postures synchronously, and broken operation chains. Summary of the Invention

[0004] This application provides a master hand adjustment control method, device, equipment, and medium, enabling doctors to seamlessly and continuously perform posture self-adjustment without completely releasing the master hand or re-matching the master and slave hands when they need to grip the handle more firmly to relieve wrist fatigue. This significantly reduces the number of operation interruptions, ensures the smoothness of the surgical rhythm, and improves the comfort and overall efficiency of operation during long-term surgeries.

[0005] In a first aspect, embodiments of this application provide a master-slave adjustment control method applied to a master-slave surgical robot system. The master-slave surgical robot system includes a master control console and a patient surgical platform. The master control console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. The master control arm is equipped with a first clutch device. The method includes:

[0006] When the first clutch device is triggered, it enters the semi-free clutch activation mode. In this mode, the Pitch, Yaw and Roll degrees of freedom corresponding to the main control arm where the first clutch device is located are in the follower state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force.

[0007] In conjunction with the first aspect, in one possible implementation of the first aspect, the upper limit of the motor holding torque for the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque for the other degrees of freedom, including:

[0008] The upper limit of the motor holding torque for the Roll degree of freedom is set to 10-30% of the upper limit of the motor holding torque for the other degrees of freedom.

[0009] In conjunction with the first aspect, in one possible implementation of the first aspect, a first clutch device is provided in the foot pedal area of ​​the main control panel, and the method further includes:

[0010] When the trigger signal of the first clutch device is received, the normal clutch activation mode is entered. In this mode, the position mapping relationship between all master control arms and the slave robotic arms controlled by them is suspended. The Pitch, Yaw and Roll degrees of freedom of all master control arms are in the follow-slave state, and the upper limit of the motor holding torque of each degree of freedom is set to a high value to ensure that each joint remains stable during operation.

[0011] In conjunction with the first aspect, in one possible implementation of the first aspect, the method further includes:

[0012] When the semi-free clutch activation mode is detected, the angular deviation between the target rotation angle of the Roll degree of freedom and the current real-time rotation angle is determined.

[0013] If the angle deviation value is less than the preset angle threshold, a simulated elastic torque proportional to the rotation angle is calculated and output in real time based on the angle deviation value; wherein, the maximum value of the simulated elastic torque is limited to a preset safety range.

[0014] If the target joint corresponding to the Roll degree of freedom is released, the Roll degree of freedom is controlled to automatically spring back to the target rotation angle position;

[0015] If the angle deviation value is greater than or equal to the preset angle threshold, the target position is reset based on the current rotation direction;

[0016] Update the control target of the Roll degree of freedom to the reset target position, and control the Roll degree of freedom to smoothly transition to the reset target position.

[0017] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the angular deviation between the target rotation angle of the Roll degree of freedom and the current real-time rotation angle includes:

[0018] When the semi-free clutch activation mode is detected, the end-effector rotation posture of the instrument controlled by the main control arm or the current end-effector posture of the main control arm is taken as the target Cartesian posture, and the target rotation angle of the main control arm Roll degree of freedom is calculated in real time based on the target Cartesian posture.

[0019] In response to the user's adjustment operation on the main control arm Roll degree of freedom, based on the preset refresh cycle, the second instantaneous angle values ​​output by the encoder corresponding to the main control arm Roll degree of freedom are obtained, so as to determine the current real-time rotation angle corresponding to different refresh cycles.

[0020] For each current real-time rotation angle, the corresponding angle deviation value is determined based on the difference between the target rotation angle and the current real-time rotation angle.

[0021] In conjunction with the first aspect, in one possible implementation of the first aspect, calculating the reset target position based on the current rotation direction includes:

[0022] If the current angle deviation exceeds the threshold in the positive direction, the target position will be reset to the initial position plus 180°.

[0023] If the current angle deviation is negative and exceeds the threshold, the target position will be reset to the initial position minus 180°.

[0024] In conjunction with the first aspect, in one possible implementation of the first aspect, controlling the Roll degree of freedom to smoothly transition to the reset target position includes:

[0025] Based on the deviation between the reset target position and the current real-time rotation angle, the auxiliary torque pointing towards the reset target position is calculated and output in real time.

[0026] The auxiliary torque is configured such that its magnitude gradually decreases as the deviation decreases, or remains essentially constant when the deviation is greater than a certain range, and then gradually decreases as the deviation decreases; and its maximum value is limited to be consistent with the maximum drag torque under the simulated elastic drag strategy.

[0027] Secondly, embodiments of this application also provide a master-slave adjustment control device applied to a master-slave surgical robot system. The master-slave surgical robot system includes a master console and a patient surgical platform. The master console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. The master control arm is equipped with a first clutch device, which is used for:

[0028] When the first clutch device is triggered, it enters the semi-free clutch activation mode. In this mode, the Pitch, yaw and Roll degrees of freedom corresponding to the main control arm where the first clutch device is located are in the follower state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force.

[0029] Thirdly, embodiments of this application also provide an electronic device, which includes:

[0030] One or more processors;

[0031] Storage device for storing one or more programs.

[0032] When one or more programs are executed by one or more processors, the one or more processors implement the master adjustment control method as described in any of the embodiments of this application.

[0033] Fourthly, embodiments of this application also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform any of the master hand adjustment control methods described in embodiments of this application.

[0034] This application provides a master-slave adjustment control method, device, equipment, and medium. The method is applied to a master-slave surgical robot system, which includes a master control console and a patient surgical platform. The master control console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. A first clutch device is provided on the master control arm. The method includes: when the first clutch device is triggered, entering a semi-free clutch activation mode; in this mode, the Pitch, Yaw, and Roll degrees of freedom corresponding to the master control arm where the first clutch device is located are in a follow-slave state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, allowing the user to rotate the target joint corresponding to the Roll degree of freedom by applying external force. The technical solution of this application, by introducing a semi-free clutch activation mode, effectively overcomes the inherent defects of existing two-level clutch mechanisms, such as single function and posture locking. In this mode, the master hand posture channel is no longer completely servo-locked. Instead, by significantly reducing the upper limit of the holding torque of the Roll degree of freedom, the stability of the Pitch and Yaw directions is ensured while allowing the surgeon to directly and easily manually adjust the rolling posture of the instrument. This allows the surgeon to seamlessly and continuously complete posture self-adjustment without completely releasing the master hand or re-matching the master and slave when they need to grip the handles harder to relieve wrist fatigue. This significantly reduces the number of operation interruptions, ensures the smoothness of the surgical rhythm, and improves the comfort and overall efficiency of operation during long surgeries. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the exemplary embodiments of this application, the accompanying drawings used in describing the embodiments are briefly introduced below. Obviously, the accompanying drawings described are only a portion of the embodiments to be described in this application, and not all of them. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0036] Figure 1 This is a schematic diagram of the master-slave surgical robot system structure involved in the embodiments of this application;

[0037] Figure 2 This is a schematic diagram of the structure of the left main control arm involved in the embodiments of this application;

[0038] Figure 3 This is a schematic diagram of the main control arm operation process involved in the embodiments of this application;

[0039] Figure 4 A flowchart illustrating a master adjustment control method provided in an embodiment of this application;

[0040] Figure 5 A flowchart illustrating yet another master adjustment control method provided in an embodiment of this application;

[0041] Figure 6 This is a schematic diagram of the mechanical feedback of the Roll degree-of-freedom joint after entering the semi-free clutch activation mode, as provided in the embodiments of this application.

[0042] Figure 7 This is a flowchart illustrating the logic for handling the angle deviation of the Roll degree of freedom in the semi-free clutch activation mode as described in the embodiments of this application.

[0043] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0044] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit its scope. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0045] This specification contains numerous specific technical details to enable those skilled in the art to understand the complete technical solution. However, it should be understood that embodiments of this application can be implemented without these specific technical details. Such detailed descriptions of technical details should not be considered as limitations on this application, and the scope of protection of this application is defined only by the claims. Elsewhere, well-known structures, connections / positional relationships, circuits, and / or other details may not be shown in detail to avoid misleading the public about the inventive points of this application.

[0046] This specification includes accompanying drawings illustrating several embodiments of the present application. However, the drawings are merely illustrative, and it should be understood that variations in mechanical structure, connection / positional relationships, physical composition, electrical aspects, and procedures can be made without departing from the spirit and scope of the present application. Such variations may involve substitution or combination of elements from the embodiments of the present application, or substitution or combination of known content.

[0047] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” “middle,” “center,” “inner,” “outer,” “central,” “edge,” etc., are used for ease of description to describe the relationship between one component or feature shown in the figures and another component or feature. It should be understood that spatial relative terms are used only under the orientation of the device in use or operation (other than the orientation specifically defined in the figures) and are not necessarily unique or constant. For example, if the device in the figures is rotated 180° up and down along the plane of the paper, then an element described as “below” other components or features will become “above” other components or features. Therefore, the exemplary term “below” can encompass both above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (e.g., rotated 90° or positioned in other directions), and the spatial relative descriptive terms used herein will be interpreted accordingly.

[0048] As used herein, “several,” “one,” and “the” are intended to include the plural form as well, unless the context otherwise indicates. It should be further understood that the terms “comprising” and / or “including” specify the presence of the said feature, step, operation, element, and / or component, without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0049] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "part," "module," "assembly," and "element" are used interchangeably.

[0050] The terms “instrument,” “surgical instrument,” and “surgical device” are used herein to describe medical devices configured for insertion into a patient and for performing surgical or diagnostic procedures, generally including end effectors. End effectors can be surgical tools associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of this application further provide articulated supports (sometimes referred to as “wrist joints” or “articular seats”) for the surgical tool, allowing the position and / or orientation of the end effector to be flexibly manipulated relative to the instrument axis with one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. Instruments may also contain permanent or updatable stored information (e.g., on a PCBA board within the instrument). Accordingly, the system can provide one-way or two-way communication between the instrument and one or more system components.

[0051] The term "mate" (sometimes referred to as "connection," "linkage," "installation," or "assembly") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in combination with each other. It should be noted that a mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather that many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Furthermore, the terms "detachably connected" or "detachably mated" can be interpreted as implying a non-permanent connection or mating situation between two or more objects. This means that detachably connected objects can be unconnected and separated, allowing them to operate without being joined.

[0052] Finally, the terms “or” and “and / or” as used herein should be interpreted inclusively, meaning either one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or actions is inherently mutually exclusive in some way.

[0053] Before introducing the technical solution provided in this application, the application background of the solution will be explained. This embodiment is applicable to any situation where the position mapping and Roll degree of freedom mapping between the master control arm and the slave robotic arm need to be paused in dual-clutch activation mode to achieve flexible adjustment of the master hand's rotation posture. Currently, although minimally invasive surgical robots achieve precise control through master-slave mapping and basic clutch functions, their clutch mechanisms usually only support a single trigger mode and cannot flexibly adjust the master hand's posture while maintaining operational continuity. This often requires surgeons to interrupt operations to reposition during surgery, hindering the improvement of surgical efficiency and user experience. Therefore, developing a novel control method that can synchronously release the position and Roll degree of freedom mapping through a collaborative clutch mechanism, support flexible adjustment of the master hand's posture without interrupting the surgical procedure, has become an urgent technical problem to be solved. This embodiment aims to pause the position and Roll degree of freedom mapping in dual-clutch activation mode through a mechanism triggered collaboratively by the first and second clutch devices, enabling surgeons to flexibly adjust the master hand's rotation posture without interrupting operations, thereby improving surgical efficiency and user experience.

[0054] Example 1

[0055] This master control arm clutch mode control method is applied to a master-slave surgical robot system. The master-slave surgical robot system involved in this embodiment belongs to a type of master-slave teleoperated laparoscopic surgical robot. The following is a systematic description of the system functional structure of the master-slave teleoperated laparoscopic surgical robot.

[0056] Master-slave teleoperated laparoscopic surgical robots typically include a surgeon control platform, a patient operating platform, and an imaging platform. The surgeon sits on the surgeon control platform, viewing two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope (sometimes called an "endoscope") placed inside the patient's body. The surgeon also controls the movement of the robotic arm on the patient operating platform, as well as the surgical instruments or endoscopes attached to that arm. The robotic arm essentially simulates a human arm, and the surgical instruments simulate a human hand. Together, they provide the surgeon with a series of movements mimicking the human wrist while filtering out hand tremors. Therefore, their application is becoming increasingly widespread in surgery, particularly in abdominal, thoracic, and general surgery.

[0057] A patient surgical platform typically includes a chassis, a column, multiple robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. Surgical instruments and / or endoscopes are detachably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at the surgical site within the patient's body. Various forms of control are possible that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located where the surgical instrument enters the body wall and is generally referred to as the "discent point" or "fixed point."

[0058] An imaging platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, optics are included to transmit images from inside the patient's body to the distal end of the endoscope via one or more imaging sensors (e.g., CCD or CMOS sensors). The video images are then transmitted to the main unit of the imaging platform through photoelectric conversion and other steps. Subsequently, image processing is performed, and the processed images are displayed on the video displays for observation by other doctors or assistants.

[0059] A surgeon's control platform typically includes a chassis, foot pedal assembly, stereoscopic monitor, main control arm, and manual controllers connected to the end of the main control arm. The surgeon controls the manual controllers and foot pedal assembly to achieve specific movements and / or energy activation of surgical instruments. The surgeon's control platform can be located at a single position within a surgical system composed of laparoscopic surgical robots, or it can be distributed across two or more positions within the system. Remote master / slave operation can be performed according to a preset level of control; for example, one position acts as the master controller for the main surgical operation, and another position acts as the auxiliary controller for an assistant operation. The master controller performs the main surgical operations, while the auxiliary controller performs auxiliary operations such as laparoscopic movement or tissue traction. In some embodiments, the manual controller can be an input device capable of performing one or more manual operations, such as a joystick, exoskeleton glove, power and gravity-compensated manipulator, etc. These input devices acquire the surgeon's operation signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulators. These signals control the remote-controlled motors on the surgical instrument manipulators, which in turn control the final movement of the surgical instruments.

[0060] Generally, the force generated by the remote-controlled motor is transmitted via a drive system to the end effector of the surgical instrument. In some remote surgical embodiments, the input device for controlling the manipulator can be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with remote manipulation, remote control, and telepresence surgery will understand such a system and its components, which will not be elaborated upon here.

[0061] Building upon this foundation, the master-slave surgical robot system will be introduced next. A schematic diagram of the master-slave surgical robot system structure involved in this embodiment of the invention can be found here. Figure 1 .like Figure 1 As shown, the master-slave surgical robot system includes a master console and a patient surgical platform. The master console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. A first clutch device is installed on the master control arm, and a second clutch device is installed in the footrest area of ​​the master console. This can be understood as follows: the master console is the control terminal for the surgeon's operations, equipped with at least one master control arm (master hand), which the surgeon manipulates to issue control commands; the patient surgical platform is the execution terminal located in the surgical area, equipped with at least one slave robotic arm (slave hand), each slave robotic arm being controlled by a specific master control arm on the master console and mimicking its movements. In the hardware configuration of the master console, each master control arm is equipped with a first clutch device (such as a finger clutch), and a second clutch device (such as a foot clutch) is separately installed in the area at the bottom of the master console for easy foot operation. Both serve as trigger input devices for the system interrupt mapping relationship.

[0062] For a more detailed structural diagram of the left main control arm, please refer to [link / reference]. Figure 2 (The structure of the right main control arm is mirror-symmetrical to that of the left main control arm.) For example... Figure 2As shown, joints 1-3 are position joints; joints 5-7 and the opening / closing joints are attitude joints. Joint 5 corresponds to the Pitch degree of freedom, joint 6 to the Yaw degree of freedom, and joint 7 to the Roll degree of freedom. The Pitch degree of freedom refers to the angular offset generated or recorded by the rotation corresponding to the pitch degree of freedom in the master control arm's attitude joints. It is used to quantify the degree of attitude change of the arm in the vertical direction. The Yaw degree of freedom refers to the angular offset generated or recorded by the rotation corresponding to the yaw degree of freedom in the master control arm's attitude joints. It is used to quantify the degree of attitude change of the arm in the horizontal direction. The Roll degree of freedom quantifies the rotational amplitude of the master control arm relative to the original attitude around this axis during the attitude mapping pause; its sign and magnitude directly reflect the degree of attitude offset in this degree of freedom. Joint 4 is a redundant joint connecting the position and attitude joints, enabling self-motion following and serving to avoid singularities and increase configuration.

[0063] See the schematic diagram of the main control arm operation process. Figure 3 The doctor operates the manual controller by gripping the opening and closing joints with their thumb and middle finger, while simultaneously placing their index finger loosely on the finger clutch in preparation for triggering. Due to the high complexity of the surgery, the doctor often needs to operate the controller to the reverse joint position (e.g., Figure 3 The posture shown on the left indicates that controlling the end effector to rotate around itself requires manipulating a manual controller to continuously rotate it around its 7th joint. Figure 3 As shown on the right, if the surgeon needs to continue the operation, they must remove their fingers from the controller, change the grip angle, and then re-grip the opening and closing joints. Given that the end effector can rotate over 500°, while the range of motion of the human hand joints is limited, and the 7th joint has unlimited rotational capability, a single end effector angle can actually correspond to two different hand operation postures. This repositioning process interrupts the surgical procedure, affecting operational efficiency and surgical continuity. To solve this problem, this solution proposes a dual-clutch collaborative control mode: when both the foot clutch and the finger clutch are activated simultaneously, the master hand enters a fully unlocked state, allowing the surgeon to freely adjust the position and posture of the master hand while maintaining hand grip, thereby achieving uninterrupted continuous operation.

[0064] Figure 4 This is a flowchart illustrating a master control arm clutch mode control method provided in an embodiment of this application. This embodiment is applicable to any situation where it is necessary to quickly and manually adjust the master arm's Roll direction posture without affecting other degrees of freedom. This method can be executed by a master control arm clutch mode control device, which can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal, PC, or server.

[0065] like Figure 4 As shown, the method includes:

[0066] S110. When the first clutch device is triggered, it enters the semi-free clutch activation mode. In this mode, the Pitch, Yaw and Roll degrees of freedom corresponding to the main control arm where the first clutch device is located are in the follower state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force.

[0067] The semi-free clutch activation mode refers to the situation where, when the first clutch device on the main control arm is triggered, the main control arm enters a feedback control state in the three rotational degrees of freedom of Pitch, Yaw, and Roll. In this state, the motors of each degree of freedom maintain the posture following relationship with the slave robot arm (also known as the following slave state) on the one hand, and apply a significantly lower holding torque upper limit to the Roll degree of freedom on the other hand. This allows the Roll direction to be easily rotated by the external force applied by the operator while maintaining the stability of the Pitch and Yaw directions, thus achieving selective low-resistance manual adjustment in this single degree of freedom.

[0068] In the follow-slave state, the master motor (e.g., the motors of joints 5, 6, and 7) will adjust its output in real time according to the actual posture of the slave robot arm (e.g., the pitch, yaw, and rotation position of the end tool), so that the master hand joint passively follows the movement of the corresponding joint of the slave robot arm, thereby maintaining the consistency of the master and slave ends in spatial posture. At the same time, a certain holding torque is applied to the motor in this degree of freedom to maintain posture stability when the corresponding joint of the slave robot arm is stationary.

[0069] The motor holding torque limit refers to the maximum output torque threshold set for the motor to resist external disturbances and maintain the current posture. When the externally applied torque is lower than this limit, the motor can generate enough counter torque to keep the joint stable. However, once the external torque exceeds the set limit, the motor will be unable to maintain the current posture and will be "forced" to allow the joint to be driven by external force.

[0070] In this context, the target joint refers to the specific mechanical joint on the main control arm that achieves the Roll degree of freedom rotational motion. It is the object that the operator can directly adjust by applying external force, and its motion directly corresponds to and controls the rotational posture of the tool at the end of the robotic arm around its own axis. In the system structure of the main control arm provided in this embodiment, the target joint refers to the 7th joint.

[0071] Specifically, during the execution of surgical tasks using a master-slave surgical robot system, the system can monitor the trigger status of the first clutch device in real time. When a trigger signal from the first clutch device is received, the master control arm can be controlled to enter a semi-free clutch activation mode. At this time, the Pitch, Yaw, and Roll degrees of freedom of the arm maintain the same posture following state as the slave end. However, the control system significantly lowers the holding torque upper limit of the Roll degree of freedom motor to a level far lower than that of the Pitch and Yaw degrees of freedom, so that the Roll axis motor only provides the minimum holding torque sufficient to offset its own weight, friction, and external disturbances. This allows the operator to manually rotate the Roll joint by applying an external force that is significantly less than that required to overcome the other degrees of freedom, thereby achieving the adjustment of the posture of the 7 joints without leaving the master hand and without affecting the rotation posture of the end tool.

[0072] Optionally, the upper limit of the holding torque of the Roll degree of freedom motor is set to 10-30% of the upper limit of the holding torque of the other degrees of freedom motors. In the semi-free-clutch activation mode, the system strictly quantifies and limits the maximum resistance torque allowed to be output by the motor maintaining the Roll direction posture of the master hand. Its value is controlled within a significantly low range of one-tenth to one-third of the upper limit of the stress torque of the Pitch and Yaw degree of freedom motors. This ensures, at the physical level, that the operator only needs to apply a small force to overcome the holding force of the motor and rotate the joint, while the other two degrees of freedom maintain a higher upper limit of torque to maintain stability.

[0073] For example, if the surgeon presses the first clutch device at the index finger of the main control arm during the operation, the system immediately enters the semi-free clutch activation mode: at this time, the master hand and slave hand still maintain real-time pose correspondence, the upper limit of the motor holding torque corresponding to the Roll degree of freedom is reduced to 20% of the upper limit of the motor holding torque of the Pitch degree of freedom and Yaw degree of freedom, and the knob that originally required 5N to turn can now be easily turned with only 1N, so that the surgeon can adjust the target joint corresponding to the Roll degree of freedom independently without interfering with the predetermined angles of Pitch and Yaw.

[0074] Based on the above embodiments, optionally, in embodiments where a second clutch device is provided for the foot pedal area of ​​the main control panel, it may further include:

[0075] When the trigger signal of the second clutch device is received, the normal clutch activation mode is entered. In this mode, the position mapping relationship between all master control arms and the slave robotic arms controlled by them is suspended. The Pitch, Yaw and Roll degrees of freedom of all master control arms are in the follow-slave state, and the upper limit of the motor holding torque of each degree of freedom is set to a high value to ensure that each joint remains stable during operation.

[0076] The position mapping relationship refers to the real-time, continuous, and one-to-one mathematical transformation relationship established through coordinate transformation and kinematic calculations between the absolute or relative position coordinates of the master control arm in three-dimensional space and the corresponding position coordinates of the slave end effector in the surgical space within the patient's body. In a master-slave surgical robot system, this position mapping relationship ensures that the spatial displacement of the master arm can be accurately and proportionally reproduced as the equivalent displacement of the slave arm.

[0077] The normal clutch activation mode refers to a safe pause state that the system enters after the second clutch device is triggered. In this mode, the master-slave position mapping relationship between the master control arm and the slave robotic arm is completely severed. The Pitch, Yaw, and Roll degrees of freedom of the master control arm all enter a high-rigidity follow-slave state to ensure that the wrist joint can quickly respond to movement when the master hand position joints (joints 1 / 2 / 3 in this example) move, ensuring that the master hand end posture is consistent with the corresponding slave end device. At the same time, each posture joint is set with a high upper limit of control torque to ensure that the master hand can maintain absolute posture stability under external force, thereby preventing any accidental movement of the slave end device.

[0078] In this embodiment, when the second clutch device is detected to be triggered, the target degrees of freedom related to position mapping in all master control arms are immediately switched from the "master control state" (originally used to control the slave position) to the "manual adjustment state" (which can be independently adjusted by the operator). This allows each master control arm to translate as a whole in three-dimensional space without controlling the corresponding slave robotic arm in real time. At the same time, all rotational degrees of freedom (Pitch, Yaw, Roll) of the master control arms enter a high-stiffness following slave state, ensuring that the Cartesian posture of the master hand end and the posture of the corresponding slave instrument are consistent (if there is no corresponding slave instrument at this time, the master hand posture at the time of clutch device triggering is maintained). In this way, by triggering the normal clutch activation mode, after the master-slave mapping relationship is suspended, the high holding torque upper limit effectively prevents the master hand from being displaced due to accidental touch or external force interference. This avoids the risk of unexpected movement of the slave instrument in the patient's body, ensuring surgical safety, and provides a stable and reliable system pause state for the master operator to temporarily adjust the posture or perform other operations.

[0079] Building upon this, further priority logic can be configured between the second clutch device and the first clutch device to handle scenarios that are triggered consecutively or simultaneously:

[0080] Option 1 (Foot Pedal Priority): When the system is already in "Normal Clutch Activation Mode" activated by the second clutch device, if the operator triggers the hand clutch device again, the system can ignore the subsequent request and maintain the current "Normal Clutch Activation Mode". This option ensures the absolute priority of foot pedal control and avoids accidental mode switching.

[0081] Option 2 (Hand Clutch Priority): When the system is already in "Normal Clutch Activation Mode" activated by the second clutch device, if the operator triggers the hand clutch device again, the system will immediately switch to "Semi-Free Clutch Activation Mode". This option provides greater operational flexibility, allowing the operator to quickly activate more precise posture adjustments through hand movements while maintaining foot clutch operation.

[0082] The specific priority logic adopted by the system can be configured according to actual application needs, manufacturer design, or user operating habits.

[0083] This application provides a master-slave adjustment control method, device, equipment, and medium. The method is applied to a master-slave surgical robot system, which includes a master control console and a patient surgical platform. The master control console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. A first clutch device is provided on the master control arm. The method includes: when the first clutch device is triggered, entering a semi-free clutch activation mode; in this mode, the Pitch, Yaw, and Roll degrees of freedom corresponding to the master control arm where the first clutch device is located are in a follow-slave state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, allowing the user to rotate the target joint corresponding to the Roll degree of freedom by applying external force. The technical solution of this application, by introducing a semi-free clutch activation mode, effectively overcomes the inherent defects of existing two-level clutch mechanisms, such as single function and posture locking. In this mode, the master hand posture channel is no longer completely servo-locked. Instead, by significantly reducing the upper limit of the holding torque of the Roll degree of freedom, the stability of the Pitch and Yaw directions is ensured while allowing the surgeon to directly and easily manually adjust the rolling posture of the instrument. This allows the surgeon to seamlessly and continuously complete posture self-adjustment without completely releasing the master hand or re-matching the master and slave when they need to grip the handles harder to relieve wrist fatigue. This significantly reduces the number of operation interruptions, ensures the smoothness of the surgical rhythm, and improves the comfort and overall efficiency of operation during long surgeries.

[0084] Example 2

[0085] Figure 5This is a schematic diagram of a master hand adjustment control method provided in an embodiment of this application. Based on the aforementioned embodiments, in the semi-free clutch activation mode, the two processing logics for the Roll degree of freedom angle deviation may include: when the deviation is small, providing a simulated elastic torque and supporting automatic rebound; when the deviation is large and continues to exceed the timeout, resetting the target position and smoothing the transition. Specific implementation methods can be found in the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0086] like Figure 5 As shown, the method specifically includes the following steps:

[0087] S210. When the first clutch device is triggered, it enters the semi-free clutch activation mode. In this mode, the Pitch, Yaw and Roll degrees of freedom corresponding to the main control arm where the first clutch device is located are in the follower state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force.

[0088] S220. When the semi-free clutch activation mode is detected, determine the angle deviation value between the target rotation angle of the Roll degree of freedom and the current real-time rotation angle.

[0089] The target rotation angle refers to the desired roll joint target angle calculated in real time based on the target end-effector posture of the master control arm (corresponding to the slave end posture or the initial Cartesian posture). It is important to note that the target rotation angle is a quantity that can change in real time. This can be understood as follows: during the semi-free-clutch activation mode, whenever the overall configuration of the robotic arm changes due to the movement of other joints such as Pitch and Yaw, the instantaneous target of each joint can be recalculated using a constant Cartesian posture as input. The result of the Roll axis calculation is the real-time updated "target rotation angle".

[0090] The current real-time rotation angle refers to the instantaneous angle value (or angle increment) of the target joint corresponding to the Roll degree of freedom relative to the same reference position at any moment after entering the semi-free clutch activation mode, as measured by its built-in angle sensor. It dynamically reflects the actual position of the joint after the operator applies external force and is the direct basis for calculating the deviation between the target rotation angle and performing real-time force feedback control.

[0091] The angle deviation value is always derived by subtracting the current real-time rotation angle of the Roll degree of freedom from its target rotation angle. This ensures that the elastic torque, rebound, and reset logic all revolve around the ultimate goal of maintaining the original Cartesian posture, rather than around a fixed joint angle.

[0092] In this embodiment, upon detecting the entry into the semi-free clutch activation mode, the target posture of the master hand's end effector in Cartesian space is locked, rather than the instantaneous angle of the Roll joint. This target posture serves as the spatial reference to be maintained throughout the entire mode. Based on this, the theoretical target angle of the Roll joint corresponding to maintaining the target Cartesian posture is dynamically calculated according to the real-time movement of other joints of the master hand; this is the target rotation angle. Simultaneously, by continuously sampling the current real-time rotation angle of the Roll joint, the angular deviation between the target rotation angle and the current real-time rotation angle can be calculated. This deviation accurately reflects the degree of deviation of the manually applied Roll displacement from the requirement to maintain the current spatial posture, providing core input for subsequent elastic torque calculation, automatic rebound, or position reset logic.

[0093] Optionally, the specific implementation steps of S220 may include:

[0094] S2201. When the semi-free clutch activation mode is detected, the end-effector rotation posture of the instrument controlled by the main control arm or the current end-effector posture of the main control arm is taken as the target Cartesian posture, and the target rotation angle of the main control arm Roll degree of freedom is calculated in real time based on the target Cartesian posture.

[0095] The target Cartesian pose refers to the six-dimensional pose that the master and slave end effectors are expected to maintain in three-dimensional space, which is captured and locked by the system the instant it enters the semi-free clutch activation mode. Once the target Cartesian pose is established, it serves as the invariant reference for subsequent control loops. Any joint movement must be remapped through real-time inverse kinematics to ensure that the end effectors always tend toward this frozen Cartesian target, rather than fixing a certain joint angle.

[0096] Specifically, upon detecting the entry into the semi-free clutch activation mode, the current Cartesian pose of the end effector can be read and saved from two selectable sources: if a valid device exists at the slave end, the device's end-effector rotation pose is calculated using the first angle value returned by the power box encoder; if no device exists, the master arm's end-effector pose is calculated using the instantaneous output of the encoders at each joint of the master control arm—this frozen six-dimensional pose is the target Cartesian pose. Subsequently, during the duration of the semi-clutch mode, regardless of the movement of other joints, the inverse kinematics algorithm uses this constant Cartesian pose as input, repeatedly resolving it in conjunction with the real-time changing arm shape parameters, dynamically updating the target rotation angle corresponding to the Roll axis. This ensures that the Roll target value adjusts in real-time with changes in the overall configuration coupling, guaranteeing that subsequent angle deviations, elastic torques, and rebound logic always revolve around maintaining the original end-effector pose.

[0097] S2202. In response to the user's adjustment operation on the Roll degree of freedom of the main control arm, based on the preset refresh cycle, the second instantaneous angle values ​​output by the encoder corresponding to the Roll degree of freedom of the main control arm are obtained, so as to determine the second instantaneous angle values ​​as the current real-time rotation angle corresponding to different refresh cycles.

[0098] The preset refresh cycle refers to a fixed time interval that is set in advance. The angle data output by the Roll degree of freedom encoder can be read periodically according to this cycle to obtain continuous and discrete instantaneous joint position information, thereby realizing dynamic sampling and updating of the current real-time rotation angle.

[0099] The second instantaneous angle value refers to a series of discrete instantaneous angle readings representing the actual position of the target joint at the corresponding sampling time, obtained periodically from the Roll degree-of-freedom encoder of the main control arm based on a preset refresh cycle during the continuous semi-free clutch activation mode.

[0100] In this embodiment, when the user starts to manually rotate the Roll joint of the main control arm, the encoder of the joint will be periodically queried according to a preset fixed time interval to read the angle reading at each sampling moment, that is, the second instantaneous angle value. This series of discrete but continuously updated sampling values ​​will be identified as the actual angle of the joint at the current moment, thereby providing an accurate and real-time data basis for subsequent calculation of the dynamic deviation from the initial angle.

[0101] For example, when the operator manually twists the master handle (i.e., adjusts the Roll degree of freedom), the encoder reads the handle angle recorded at a fixed time every millisecond at a frequency of 1000 times per second (1kHz). For example, if 30.501 degrees is read at time t1, 30.502 degrees at time t2, and 30.503 degrees at time t3, then these values ​​obtained in chronological order (30.501 degrees, 30.502 degrees, and 30.503 degrees) are respectively identified as the current real-time rotation angle corresponding to the three refresh cycles of t1, t2, and t3, thereby continuously and accurately tracking the actual rotation process of the handle.

[0102] S2203. For each current real-time rotation angle, determine the corresponding angle deviation value based on the difference between the target rotation angle and the current real-time rotation angle.

[0103] Specifically, after acquiring a new real-time rotation angle in each preset refresh cycle, it is immediately subtracted algebraically from the target rotation angle recorded when entering the mode. This allows for the continuous and dynamic calculation of a quantized value that reflects the absolute rotation amplitude and direction of the target joint from the reference position at the current moment. This value is the angle deviation value corresponding to the sampling moment.

[0104] In this embodiment, by intelligently selecting the most relevant angle source as the initial reference and combining high-frequency real-time angle sampling and difference calculation, a precise and dynamic angle deviation perception closed loop is constructed. This provides crucial core input for subsequent advanced functions such as force feedback simulation, automatic rebound, and position reset, ensuring that the entire manual adjustment process is both sensitive and reliable as well as intuitively guided.

[0105] S230. If the angle deviation value is less than the preset angle threshold, the simulated elastic torque proportional to the rotation angle is calculated and output in real time based on the angle deviation value.

[0106] The preset angle threshold is a pre-defined critical angle value used to determine the operation intention and switch control strategies. The simulated elastic torque is a controllable torque actively applied by the Roll axis motor, which is proportional to the current deviation angle and has the opposite sign. Optionally, the preset angle threshold can be 60°.

[0107] The maximum value of the simulated elastic torque is limited to a preset safety range. This can be understood as the simulated elastic torque being calculated in real time according to the stiffness of a virtual spring and saturated and limited within a safety range. This is used to generate a mechanical spring-like recovery tendency at the moment the operator releases force (but does not release the main hand), driving the Roll degree of freedom to automatically return to the target rotation angle, thereby achieving flexible constraint and rebound return of the deviation angle.

[0108] In this embodiment, when the detected angular deviation value is less than the preset angular threshold, the deviation value can be used as the independent variable to calculate a controllable torque that is proportional to and opposite to the virtual spring stiffness coefficient in real time. This torque is then output through the Roll axis motor, causing the joint to produce a restoring effect similar to an elastic element. This applies flexible resistance and a return tendency to the operator's manual deviation without changing the mechanical structure.

[0109] S240. If the target joint corresponding to the Roll degree of freedom is released, control the Roll degree of freedom to automatically spring back to the target rotation angle position.

[0110] The target rotation angle position is not a fixed constant. Instead, it is the instantaneous expected value of the Roll joint, continuously re-solved through real-time forward-backward kinematic cycles and combined with the current arm shape parameters, using the Cartesian pose of the end effector at the moment of locking as an invariant reference. This value is dynamically updated with any movement of other joints to ensure that the end effector always tends towards the original Cartesian pose, thus serving as a direct reference zero point for angle deviation calculation, elastic torque application, and automatic rebound action.

[0111] In this embodiment, when it is detected that the external force applied by the operator to the manually torsional Roll degree of freedom has been removed, i.e. the target joint has been released, the low torque maintenance state is immediately exited. The target rotation angle calculated in real time is used as the only endpoint. The Roll axis motor is driven by closed-loop control to output a restoring torque that is positive and gradually decays with the instantaneous angle deviation. This allows the joint to decelerate and return to its original position along a smooth trajectory without human intervention. Finally, it is precisely aligned to the dynamic desired angle determined by the locked Cartesian posture, thereby ensuring that the end effector always tends to the original reference.

[0112] S250. If the angle deviation value is greater than or equal to the preset angle threshold, the target position is reset based on the current rotation direction.

[0113] The current rotation direction refers to the instantaneous direction in which the operator applies external force to drive the target joint of the Roll degree of freedom to rotate, determined by the positive or negative sign or trend of the real-time angle deviation value. Resetting the target position refers to the new joint target value obtained by translating the desired angle of the Roll axis forward or backward by a fixed step according to the current rotation direction; this value is set as the sole reference for subsequent control, so that the Roll axis does not return to the original angle, but smoothly transitions and stabilizes in this updated position, thereby formally accepting the large angle adjustment deliberately introduced by the operator as the new zero bias reference.

[0114] Specifically, when the angular deviation value generated by the operator's rotation of the Roll degree of freedom reaches or exceeds the preset critical angle, and this large deviation state continues for more than the set minimum time threshold, it is determined that the user intends to make a large-scale directional adjustment. Then, based on the real-time monitored rotation direction (clockwise or counterclockwise), a new absolute angular coordinate is automatically calculated as the reference for subsequent movement, that is, the target position is reset.

[0115] Optionally, the specific implementation method for calculating and resetting the target position based on the current rotation direction may include: if the current angle deviation is positive and exceeds the threshold, then the target position is reset to the initial position plus 180°; if the current angle deviation is negative and exceeds the threshold, then the target position is reset to the initial position minus 180°.

[0116] In this embodiment, when a reset is required, if the current angle deviation is positive and exceeds a threshold, the reset target position is set to the target rotation angle plus 180 degrees; if the angle deviation is negative and exceeds the threshold, it is set to the target rotation angle minus 180 degrees, thereby resetting the operating reference point to a new position 180 degrees away in the opposite direction. By resetting the target position to a symmetrical point 180 degrees away from the initial position, when the operator makes large-scale rotation adjustments, the new operating reference point can be automatically set to a more comfortable and natural ergonomic position on the opposite side. This effectively avoids awkward operating postures or limited range of motion caused by excessive rotation angles in one direction, improving comfort and efficiency during long-term operation.

[0117] As an optional implementation, S250 can also be: if the angle deviation value is greater than or equal to the preset angle threshold, and the duration of this state exceeds the preset duration threshold, then the target position is reset based on the current rotation direction.

[0118] The preset duration threshold is a minimum time condition set in advance to trigger the position reset function. It requires that the state of the angle deviation value being greater than or equal to the preset angle threshold must continue for more than this duration. This is used to determine whether the operator intends to make a large and continuous adjustment rather than a brief touch, thereby avoiding accidental triggering.

[0119] For example, assuming the preset angle threshold is 60° and the preset duration threshold is 2 seconds, when the doctor continuously twists the main hand's Roll degree of freedom for more than 2 seconds and the angle deviation reaches 60°, it is determined that this is an intentional large adjustment. Depending on whether the rotation is clockwise or counterclockwise, the target position is automatically reset to 180° on the other side of the initial position (e.g., reset from the initial 0 degrees to 180°), thereby providing the doctor with a new operating benchmark that conforms to ergonomics.

[0120] S260. Update the control target of the Roll degree of freedom to the reset target position, and control the Roll degree of freedom to smoothly transition to the reset target position.

[0121] In this embodiment, after calculating the new reset target position, it is set as the new command position for the Roll degree of freedom motor servo control, and a smooth position trajectory is generated through motion planning algorithms, such as acceleration and deceleration control, so that the target joint moves automatically from the current position to the newly set target position in a continuous, smooth and shock-free manner.

[0122] Optionally, the specific implementation of controlling the Roll degree of freedom to smoothly transition to the reset target position may include: calculating and outputting an auxiliary torque pointing to the reset target position in real time based on the deviation between the reset target position and the current real-time rotation angle.

[0123] The auxiliary torque refers to the motor drive torque calculated and output based on the real-time angle deviation during the position reset process, with its direction always pointing towards the reset target position. The auxiliary torque is configured to either gradually decrease in magnitude as the deviation decreases, or remain essentially constant when the deviation exceeds a certain range, and then gradually decrease as the deviation decreases further; its maximum value is limited to be consistent with the maximum resistance torque under the simulated elastic resistance strategy. This can be understood as the auxiliary torque output being precisely defined in advance, with two preset modes for its variation: one where the torque value is always proportional to the real-time angle deviation, i.e., the torque decreases as it approaches the target position; and another where a relatively constant, larger torque is output within a deviation range far from the target to quickly approach it, then smoothly decreases as the deviation decreases after entering a smaller deviation range. Regardless of the mode, the peak value of this auxiliary torque is strictly controlled to not exceed the maximum torque value under the simulated elastic torque mode, thus ensuring that the automatic reset process is both efficient and stable, and absolutely safe.

[0124] Figure 6 This diagram illustrates the mechanical feedback of the Roll degree-of-freedom joint after entering the semi-free clutch activation mode. The horizontal axis represents the joint rotation angle, and the vertical axis represents the magnitude of resistance perceived by the operator. Taking forward rotation as an example, the change in resistance can be divided into three stages:

[0125] Elastic resistance stage: As the rotation angle increases, the operator perceives a gradually increasing negative resistance (i.e., a torque that opposes rotation). This resistance change has two possible modes: as shown by the red curve, the resistance increases linearly with the angle until it reaches a preset angle threshold; as shown by the blue curve, the resistance tends to saturate when it reaches a first threshold slightly less than the second threshold, and remains constant until the second threshold.

[0126] Constant guiding force stage: When the rotation angle exceeds the second preset threshold, the system outputs a constant positive resistance (i.e., guiding torque) to push the joint to move towards the target position.

[0127] Attenuation guidance phase: After the angle exceeds the third preset threshold, the positive resistance gradually decreases until the joint reaches the target position with the initial angle increased by 180° (as shown by the green curve), achieving smooth positioning.

[0128] This segmented force control strategy balances the tactile feedback for fine-tuning operations with the automatic guidance required for large-scale adjustments, significantly improving the intuitiveness and comfort of operation.

[0129] Specifically, after updating the control target of the Roll axis to the new reset target position, the instantaneous deviation between the target value and the encoder's measured angle can be used as input to generate an auxiliary torque command with a sign pointing to the target and a limited amplitude, according to a preset attenuation or constant force-attenuation strategy. This torque is then driven to continuously output the Roll motor, providing stable and strong traction when the deviation is large and gradually weakening to zero when the deviation decreases. This allows the joint to approach and lock to the reset target position along a smooth trajectory, while ensuring that the output torque never exceeds the maximum safe resistance allowed under the simulated elastic resistance strategy, thus achieving active reset without impact or overshoot.

[0130] For example, Figure 7 This is a flowchart illustrating the logic for handling angular deviations in the Roll degree of freedom during semi-free clutch activation mode. Figure 7 As shown, in the semi-free clutch activation mode, this scheme achieves the coordinated operation of three intelligent control logics by real-time monitoring and judgment of the Roll degree of freedom angle deviation value (Δθ):

[0131] (1) Small deviation fine-tuning control (when Δθ ≤ preset angle threshold)

[0132] Simulating physical elastic behavior, this mode outputs a simulated elastic torque proportional to the rotation angle based on real-time angular deviation, providing the operator with intuitive force feedback similar to a torsion spring (for example, when the preset angle threshold is 60°, the resistance torque increases with the angle). In this mode, the maximum value of the simulated elastic torque is strictly limited within a preset safety range, ensuring that the operator can manually push it; once the target joint is released, it will automatically spring back to the target rotation angle position, ensuring operational safety and ease of reset.

[0133] (2) Large deviation intention recognition and target reset (when Δθ > preset angle threshold and duration > preset duration threshold)

[0134] When an angular deviation is detected to continuously exceed a threshold (e.g., 60°) and remain there for a certain period of time (e.g., 300ms), it is determined that the operator intends to make a significant adjustment. Subsequently, the reset target position is calculated based on the current rotation direction: if the current angle exceeds the threshold in a positive direction, the new target position = initial position + 180°; if it exceeds the threshold in a negative direction, the new target position = initial position – 180°, thereby achieving a symmetrical switch of the operating reference.

[0135] (3) Active guidance and control of the reset process (after target reset)

[0136] After updating the control target, an auxiliary torque is output to point towards the reset target position based on the real-time angle deviation. This torque has a "magnetic effect": when the deviation is large, it can maintain a basically constant guiding force; as the deviation decreases, the torque gradually weakens, achieving a smooth transition. To ensure a consistent operating experience, the maximum value of the auxiliary torque is set to be equal to the maximum simulated elastic torque in the semi-free state, so that the force feedback intensity felt by the operator before and after the threshold is naturally connected.

[0137] Optionally, when entering the semi-free clutch activation mode, the motor holding torque of the Roll degree of freedom can be implemented using a PD controller: the motor holding torque can be implemented using a PD (proportional-derivative) controller, and its control law is:

[0138]

[0139] in, Output holding torque (unit: Nm); The position proportional gain (unit: N·m / rad) determines the system's response strength to angular deviations; The damping coefficient (unit: N·m·s / rad) is used to suppress motion speed and improve stability. The target angle is locked to the current actual angle the moment the mode is triggered. The actual angle corresponding to the real-time feedback of the joint for the Roll degree of freedom. This represents the velocity value corresponding to the actual angle of the joint in the Roll degree of freedom.

[0140] in, and The damping system can be set to a fixed value or designed as a variable stiffness strategy according to interaction requirements to adapt to the feel requirements of different operating scenarios. To ensure interaction safety and comfort, the output torque needs to be limited.

[0141] Based on the above embodiments, in order to ensure the safe operation of the system, the following motion constraint mechanisms need to be set: the maximum rotational speed of the motor corresponding to the Roll degree of freedom of the joint shall not exceed 45° / second to prevent rapid impact; the upper limit of the motor torque output is set to 0.5 Nm to avoid joint overload; the timeout threshold of the guidance mode is set to 5 seconds, and if the positioning is not completed within the timeout, it will automatically exit to prevent the system from getting stuck.

[0142] The system also needs to be configured with the following fault emergency response logic:

[0143] (1) Overload protection: When the motor current exceeds the safety threshold, the output torque is immediately cut off and an audible and visual alarm is triggered; (2) Position abnormality detection: If the target position tolerance range is not reached for 5 seconds, the guide mode is automatically exited and the current state is frozen, waiting for intervention.

[0144] The technical solution of this application embodiment, after entering the semi-free clutch activation mode, can determine the angle deviation value between the target rotation angle of the Roll degree of freedom and the current real-time rotation angle; if the angle deviation value is less than a preset angle threshold, then a simulated elastic torque proportional to the rotation angle is calculated and output in real time based on the angle deviation value; wherein, the maximum value of the simulated elastic torque is limited to a preset safety range; if the target joint corresponding to the Roll degree of freedom is released, then the Roll degree of freedom is controlled to automatically rebound to the target rotation angle position; if the angle deviation value is greater than or equal to the preset angle threshold, and the duration of this state exceeds a preset duration threshold, then the target position is reset based on the current rotation direction; the control target of the Roll degree of freedom is updated to the reset target position, and the Roll degree of freedom is controlled to smoothly transition to the reset target position. The technical solution of this application intelligently distinguishes between small-scale fine-tuning and large-scale reset intentions, and applies corresponding simulated elastic torque or automatic smooth reset control. This allows doctors to obtain intuitive elastic force feedback for precise operation when manually adjusting the Roll orientation of the instrument, and to automatically and comfortably reset the operation benchmark after making large-scale adjustments. This significantly improves the intuitiveness, accuracy and human-computer interaction comfort of the operation.

[0145] Example 3

[0146] This application provides a master-slave adjustment control device applied to a master-slave surgical robot system. The master-slave surgical robot system includes a master console and a patient surgical platform. The master console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. The master control arm is equipped with a first clutch device, which is used to: enter a semi-free clutch activation mode when the first clutch device is triggered; in this mode, the Pitch, Yaw, and Roll degrees of freedom corresponding to the master control arm where the first clutch device is located are in a follow-slave state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force.

[0147] This application provides a master-slave adjustment control method, device, equipment, and medium. The method is applied to a master-slave surgical robot system, which includes a master control console and a patient surgical platform. The master control console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. A first clutch device is provided on the master control arm. The method includes: when the first clutch device is triggered, entering a semi-free clutch activation mode; in this mode, the Pitch, Yaw, and Roll degrees of freedom corresponding to the master control arm where the first clutch device is located are in a follow-slave state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, allowing the user to rotate the target joint corresponding to the Roll degree of freedom by applying external force. The technical solution of this application, by introducing a semi-free clutch activation mode, effectively overcomes the inherent defects of existing two-level clutch mechanisms, such as single function and posture locking. In this mode, the master hand posture channel is no longer completely servo-locked. Instead, by significantly reducing the upper limit of the holding torque of the Roll degree of freedom, the stability of the Pitch and Yaw directions is ensured while allowing the surgeon to directly and easily manually adjust the rolling posture of the instrument. This allows the surgeon to seamlessly and continuously complete posture self-adjustment without completely releasing the master hand or re-matching the master and slave when they need to grip the handles harder to relieve wrist fatigue. This significantly reduces the number of operation interruptions, ensures the smoothness of the surgical rhythm, and improves the comfort and overall efficiency of operation during long surgeries.

[0148] Based on the above device, optionally, the upper limit of the motor holding torque of the Roll degree of freedom is set to 10 to 30% of the upper limit of the motor holding torque of the other degrees of freedom.

[0149] Based on the above-mentioned device, optionally, the master hand adjustment control device also includes: a normal clutch activation module, used to enter the normal clutch activation mode when a trigger signal from the first clutch device is received; in this mode, the position mapping relationship between all master control arms and the slave robotic arms controlled by them is suspended, the Pitch degree of freedom, Yaw degree of freedom and Roll degree of freedom corresponding to all master control arms are in the follow-slave end state, and the upper limit of the motor holding torque of each degree of freedom is set to a high value to ensure that each joint remains stable during operation.

[0150] Based on the above-mentioned device, optionally, the master hand adjustment control device further includes: an intent recognition adjustment module, including:

[0151] The angle deviation determination submodule is used to determine the angle deviation value between the target rotation angle of the Roll degree of freedom and the current real-time rotation angle when the semi-free clutch activation mode is detected.

[0152] The elastic torque determination submodule is used to calculate and output a simulated elastic torque proportional to the rotation angle in real time if the angle deviation value is less than the preset angle threshold; wherein, the maximum value of the simulated elastic torque is limited to a preset safety range.

[0153] The automatic rebound submodule is used to control the Roll degree of freedom to automatically rebound to the target rotation angle position if the target joint corresponding to the Roll degree of freedom is released.

[0154] The reset position determination submodule is used to calculate the reset target position based on the current rotation direction if the angle deviation value is greater than or equal to the preset angle threshold.

[0155] The reset position adjustment submodule is used to update the control target of the Roll degree of freedom to the reset target position and control the Roll degree of freedom to smoothly transition to the reset target position.

[0156] Based on the above device, an optional angle deviation determination submodule includes:

[0157] The initial angle determination unit is used to take the end-of-device rotation posture controlled by the main control arm or the current end-of-device posture of the main control arm as the target Cartesian posture when the semi-free clutch activation mode is detected, so as to calculate the target rotation angle of the main control arm Roll degree of freedom in real time based on the target Cartesian posture.

[0158] The current angle determination unit is used to respond to the user's adjustment operation on the main control arm Roll degree of freedom. Based on the preset refresh cycle, it obtains the second instantaneous angle values ​​output by the encoder corresponding to the main control arm Roll degree of freedom, so as to determine each second instantaneous angle value as the current real-time rotation angle corresponding to different refresh cycles.

[0159] The angle deviation determination unit is used to determine the corresponding angle deviation value for each current real-time rotation angle based on the difference between the target rotation angle and the current real-time rotation angle.

[0160] Based on the above device, optionally, a reset position determination submodule is used to reset the target position to the initial position plus 180° if the current angle deviation is positive and exceeds the threshold; and to reset the target position to the initial position minus 180° if the current angle deviation is negative and exceeds the threshold.

[0161] Based on the above device, optionally, a reset position adjustment submodule is used to calculate and output an auxiliary torque pointing towards the reset target position in real time based on the deviation between the reset target position and the current real-time rotation angle; wherein, the auxiliary torque is configured such that its magnitude gradually decreases as the deviation decreases, or remains basically constant when the deviation is greater than a certain range, and then gradually decreases as the deviation decreases; and its maximum value is limited to be consistent with the maximum resistance torque under the simulated elastic resistance strategy.

[0162] The master hand adjustment control device provided in this application embodiment can execute the master hand adjustment control method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the execution method.

[0163] It is worth noting that the various units and modules included in the above system are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of this application.

[0164] Example 4

[0165] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 8 A block diagram is shown of an exemplary electronic device 40 suitable for implementing embodiments of the present application. Figure 8 The electronic device 40 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0166] like Figure 8 As shown, electronic device 40 is represented in the form of a general-purpose computing device. The components of electronic device 40 may include, but are not limited to: one or more processors or processing units 401, system memory 402, and bus 403 connecting different system components (including system memory 402 and processing unit 401).

[0167] Bus 403 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0168] Electronic device 40 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 40, including volatile and non-volatile media, removable and non-removable media.

[0169] System memory 402 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 404 and / or cache memory 405. Electronic device 40 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 406 may be used to read and write non-removable, non-volatile magnetic media (… Figure 8 Not shown; usually referred to as a "hard drive"). Although Figure 8 As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 403 via one or more data media interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0170] A program / utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402. Such program modules 407 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 407 typically perform the functions and / or methods described in the embodiments of this application.

[0171] Electronic device 40 can also communicate with one or more external devices 409 (e.g., keyboard, pointing device, display 410, etc.), and with one or more devices that enable a user to interact with electronic device 40, and / or with any device that enables electronic device 40 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 411. Furthermore, electronic device 40 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 412. As shown, network adapter 412 communicates with other modules of electronic device 40 via bus 403. It should be understood that, although... Figure 8Not shown, other hardware and / or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0172] The processing unit 401 executes various functional applications and page processing by running programs stored in the system memory 402, such as implementing the master hand adjustment control method provided in the embodiments of this application.

[0173] Example 5

[0174] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform a master-slave adjustment control method applied to a master-slave surgical robot system. The master-slave surgical robot system includes a master console and a patient surgical platform. The master console includes at least one master control arm, and the patient surgical platform includes at least one slave robotic arm controlled by the master control arm. The master control arm is equipped with a first clutch device. The method includes:

[0175] When the first clutch device is triggered, it enters the semi-free clutch activation mode. In this mode, the Pitch, Yaw and Roll degrees of freedom corresponding to the main control arm where the first clutch device is located are in the follower state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force.

[0176] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0177] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0178] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0179] Computer program code for performing the operations of the embodiments of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0180] Note that the above description is merely a preferred embodiment and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this application, and the scope of this application is determined by the scope of the appended claims.

Claims

1. A master control adjustment method applied to a master-slave surgical robot system, the master-slave surgical robot system including a master console and a patient surgical platform, the master console including at least one master control arm, and the patient surgical platform including at least one slave robotic arm controlled by the master control arm; The main control arm is equipped with a first clutch device, characterized in that, The methods include: When the first clutch device is triggered, it enters the semi-free clutch activation mode; In this mode, the Pitch, Yaw, and Roll degrees of freedom corresponding to the main control arm where the first clutch device is located are in a follower state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force. When the semi-free clutch activation mode is detected, the angular deviation value between the target rotation angle of the Roll degree of freedom and the current real-time rotation angle is determined; If the angle deviation value is less than a preset angle threshold, a simulated elastic torque proportional to the rotation angle is calculated and output in real time based on the angle deviation value; wherein, the maximum value of the simulated elastic torque is limited to a preset safety range. If the target joint corresponding to the Roll degree of freedom is released, the Roll degree of freedom is controlled to automatically spring back to the target rotation angle position; If the angle deviation value is greater than or equal to the preset angle threshold, the target position is calculated and reset based on the current rotation direction; The control target of the Roll degree of freedom is updated to the reset target position, and the Roll degree of freedom is smoothly transitioned to the reset target position. The step of calculating and resetting the target position based on the current rotation direction includes: if the current angle deviation is positive and exceeds a threshold, then the target position is reset to the initial position plus 180°; if the current angle deviation is negative and exceeds a threshold, then the target position is reset to the initial position minus 180°.

2. The method according to claim 1, characterized in that, The upper limit of the motor holding torque for the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque for the other degrees of freedom, including: The upper limit of the motor holding torque for the Roll degree of freedom is set to 10-30% of the upper limit of the motor holding torque for the other degrees of freedom.

3. The method according to claim 1, characterized in that, The foot pedal area of ​​the main control console is equipped with a second clutch device, and the method further includes: When the trigger signal of the second clutch device is received, the normal clutch activation mode is entered. In this mode, the position mapping relationship between all master control arms and the slave robotic arms controlled by them is suspended. The Pitch, Yaw and Roll degrees of freedom of all master control arms are in the follow-slave state, and the upper limit of the motor holding torque of each degree of freedom is set to a high value to ensure that each joint remains stable during operation.

4. The method according to claim 1, characterized in that, Determining the angular deviation between the target rotation angle and the current real-time rotation angle for the Roll degree of freedom includes: When the semi-free clutch activation mode is detected, the end-effector rotation posture of the instrument controlled by the main control arm or the current end-effector posture of the main control arm is taken as the target Cartesian posture, and the target rotation angle of the main control arm Roll degree of freedom is calculated in real time based on the target Cartesian posture. In response to the user's adjustment operation on the main control arm Roll degree of freedom, based on the preset refresh cycle, the second instantaneous angle values ​​output by the encoder corresponding to the main control arm Roll degree of freedom are obtained, so as to determine each second instantaneous angle value as the current real-time rotation angle corresponding to different refresh cycles. For each of the current real-time rotation angles, a corresponding angle deviation value is determined based on the difference between the target rotation angle and the current real-time rotation angle.

5. The method according to claim 1, characterized in that, The smooth transition of the Roll degree of freedom to the reset target position includes: Based on the deviation between the reset target position and the current real-time rotation angle, an auxiliary torque pointing towards the reset target position is calculated and output in real time. The auxiliary torque is configured such that its magnitude gradually decreases as the deviation decreases, or remains essentially constant when the deviation is greater than a specific range, and then gradually decreases as the deviation decreases; and its maximum value is limited to be consistent with the maximum resistance torque under the simulated elastic resistance strategy.

6. A master-slave adjustment control device, applied to a master-slave surgical robot system, the master-slave surgical robot system including a master console and a patient surgical platform, the master console including at least one master control arm, the patient surgical platform including at least one slave robotic arm controlled by the master control arm; the master control arm is provided with a first clutch device, characterized in that, The device is used for: When the first clutch device is triggered, it enters a semi-free clutch activation mode. In this mode, the Pitch, Yaw, and Roll degrees of freedom corresponding to the main control arm where the first clutch device is located are in a follower state, and the upper limit of the motor holding torque of the Roll degree of freedom is significantly lower than the upper limit of the motor holding torque of the other degrees of freedom, so as to allow the operator to rotate the target joint corresponding to the Roll degree of freedom by applying external force. The master hand adjustment control device further includes: The angle deviation determination submodule is used to determine the angle deviation value between the target rotation angle of the Roll degree of freedom and the current real-time rotation angle when the semi-free clutch activation mode is detected. The elastic torque determination submodule is used to calculate and output a simulated elastic torque proportional to the rotation angle in real time based on the angle deviation value if the angle deviation value is less than a preset angle threshold; wherein the maximum value of the simulated elastic torque is limited to a preset safety range. An automatic rebound submodule is used to control the Roll degree of freedom to automatically rebound to the target rotation angle position if the target joint corresponding to the Roll degree of freedom is released. The reset position determination submodule is used to calculate the reset target position based on the current rotation direction if the angle deviation value is greater than or equal to the preset angle threshold. The reset position adjustment submodule is used to update the control target of the Roll degree of freedom to the reset target position, and control the Roll degree of freedom to smoothly transition to the reset target position; Specifically, the reset position determination submodule is used to reset the target position to the initial position plus 180° if the current angle deviation is positive and exceeds the threshold; and to reset the target position to the initial position minus 180° if the current angle deviation is negative and exceeds the threshold.

7. An electronic device, characterized in that, Electronic devices include: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the master adjustment control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the master hand adjustment control method according to any one of claims 1-5.

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