Method, device, equipment and medium for adjusting configuration of surgical robot arm

Abstract

The application provides a surgical robot arm configuration adjustment method, device, equipment and medium. The method comprises the following steps: in the case of meeting the configuration adjustment condition, controlling the surgical robot arm to rotate at a first joint, adjusting to an avoidance configuration in the mode of the first joint group and the second joint group performing compensation movement from an initial configuration; controlling a surgical instrument on the surgical robot arm to perform posture adjustment or position adjustment based on the avoidance configuration; wherein the position of the remote center of motion of the surgical instrument remains unchanged during the adjustment process of the robot arm from the initial configuration to the avoidance configuration, which effectively increases the distance between the avoidance target joint and the surrounding environmental obstacles without the need for additional hardware mechanisms and without interrupting the surgical operation, improves the automation level and adjustment accuracy of the surgical robot arm in the intraoperative avoidance, and guarantees the continuity and safety of the surgical operation.

Description

[0001] This application claims priority to Chinese invention patent application number 202610392770.8, filed on March 27, 2026, entitled "Method, Apparatus, Equipment and Medium for Adjusting the Configuration of a Surgical Robotic Arm". Technical Field

[0002] This application relates to the field of computer technology, and in particular to a method, apparatus, device, and medium for adjusting the configuration of a surgical robotic arm. Background Technology

[0003] Nowadays, with the continuous development of medical devices, computer technology and control technology, minimally invasive surgery is widely used due to its advantages such as less trauma, faster recovery and less pain.

[0004] Minimally invasive surgical robots, with their advantages of high dexterity, precise control, and tremor filtering, have broken through the limitations of traditional surgery and are playing an increasingly important role in surgeries in the abdominal cavity, pelvic cavity, and thoracic cavity. Laparoscopic surgical robots, as a typical example, usually include a surgeon's console and a patient surgical platform. The platform is equipped with multiple surgical arms, allowing the surgeon to operate surgical instruments or endoscopes through the console.

[0005] However, since robots involve multiple robotic arms working together, improper positioning can easily lead to mutual obstruction between robotic arms or between robotic arms and environmental objects, causing the device to be unable to reach the target location. Summary of the Invention

[0006] This application provides a method, apparatus, device, and medium for adjusting the configuration of a surgical robotic arm, so as to effectively increase the distance between the target joint and the surrounding environmental obstacles, thereby improving the automation level and adjustment accuracy of the surgical robotic arm in intraoperative avoidance.

[0007] In a first aspect, embodiments of this application provide a method for adjusting the configuration of a surgical robotic arm, the surgical robotic arm including at least a first joint and a target joint for avoiding obstacles, the target joint being positioned differently on a horizontal plane from the first joint. Rotation of the first joint causes a change in the projected position of the target joint on the horizontal plane. The method includes: Under the condition of configuration adjustment, the surgical robotic arm is controlled to adjust from the initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements of the first joint group and the second joint group; wherein, the first distance between the avoidance target joint and the surrounding environmental obstacles in the avoidance configuration is greater than the second distance between the avoidance target joint and the surrounding environmental obstacles in the initial configuration; the motion axis of at least one joint in the first joint group is not perpendicular to the rotation axis of the first joint, and the motion axis of at least one joint in the second joint group is not perpendicular to the horizontal plane; The surgical instruments on the robotic arm are controlled to perform attitude or position adjustments based on the avoidance configuration; During the adjustment process of the robotic arm from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instrument remains unchanged; the direction of motion of the first joint rotation is monotonic, and the direction of motion of at least one joint in the joint group performing the compensating motion is non-monotonic.

[0008] In conjunction with the first aspect, in one possible implementation of the first aspect, the target joint to be avoided is the fourth joint and / or the third joint.

[0009] In conjunction with the first aspect, in one possible implementation of the first aspect, receiving the trigger operation performed on the operating device corresponding to the first joint includes: acquiring the operating device, and determining the desired rotation speed of the first joint based on the operating depth of the operating device.

[0010] In conjunction with the first aspect, in one possible implementation of the first aspect, the detection of the triggered avoidance event includes at least one of the following: determining the triggered avoidance event based on the current distance between the surgical robotic arm and the adjacent surgical robotic arm being less than a preset threshold; or, determining the triggered avoidance event based on the intersection between the predicted motion trajectory of the surgical robotic arm and the predicted motion trajectory of the adjacent surgical robotic arm.

[0011] In conjunction with the first aspect, in one possible implementation of the first aspect, when there is a first linear joint adjacent to the first joint position and whose movement direction is perpendicular to the rotation axis of the first joint, and the first linear joint does not participate in the compensation motion, determining the joint motion velocities acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group based on the kinematic constraint that the desired motion velocity remains unchanged from the preset position of the remote motion center point includes: updating the desired position of the first joint based on the rotation command for the first joint; determining the initial pose of the remote motion center point based on the initial configuration of the surgical robot; and based on the... The desired position of the first joint is determined, and the target pose of the first linear joint is determined. Based on the target pose of the first linear joint and the initial pose of the remote center of motion, the target pose of the remote center of motion with the first linear joint as the reference frame is calculated. Based on the target pose of the remote center of motion with the first linear joint as the reference frame, the desired position of the joint to be compensated in the first joint group and the second joint group is determined by inverse kinematics calculation. Based on the desired position of the first joint and the desired position of the joint to be compensated, joint motion velocities acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group are generated respectively.

[0012] In conjunction with the first aspect, in one possible implementation of the first aspect, when there exists a first linear joint adjacent to the first joint position and whose movement direction is perpendicular to the rotation axis of the first joint, and the first linear joint does not participate in compensating motion, determining the joint motion velocities acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group based on the kinematic constraint that the desired motion velocity remains unchanged from the preset position of the remote motion center point includes: updating the desired position of the first joint based on the rotation command for the first joint; determining the initial pose of the remote motion center point based on the initial configuration of the surgical robot; and determining the joint motion velocity based on the desired position of the first joint and the position to be determined of the first linear joint. The method involves constructing a joint group to be solved, including the first linear joint; performing inverse kinematics calculations on the joint group to obtain the desired joint positions; wherein the desired joint positions satisfy the constraint that the position of the remote motion center point remains unchanged; extracting the desired positions acting on the first joint, the desired positions acting on the first linear joint, and the desired positions acting on the remaining joints to be compensated in the first joint group and the second joint group from the desired joint positions; and generating joint motion velocities acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group, respectively, based on the desired positions of the first joint, the first linear joint, and the remaining joints to be compensated. In conjunction with the first aspect, in one possible implementation of the first aspect, the rotation of the first joint includes: acquiring relative position information between the surgical robotic arm and an adjacent surgical robotic arm; and, based on the relative position information, controlling the first joint to perform rotational movement in a direction away from the adjacent surgical robotic arm.

[0013] In conjunction with the first aspect, in one possible implementation of the first aspect, the method further includes: when the configuration adjustment conditions are met, controlling the surgical robotic arm to superimpose the rotational movement of the first joint and the compensating movements of the first joint group and the second joint group while responding to the main controller command.

[0014] In conjunction with the first aspect, in one possible implementation of the first aspect, controlling the sixth and seventh joints of the surgical robotic arm to perform posture compensation movements includes: acquiring posture change information of the surgical instrument shaft caused by the joints in the first joint, the first joint group, and the second joint group during adjustment; determining a compensation angle corresponding to the sixth and seventh joints based on the posture change information; and controlling the sixth and seventh joints to rotate based on the compensation angle to counteract the posture change of the surgical instrument shaft. In conjunction with the first aspect, in one possible implementation of the first aspect, before controlling the surgical robotic arm to adjust from an initial configuration to an avoidance configuration, the method further includes: in response to an event satisfying the configuration adjustment conditions, controlling the power box on which the surgical instrument is mounted to slide upwards along a carriage to retract the end effector of the surgical instrument to a safe area; and after confirming that the end effector of the surgical instrument has been retracted to the safe area, performing the step of controlling the surgical robotic arm to adjust from the initial configuration to the avoidance configuration.

[0015] In conjunction with the first aspect, in one possible implementation of the first aspect, the method further includes: After the surgical robotic arm is adjusted to the avoidance configuration, the power box is controlled to slide downward along the carriage so that the end effector of the surgical instrument re-extends into the target working position.

[0016] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the joint motion velocities acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group based on the kinematic constraint that the desired motion velocity remains unchanged and the position of the preset remote motion center point remains unchanged includes: establishing a motion mapping relationship from the joint space to the pose space of the remote motion center point according to the current configuration of the surgical robot arm; determining a zero-space motion relationship according to the motion mapping relationship and the constraint that the position of the remote motion center point remains unchanged; wherein the zero-space motion relationship is used to generate joint motions that do not cause changes in the position of the remote motion center point; processing the initial joint motion containing the desired motion velocity according to the zero-space motion relationship to obtain zero-space joint motions; adjusting the zero-space joint motions according to the comparison result between the actual motion velocity of the first joint in the zero-space joint motions and the desired motion velocity, so that the joint motion velocity corresponding to the first joint is equal to the desired motion velocity.

[0017] Secondly, embodiments of this application provide a method for adjusting the configuration of a surgical robotic arm. The surgical robotic arm includes at least a first joint and a target joint that has a different projection position on a horizontal plane from the first joint. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane. The method includes: controlling the surgical robotic arm to adjust from an initial configuration to a target configuration when configuration adjustment conditions are met; wherein the configuration adjustment process includes: controlling the first joint to rotate along a first direction to a first angle during a first time period, controlling the joints in the first joint group and the second joint group to perform a first compensating movement to adjust to the first target configuration; the axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is perpendicular to the axis of rotation of the first joint. The horizontal plane is not perpendicular; in the second time period adjacent to the first time period, the first joint is controlled to continue rotating along the first direction to the second angle, and the joints in the first joint group and the second joint group are controlled to perform a second compensating movement to adjust to a second avoidance configuration; wherein, at least one joint in the first joint group and / or the second joint group performing the first compensating movement has a first motion curve in the first time period; the corresponding joint performing the second compensating movement has a second motion curve in the second time period; the motion curve is used to characterize the change law of the joint's motion parameters over time, and the motion parameters include at least one of position, velocity, and acceleration; the curve characteristics of the first motion curve and the second motion curve are different, and the curve characteristics include at least one of average value, extreme value, variance, and median.

[0018] Thirdly, this application also provides a surgical robotic arm configuration adjustment device. The surgical robotic arm includes at least a first joint and a target joint that has a different projection position on the horizontal plane from the first joint. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane. The device includes a robotic arm configuration adjustment module, used to control the surgical robotic arm to adjust from an initial configuration to a target configuration by rotating the first joint and performing compensating movements on the first and second joint groups, under configuration adjustment conditions. The target joint in the target configuration has a first distance greater than the distance between the target joint and surrounding obstacles. The second distance between the target joint and the surrounding environmental obstacles in the initial configuration; the axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane; the instrument position adjustment module controls the surgical instruments on the surgical robotic arm to perform posture adjustment or position adjustment based on the avoidance configuration; wherein, during the adjustment process of the robotic arm from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instrument remains unchanged; the direction of rotation of the first joint is monotonic, and the direction of motion of at least one joint in the joint group performing the compensating motion is non-monotonic.

[0019] Fourthly, embodiments of this application also provide an electronic device, which includes: One or more processors; a storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement a method for adjusting the configuration of a surgical robotic arm as described in any of the embodiments of this application.

[0020] Fifthly, embodiments of this application also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an adjustment method for a surgical robotic arm configuration as described in any of the embodiments of this application.

[0021] This application provides a method, apparatus, device, and medium for adjusting the configuration of a surgical robotic arm. The surgical robotic arm includes at least a first joint and a target joint for avoidance, whose projection position on the horizontal plane differs from that of the first joint. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane. The method includes: under configuration adjustment conditions, controlling the surgical robotic arm to adjust from an initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements on a first joint group and a second joint group; wherein, in the avoidance configuration, a first distance is defined between the target joint and surrounding environmental obstacles. The distance between the target joint and surrounding obstacles in the initial configuration is greater than the second distance between the target joint and the obstacles in the environment. The axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane. The surgical instruments on the robotic arm are controlled to perform posture or position adjustments based on the avoidance configuration. During the adjustment process from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instruments remains unchanged. The direction of rotation of the first joint is monotonic, and the direction of motion of at least one joint in the joint group performing compensating motion is non-monotonic. This technical solution effectively increases the distance between the target joint and surrounding obstacles without changing the existing robotic arm hardware structure or adding additional mechanisms such as cyclone joints. Compared to adding cyclone joints, this solution avoids the increased system complexity, increased manufacturing costs, and cumbersome intraoperative adjustments to the robotic arm caused by adding hardware. It also avoids problems such as occupying limited operating room space due to increased hardware structure, increased difficulty during robot positioning, and increased risk of interference between robotic arms. This technology improves the automation and accuracy of the surgical robotic arm's obstacle avoidance during surgery without interrupting the procedure, thus ensuring the continuity and safety of the surgical operation. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the doctor control platform structure shown in one embodiment of this application; Figure 2 This is a schematic diagram of the patient surgical platform structure shown in one embodiment of this application; Figure 3 This is a schematic diagram of any robotic arm structure shown in one embodiment of this application; Figure 4 This is a schematic diagram of any robotic arm structure shown in one embodiment of this application; Figure 5 A schematic flowchart illustrating a method for adjusting the configuration of a surgical robotic arm provided in an embodiment of this application; Figure 6 A flowchart illustrating another method for adjusting the configuration of a surgical robotic arm provided in an embodiment of this application; Figure 7 A schematic flowchart illustrating another method for adjusting the configuration of a surgical robotic arm provided in an embodiment of this application; Figure 8 This is a schematic diagram of the installation structure of the power box and carriage of a surgical instrument. Figure 9 A schematic flowchart illustrating another method for adjusting the configuration of a surgical robotic arm provided in an embodiment of this application; Figure 10 A schematic flowchart illustrating another method for adjusting the configuration of a surgical robotic arm provided in an embodiment of this application; Figure 11 This is a simplified schematic diagram of the horizontal projection of the robotic arm provided in this embodiment; Figure 12 This is a schematic diagram showing the change curve of the target joint angle as the change in the first joint angle increases, as provided in this embodiment. Figure 13 A schematic diagram of an adjustment device for a surgical robotic arm configuration provided in an embodiment of this application; Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0024] 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 it. 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.

[0025] In this specification, numerous specific technical details are described in certain places 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 misunderstanding of the inventive points of this application by the general public. In this specification, accompanying drawings illustrate schematic diagrams of several embodiments of this application. However, the drawings are merely illustrative, and it should be understood that changes in mechanical structure, connections / positional relationships, physical composition, electrical aspects, and steps can be made without departing from the spirit and scope of this application. Such changes can be either substitutions or combinations of elements from several embodiments of this application, or substitutions or combinations of well-known content. The terminology used herein is only for describing particular embodiments and is not intended to limit this application. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” “middle,” “center,” “inner,” “outer,” “central,” “edge,” etc., are used for ease of explanation to describe the relationship between one component or feature and another shown in the figure. It should be understood that spatial relative terms are used only under the condition of the orientation of the device in use or operation (other than the orientation specifically defined in the figure), and are not necessarily unique or constant. For example, if the device in the figure is rotated 180° up and down along 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.

[0026] 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 stated 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. The term “object” generally refers to a single component or a group of components. Throughout the specification and claims, the terms “object,” “component,” “part,” “module,” “assembly,” and “element” are used interchangeably. 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 an end effector. An end effector can be a surgical tool 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 surgical instruments, 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 information communication between the instrument and one or more system components. The term "mate" (sometimes referred to as "connection," "linkage," "mounting," or "assembly") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mate objects to operate in combination with each other. It should be noted that mate 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 mate" can be interpreted as meaning a non-permanent connection or mate situation between two or more objects. This means that detachably connected objects can become unconnected and separate, allowing them to operate without being bound together.

[0027] 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.

[0028] The method for adjusting the configuration of this surgical robotic arm is applied to a surgical robot system. The surgical robot system involved in this embodiment belongs to a type of laparoscopic surgical robot. The following is a systematic description of the system functional structure of the laparoscopic surgical robot. A laparoscopic surgical robot system typically consists of three parts: a surgeon's control platform, a patient's surgical platform, and an imaging platform. The surgeon's control platform is the central operating point for the surgeon. Sitting here, the surgeon observes two-dimensional or three-dimensional images of the surgical area transmitted by the imaging platform and manipulates the main control arm to issue commands, thereby achieving precise control of the surgical instruments. The patient's surgical platform is the system's execution terminal, located beside the patient's bed. The robotic arm on it simulates the function of a human arm for support and positioning; the surgical instruments attached to the end of the robotic arm simulate a human hand, replicating the flexible movements of the human wrist. The system can also filter out naturally occurring physiological tremors in the human hand, significantly improving the precision and stability of the operation. The imaging platform is responsible for acquiring and processing visual information. It acquires surgical field images through a laparoscope (or "endoscope") placed inside the patient and transmits high-definition, stereoscopic, real-time images to the surgeon's control console, providing the surgeon with an immersive surgical view. With the above design, laparoscopic surgical robots are increasingly used in complex surgeries such as abdominal, thoracic and general surgery.

[0029] Figure 1 This is a schematic diagram of a doctor control platform structure according to an embodiment of this application. Figure 1 As shown, the doctor control platform includes a doctor trolley chassis 101, a foot pedal adjustment component 102, at least one main control arm 103, a stereo monitor 104, a stereo monitor rotation adjustment component 105, a stereo monitor lifting adjustment component 106, and a handrail lifting adjustment component 107. The doctor trolley chassis 101 supports and secures the entire doctor control platform; the foot pedal adjustment component 102 is mounted on the chassis, allowing the operator to move or lock the trolley position via foot pedals; the main control arm 103 provides an operating interface for the doctor, outputting control commands to drive the robotic arms and surgical instruments on the patient's surgical platform; the stereo monitor 104 has a doctor's observation window with two eyepieces, used to present a three-dimensional image of the surgical area to the doctor; the stereo monitor rotation adjustment component 105 adjusts the rotation angle of the stereo monitor 104, thereby changing the tilt angle of the eyepieces; the stereo monitor lifting adjustment component 106 adjusts the lifting height of the stereo monitor 104, thereby changing the height of the eyepieces; and the handrail lifting adjustment component 107 adjusts the height of the handrail, providing comfortable arm support for the doctor during operation. With the aforementioned adjustable structure, the doctor control platform can adapt to users of different heights and operating habits, improving the comfort and adaptability of operation.

[0030] Figure 2This is a schematic diagram of a patient surgical platform structure according to an embodiment of this application. The patient surgical platform typically consists of a chassis 201, a column 202, multiple robotic arms 203 connected to the column, and one or more surgical instrument manipulators 204 located at the ends of the support assemblies of each robotic arm. Surgical instruments and / or endoscopes are detachably mounted on the surgical instrument manipulators 204. Each surgical instrument manipulator 204 is used to support one or more surgical instruments and / or endoscopes operating at the surgical site within the patient's body. The surgical instrument manipulators 204 can control the associated surgical instruments in various ways with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, or five or fewer Cartesian degrees of freedom). Typically, through mechanical constraints or software limitations, the surgical instrument manipulators drive the instruments to rotate around a center of motion that remains fixed relative to the patient. This center is typically located where the surgical instrument enters the body wall, referred to as the "discent point" or "fixed point."

[0031] like Figure 2 As shown, the patient surgery platform is equipped with four robotic arms, including one endoscopic arm and three instrument arms. Figure 3 This is a schematic diagram of any robotic arm structure shown in one embodiment of this application. Figure 3 As shown, the robotic arm has 8 degrees of freedom (8-DOF). Figure 3 In the diagram, each dashed line and arrowed line represents a degree of freedom, labeled sequentially as Degree of Freedom 1 (DOF 1), Degree of Freedom 2 (DOF 2), Degree of Freedom 3 (DOF 3), Degree of Freedom 4 (DOF 4), Degree of Freedom 5 (DOF 5), Degree of Freedom 6 (DOF 6), Degree of Freedom 7 (DOF 7), and Degree of Freedom 8 (DOF 8). The first DEF is a rotary joint with its axis of rotation vertically. The second and third DEFs are displacement joints, achieving linear motion horizontally and vertically, respectively. The fourth, fifth, sixth, seventh, and eighth DEFs are all rotary joints. The axes of rotation of the fourth to seventh DEFs are set at a predetermined angle to the axis of rotation of the first DEF. The axes of rotation between adjacent DEFs are either perpendicular to each other or in opposite planes. The eighth DEF corresponds to the rotation of the end effector's axis, with its axis of rotation along the longitudinal axis of the device. The robotic arm requires only six Cartesian degrees of freedom (three positional and three orientational), thus each robotic arm has redundant degrees of freedom (e.g., two redundant DEFs), forming a redundant structure. This means that, with the end-effector pose remaining constant, the robotic arm can take on countless configurations (i.e., combinations of joint angles). When the end-effector pose is fixed, various configurations can be generated by adjusting the joint angles, and the solution space formed by these configurations is called the "position null space".

[0032] An imaging platform typically includes video image capture capabilities (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, optics include one or more imaging sensors (e.g., CCD or CMOS sensors) that transmit images from inside the patient's body to the distal end of the endoscope, followed by photoelectric conversion and other steps to transmit the video images to the main unit of the imaging platform. Subsequently, image processing is performed, and the processed image is displayed on the video displays for observation by other doctors or assistants. Generally, force generated by a remote-controlled motor is transmitted via a drive system to the end effector of the surgical instrument. In some remote-controlled surgical embodiments, the input device 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 remote presentation of surgery will understand such systems and their components, which will not be elaborated upon here.

[0033] In the aforementioned laparoscopic surgical robot system, the robotic arm, as the core execution component of the patient's surgical platform, directly impacts the smoothness and safety of the surgical procedure due to its flexible configuration. Because the robotic arm possesses redundant degrees of freedom, various configurations can be achieved by adjusting the joint angles, provided the end-effector pose is fixed. However, during actual surgery, the robotic arm may interfere with the surrounding environment (such as other robotic arms, the patient's body, and auxiliary equipment), affecting operational accuracy and even posing safety risks. Therefore, how to rationally adjust the robotic arm configuration to avoid obstacles while maintaining the position of the surgical instrument's remote motion center point has become one of the key issues in improving system reliability and operational flexibility.

[0034] To address this issue, this application provides a targeted design for the joint structure and motion relationships of the robotic arm. Specifically, the surgical robotic arm includes at least a first joint and a target joint that avoids a change in the projected position of the target joint on the horizontal plane, the first joint rotating to cause a change in the projected position of the target joint on the horizontal plane. Based on this structure, this application proposes a method for adjusting the configuration of the surgical robotic arm.

[0035] The first joint refers to a joint in the robotic arm whose rotation causes a change in the projected position of the target joint on the horizontal plane. The target joint is a joint in the robotic arm whose projected position on the horizontal plane differs from that of the first joint. Its position change is affected by the rotation of the first joint. By adjusting the configuration of the robotic arm, the distance between the target joint and surrounding obstacles can be changed.

[0036] Figure 4 This is a schematic diagram of any robotic arm structure shown in one embodiment of this application. Figure 3 As shown, the robotic arm has 8 degrees of freedom (8-DOF). Figure 4 In the diagram, each dashed line and arrowed line represents a degree of freedom, labeled sequentially as third degree of freedom (3a), fourth degree of freedom (4a), fifth degree of freedom (5a), sixth degree of freedom (6a), seventh degree of freedom (7a), and eighth degree of freedom (8a). Specifically, the first and second degrees of freedom in this diagram are... Figure 3 The description is exactly the same as in the previous section, and will not be shown again in this figure.

[0037] Except for the fifth degree of freedom 5a, all other degrees of freedom are... Figure 3 The degrees of freedom in the model have the same or similar directions. Figure 3 , Figure 4 These are all exemplary descriptions of the robotic arm structure. The joints described in the various embodiments of this application can also be determined in the above two figures according to the motion axis, position, etc. Figure 4 The joint corresponding to the fifth degree of freedom 5a is a rotary joint, and its rotation axis is usually in a vertical plane. This rotation axis does not pass through the Remote Center of Motion (RCM). In one example, the first rotation axis 5b of the fifth degree of freedom 5a and the eighth degree of freedom 8a (such as the rotation axis 8b of a device mounted on a robotic arm) are in the same plane. The first rotation axis 5b of the fifth degree of freedom 5a intersects the rotation axis 8b of the device in the plane, and the intersection point P2 is located below RCM P1. In other implementations, the intersection point P2 can also be located above RCM P1. RCM P1 is the intersection point between the device's rotation axis 8b and the second rotation axis 6b of the sixth degree of freedom 6a; that is, the rotation axis of the joint corresponding to the sixth degree of freedom 6a passes through the remote center of motion.

[0038] In another example, the fifth degree of freedom (5a) and the eighth degree of freedom (8a) do not belong to the same plane. It should be noted that even in this figure, the fifth degree of freedom (5a) and... Figure 3 The direction of the motion axis of the fifth degree of freedom (5) varies, and the fifth degree of freedom mentioned in the technical solutions described in various embodiments can be implemented as follows: Figure 3 The fifth degree of freedom 5 in the figure can also be implemented as the fifth degree of freedom 5a in this figure. Optionally, the motion axis of the fifth degree of freedom 5a drawn in this figure is diagonally downward, but it is not excluded that in different implementations, the motion axis of the fifth degree of freedom 5a may have different tilt angles, or even be implemented as a straight line in the horizontal plane.

[0039] Referring to the descriptions of the various embodiments above, due to the offset caused by the rotation of the first joint, the joint corresponding to the fifth degree of freedom 5a, as a joint in the first joint group or the second joint group (optionally, usually a joint in the second joint group), performs compensatory motion. In one implementation, the direction of motion of the joint corresponding to the fifth degree of freedom 5a is non-monotonic. For the motion mode of the joint corresponding to the fifth degree of freedom 5a, please refer to the descriptions of the various embodiments above; they will not be repeated here.

[0040] In another implementation, the motion direction of the joint corresponding to the fifth degree of freedom (5a) is monotonic. As mentioned above, at least one of the joints in the first or second joint group, excluding the joint corresponding to the fifth degree of freedom (5a), has a non-monotonic motion direction. Furthermore, the joint corresponding to the fifth degree of freedom (5a) is also called a cyclone joint. Rotation of the cyclone joint causes a change in the projected area of ​​the robotic arm on the horizontal plane. For example, the joint corresponding to the seventh degree of freedom (7a) is used to control the posture of a parallelogram mechanism. Rotation of the joint corresponding to the fifth degree of freedom (5a) causes a change in the posture of the parallelogram mechanism in space. For instance, if multiple links of a parallelogram mechanism are interconnected to form a Z-shaped structure, rotation of the joint corresponding to the fifth degree of freedom (5a) causes a change in the projected area of ​​the Z-shaped structure on the horizontal plane. Figure 4 When the joint corresponding to the fifth degree of freedom 5a is rotated, since its rotation axis does not pass through the remote motion center point, the rotation of the joint corresponding to the fifth degree of freedom 5a will cause the remote motion center point to be displaced; the above offset is used to compensate for the displacement of the remote motion center point caused by the joint movement corresponding to the first degree of freedom 1a, and the joint corresponding to the fifth degree of freedom 5a is used as a joint movement in the first joint group or the second joint group to ensure that the position of the remote motion center point remains unchanged.

[0041] As described above, in one implementation, the motion direction of the joint corresponding to the fifth degree of freedom (5a) is monotonic, while at least one of the joints in the first or second joint group (excluding the joint corresponding to the fifth degree of freedom 5a) has a non-monotonic motion direction. Furthermore, there is a coupling relationship between the motion direction of the joint corresponding to the fifth degree of freedom 5a and the motion direction of the joint corresponding to the first degree of freedom 1a. For example, the motion direction of the joint corresponding to the fifth degree of freedom 5a and the joint corresponding to the first degree of freedom 1a may always rotate in the same direction (clockwise or counterclockwise in the top view) or always move in opposite directions. In one example, the motion direction of the joint corresponding to the fifth degree of freedom 5a is used to bring the orientation of the Z-shaped structure corresponding to the parallelogram mechanism closer to a vertical state, also known as reducing the projected area of ​​the Z-shaped structure corresponding to the parallelogram mechanism on the horizontal plane until it reaches a minimum value. The joint rotation corresponding to the first degree of freedom 1a is used to avoid collisions between the joints corresponding to the first degree of freedom 1a to the fourth degree of freedom 4a and obstacles in space; by rotating the joint corresponding to the fifth degree of freedom 5a, the projected area of ​​the Z-shaped structure corresponding to the parallelogram mechanism on the horizontal plane is reduced, while avoiding collisions between the Z-shaped structure corresponding to the parallelogram mechanism and obstacles in space.

[0042] It should be noted that even if there is a coupling relationship between the motion direction of the joint corresponding to the fifth degree of freedom (5a) and the motion direction of the joint corresponding to the first degree of freedom (1a), or a correlation between the motion direction of the joint corresponding to the fifth degree of freedom (5a) and the current posture of the Z-shaped structure corresponding to the parallelogram mechanism, in some examples, the curve characteristics such as the average value, extreme value, variance, and median of the motion parameters such as the motion velocity and acceleration of the joint corresponding to the fifth degree of freedom (5a) change when different configurations are in the initial state. The joint corresponding to the fifth degree of freedom (5a) is the joint that participates in the compensation motion to compensate for the RCM offset caused by actively driving the joint corresponding to the first degree of freedom (1a).

[0043] It is understood that this embodiment is for illustrative purposes only. Figure 3 The robotic arm structure described in other embodiments, besides the one described in the previous embodiments, can be applied to the robotic arm structure described in this embodiment. The joint selections in the first and second joint groups described in various embodiments can also be applied to this embodiment, and will not be repeated here.

[0044] Example 1: Figure 5This is a flowchart illustrating a method for adjusting the configuration of a surgical robotic arm according to an embodiment of this application. This embodiment is applicable to any situation where the configuration of the robotic arm needs to be reasonably adjusted to avoid obstacles while keeping the position of the remote motion center point of the surgical instrument unchanged. This method can be executed by a surgical robotic arm configuration adjustment 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.

[0045] like Figure 5 As shown, the method includes: S110. Under the condition of meeting the configuration adjustment conditions, control the surgical robotic arm to adjust from the initial configuration to the avoidance configuration by rotating the first joint and performing compensating movements of the first joint group and the second joint group.

[0046] The configuration adjustment condition refers to the preconditions or criteria that trigger the robotic arm to adjust from its current configuration to an avoidance configuration. The initial configuration refers to the joint angle combination state of the robotic arm before configuration adjustment. The first joint group refers to the set of multiple joints in the robotic arm involved in the compensating motion, where the motion axis of at least one joint in the first joint group is not perpendicular to the rotation axis of the first joint. The second joint group refers to another set of joints in the robotic arm involved in the compensating motion, where the motion axis of at least one joint in the second joint group is not perpendicular to the horizontal plane. It should be noted that the avoidance target joint can belong to a joint in the first joint group, or a joint in the first joint group.

[0047] Among them, the avoidance configuration refers to the joint angle combination state achieved by the robotic arm after adjustment. In the avoidance configuration state, the distance between the target joint and the surrounding environmental obstacles is increased compared with the initial configuration.

[0048] Specifically, the first distance between the target joint in the avoidance configuration and surrounding obstacles is greater than the second distance between the target joint in the initial configuration and surrounding obstacles. In other words, by adjusting from the initial configuration to the avoidance configuration, the spatial distance between the target joint and surrounding obstacles is increased. This means the robotic arm is in a state further away from obstacles after the adjustment, thus reducing the possibility of contact or interference between the target joint and surrounding obstacles, achieving the avoidance effect.

[0049] The surrounding environment obstacles refer to external objects or other parts of the robotic arm that may come into contact with or interfere with during surgery. Specifically, these may include other robotic arms, as collisions can easily occur between adjacent robotic arms in multi-arm surgeries due to overlapping movements or confined space; patient body parts, as the robotic arm may contact or compress areas such as the abdomen or chest cavity when operating close to the body surface; operating tables or auxiliary equipment, such as the edges of the operating table, IV stands, anesthesia machines, etc., which can restrict the range of motion of the robotic arm; surgical instruments or endoscopes, as instruments attached to different robotic arms may interfere with each other externally; operators or assistants, as the body or arms of medical personnel operating at the bedside may accidentally enter the robotic arm's movement area; sterile covers or cables, as soft components covering the outside of the robotic arm may snag or become entangled during movement; and fixation devices or locators, such as brackets or air cushions used to fix the patient's position, which may also occupy space. By identifying and avoiding these obstacles, the robotic arm configuration adjustment method can effectively reduce the risk of collisions during surgery. During the adjustment process from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instruments remains unchanged. The remote motion center point refers to a fixed point on the body wall where the surgical instrument remains stationary as it passes through the body wall and enters the patient's body. This point's position needs to remain unchanged during the robotic arm's adjustment process. In other words, throughout the entire configuration adjustment process, the fixed point on the body wall where the surgical instrument passes through the body wall and enters the patient's body remains in its original position and does not shift due to the movement of the robotic arm joints, thereby ensuring the safety and stability of the surgical operation. In one optional implementation of this application, a first joint is used to adjust the configuration of the robotic arm; and while adjusting the configuration of the robotic arm, a first joint group and a second joint group are used to ensure that the position of the remote motion center point remains unchanged in the real-world coordinate system. For example, using the first joint to adjust the configuration of the robotic arm is used to indicate manual dragging or motor-driven operations, causing a component (such as a link) located on either side of the first joint to undergo angular deflection or positional movement. In this embodiment, the rotational direction of the first joint is monotonic, while the rotational direction of at least one joint in the joint group performing the compensating movement is non-monotonic. This can be understood as follows: the first joint rotates continuously along a single motion characteristic during the adjustment process; while at least one joint in the joint group involved in the compensating motion undergoes a change in motion during the adjustment process. This non-monotonic motion is used to counteract the displacement effect of the first joint rotation on the remote motion center point.

[0050] For example, in one scenario, the first joint rotates monotonically clockwise, while a joint in the first joint group moves upward and then downward, changing its direction of motion once during the adjustment process. In another scenario, the first joint rotates monotonically counterclockwise, while a joint in the second joint group moves forward and then backward, also exhibiting a non-monotonic change in direction of motion. In yet another scenario, while the first joint continues to rotate in one direction, multiple joints in the first and second joint groups perform combined forward and reverse movements at the same or different times to compensate for the displacement caused by the rotation of the first joint, keeping the remote motion center point stationary. Specifically, the robotic arm is in its initial configuration state, corresponding to a specific set of joint angles. When the configuration adjustment conditions are met, the rotation of the first joint is initiated, causing a change in the projected position of the target joint on the horizontal plane. Simultaneously with the rotation of the first joint, the joints in the first and second joint groups coordinate to perform compensating movements. At least one joint in the first joint group has a motion axis that is not perpendicular to the rotation axis of the first joint, and at least one joint in the second joint group has a motion axis that is not perpendicular to the horizontal plane. These joints cancel out the displacement effect caused by the rotation of the first joint through their respective movements, ensuring that the remote motion center point of the surgical instrument remains unchanged during the adjustment process. Through the combined action of the rotation of the first joint and the compensating movements of the two joint groups, the robotic arm finally reaches the avoidance configuration state. In this avoidance configuration state, the distance between the target joint and surrounding obstacles increases compared to the initial configuration, thus achieving effective obstacle avoidance.

[0051] In this embodiment, optionally, the first joint group includes a second joint. The rotation axis of the second joint is vertical. The rotational movement of the second joint is used to change the projection direction of the line connecting the target joint and the remote motion center point of the surgical instrument on the horizontal plane. As a component joint in the first joint group, the second joint moves by rotating around a vertical axis. This rotational movement acts on the projection direction of the spatial line connecting the target joint and the remote motion center point of the surgical instrument on the horizontal plane. The rotation of the second joint can deflect this projection direction, thereby adjusting the relative position of the target joint on the horizontal plane, and thus coordinating with the movement of other joints to achieve the configuration adjustment target. See also... Figure 3 The first joint group may include the joint corresponding to the fourth degree of freedom. In this embodiment, optionally, the second joint group includes at least one of the following: the second joint group includes a third joint and a fourth joint, the third joint is a linear joint with a vertical direction of movement, and the fourth joint is a rotary joint with a horizontal axis of rotation; the second joint group includes a fifth joint, the fifth joint is a linear joint with a direction of movement perpendicular to the axis of rotation of the first joint.

[0052] Specifically, the second joint group, as a set of joints participating in compensatory movement, can be composed of several alternative forms. In one alternative form, the second joint group consists of the third and fourth joints. The third joint moves in a linear motion, its trajectory extending vertically, while the fourth joint moves in a rotational motion, rotating around a horizontal axis. (See [reference needed]). Figure 3 The second joint group may include joints corresponding to the third and fifth degrees of freedom.

[0053] In another alternative embodiment, the second joint group consists only of the fifth joint, which is also a joint that moves in a linear motion, and its direction of movement is perpendicular to the rotation axis of the first joint. (See [reference needed]). Figure 3 The second joint group can include joints corresponding to the second degree of freedom. These various configurations allow for diverse compensating movements. The second joint group can compensate for the displacement effect caused by the rotation of the first joint using its respective corresponding movement mode, precisely offsetting the influence of the first joint rotation on the remote motion center point and ensuring its position remains unchanged; simultaneously, it increases the distance between the avoidance target joint and the obstacle. In the above embodiment, the avoidance target joint is any one of the second to fifth joints. In the joint configuration of the robotic arm, the second, third, fourth, and fifth joints can all be selected as avoidance target joints; the specific joint selected depends on the actual adjustment requirements. As an optional implementation, at least one joint in the joint group performing the compensating movement exhibits a change in its rotation direction and / or linear motion direction during the compensating movement, first moving along a first direction and then moving along a second direction opposite to the first direction. In other words, during the compensatory movement, at least one joint in the joint group involved in the movement will reverse its direction of movement. This joint can be a rotational joint or a linear joint. Its movement process does not remain unchanged in a single direction, but first moves along a certain direction, and then changes direction during the movement, continuing to move in the opposite direction to the initial direction. This reciprocating change in direction is used to coordinate with the rotation of the first joint and the movement of other joints, thereby compensating for the displacement effect caused by the rotation of the first joint and ensuring that the remote motion center point of the surgical instrument remains unchanged during the adjustment process.

[0054] S120, Control the surgical instruments on the surgical robotic arm to perform attitude or position adjustments based on the avoidance configuration.

[0055] In this context, posture adjustment refers to changing the orientation angle of the surgical instrument's end effector in space. Position adjustment refers to changing the coordinate position of the surgical instrument's end effector in space. In this embodiment, after the robotic arm is adjusted to an avoidance configuration, the surgical instrument itself is further motion-controlled using this configuration. Specifically, the surgical instrument performs posture adjustment or position adjustment. Both adjustments are fine-tuning operations based on the overall joint angles of the robotic arm determined by the avoidance configuration. The purpose is to enable the surgical instrument to adapt to the specific needs of the surgical procedure. For example, adjusting the angle of entry into the body or reaching a specific surgical area. Simultaneously, during the adjustment process, the distance between the target joint and surrounding obstacles is maintained to ensure the increased avoidance effect, thus ensuring the smoothness and safety of the surgical procedure.

[0056] This application provides a method, apparatus, device, and medium for adjusting the configuration of a surgical robotic arm. The surgical robotic arm includes at least a first joint and a target joint for avoidance, whose projection position on the horizontal plane differs from that of the first joint. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane. The method includes: under configuration adjustment conditions, controlling the surgical robotic arm to adjust from an initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements on a first joint group and a second joint group; wherein, in the avoidance configuration, a first distance is defined between the target joint and surrounding environmental obstacles. The distance between the target joint and surrounding obstacles in the initial configuration is greater than the second distance between the target joint and the obstacles in the environment. The axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane. The surgical instruments on the robotic arm are controlled to perform posture or position adjustments based on the avoidance configuration. During the adjustment process from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instruments remains unchanged. The direction of rotation of the first joint is monotonic, and the direction of motion of at least one joint in the joint group performing compensating motion is non-monotonic. This technical solution effectively increases the distance between the target joint and surrounding obstacles without changing the existing robotic arm hardware structure or adding additional mechanisms such as cyclone joints. Compared to adding cyclone joints, this solution avoids the increased system complexity, increased manufacturing costs, and cumbersome intraoperative adjustments to the robotic arm caused by adding hardware. It also avoids problems such as occupying limited operating room space due to increased hardware structure, increased difficulty during robot positioning, and increased risk of interference between robotic arms. This technology improves the automation and accuracy of the surgical robotic arm's obstacle avoidance during surgery without interrupting the procedure, thus ensuring the continuity and safety of the surgical operation.

[0057] Example 2: Figure 6This diagram illustrates a method for adjusting the configuration of a surgical robotic arm according to an embodiment of this application. Based on the foregoing embodiments, this embodiment provides a detailed explanation of the specific situations included in the configuration adjustment conditions. For specific implementation details, please refer to 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. Figure 6 As shown, the method specifically includes the following steps: S210. When receiving an external dragging operation applied to the surgical robotic arm; and / or receiving a trigger operation performed on the operating component corresponding to the first joint; and / or detecting a collision risk event, control the surgical robotic arm to adjust from the initial configuration, in a manner where the first joint rotates and the first joint group and the second joint group perform compensating movements, to an avoidance configuration.

[0058] External dragging operation refers to the operator directly applying external force to the surgical robotic arm, pulling or pushing it to move. Operating components refer to devices or structures corresponding to the first joint that can be triggered by the operator. Collision risk events refer to situations where, during the movement of the surgical robotic arm, sensors detect or algorithms predict a potential danger of contact or interference between the robotic arm and surrounding obstacles. Specifically, the initiation conditions for surgical robotic arm configuration adjustment consist of multiple triggering scenarios. The first is when the operator directly applies external force to pull or push the robotic arm, which serves as a trigger signal for adjustment. The second is when a pressing or flicking action is performed on the operating component corresponding to the first joint, triggering the corresponding trigger signal. The third is when sensors detect or algorithms predict a potential danger of contact or interference between the robotic arm and surrounding obstacles, triggering adjustment upon detection. When any one or more of these scenarios are met, the robotic arm begins to adjust from its initial configuration. It can be seen that the robotic arm's configuration adjustment can be based on manual triggering by the operator or automatically executed after the robotic arm identifies a collision risk event. For example, the adjustment method involves the rotation of the first joint, while each joint in the first joint group and the second joint group performs compensating movements. The rotation of the first joint causes a change in the projected position of the target joint on the horizontal plane, and the compensating movements of the first joint group and the second joint group counteract the displacement effect of the rotation of the first joint on the remote motion center point of the surgical instrument, so that the remote motion center point remains unchanged during the adjustment process, and finally the robotic arm achieves the avoidance configuration. In this configuration, the distance between the target joint and the surrounding obstacles is increased compared to the initial configuration.

[0059] For example, the following are examples for each triggering scenario: ① External dragging operation: During preoperative preparation or intraoperative adjustment, the operator directly grasps a part of the surgical robotic arm and pulls it outward, causing the entire robotic arm to shift. Upon receiving this dragging action, configuration adjustment is triggered. ② Operation component triggering operation: A button or touch switch is located near the first joint of the robotic arm. When the operator presses the button or touches the switch with their finger, a trigger signal is received, and configuration adjustment is initiated. ③ Collision risk event: During the movement of the robotic arm, if the proximity sensor installed on it detects that the distance between it and an adjacent robotic arm is less than a preset safety threshold, or if the movement trajectory predicts that interference with the edge of the operating table is imminent, configuration adjustment can be automatically triggered upon detecting such a risk.

[0060] The system employs multiple triggering mechanisms to flexibly initiate configuration adjustments, supporting both manual intervention by operators and automatic response to collision risks. This enhances the convenience, safety, and environmental adaptability of the robotic arm's obstacle avoidance operation. In terms of convenience, operators can intuitively and easily trigger configuration adjustments by manually dragging the robotic arm or pressing buttons, eliminating the need for complex procedures and lowering the operational threshold. Regarding safety, the system automatically detects collision risks between robotic arms or between the robotic arm and environmental obstacles, promptly initiating avoidance measures to effectively ensure the safety of patients and equipment during surgery. In terms of environmental adaptability, the system effectively identifies various environmental obstacles in different operating room spaces and flexibly adjusts the robotic arm configuration according to the actual layout, ensuring stable and reliable operation in various surgical scenarios.

[0061] Based on the above embodiments, optionally, for the second configuration adjustment conditions, the operating component may include at least one of the following: The first type: The operating component includes a first operating part and a second operating part. When the first operating part is triggered, it instructs the first joint to rotate in a first direction, and when the second operating part is triggered, it instructs the first joint to rotate in a second direction.

[0062] Specifically, the operating component corresponding to the first joint consists of two independently triggerable parts. The first operating part performs the direction control function. When the operator applies a triggering action such as pressing or flicking to the first operating part, the triggering action transmits a command to the control system, instructing the first joint to rotate along a preset first direction. The second operating part also performs the direction control function. When the operator applies a triggering action to the second operating part, the triggering action transmits a command to the control system, instructing the first joint to rotate along a second direction different from the first direction. Selective control of the rotation direction of the first joint is achieved by triggering the two operating parts separately.

[0063] The second type: The operating component includes a single operating part, which, when triggered in a first operating state, instructs the first joint to rotate in a first direction, and when triggered in a second operating state, instructs the first joint to rotate in a third direction.

[0064] The third direction refers to the direction in which the first joint rotates when a single operating part is triggered in the second operating state. This direction is not a preset fixed direction, but rather a rotation direction determined in real time based on the operation type at the time of triggering and the current distance between the target joint and surrounding obstacles. The operation type reflects the specific way the operator applies the triggering action to the single operating part, while the obstacle distance reflects the spatial positional relationship between the current target joint and surrounding obstacles. Based on these two factors, the first joint can be dynamically calculated and instructed to rotate along the third direction, so that the robotic arm can be adjusted to an avoidance configuration that increases the distance between the target joint and surrounding obstacles.

[0065] Specifically, the operating component corresponding to the first joint can also consist of only a single triggerable part. However, this single operating part can generate different control commands in response to different triggering states. When the operator applies a triggering action to this single operating part in the first operating state, the triggering action transmits a command to the control system, instructing the first joint to rotate along a preset first direction. When the operator applies a triggering action to the same operating part in a second operating state different from the first operating state, the triggering action transmits a command to the control system, instructing the first joint to rotate along a third direction. The third direction is determined in real time based on the type of operation at the time of triggering and the current distance between the target joint and surrounding obstacles. Selective control of the rotation direction of the first joint is achieved through different operating states of the same operating component. This method, by providing multiple operating component configurations, allows the operator to flexibly control the rotation direction of the first joint according to actual needs. It supports controlling two preset directions separately through two operating parts, and also supports selective control of the direction through different operating states of a single operating part, thereby improving operational convenience and adaptability.

[0066] Based on the above embodiments, optionally, for the second configuration adjustment condition, the specific implementation method of receiving a trigger operation on the operating component corresponding to the first joint may include: acquiring the operating component, and determining the desired rotation speed of the first joint based on the operating depth of the operating component. This can be understood as follows: for the case where the configuration adjustment condition is triggered by the operating component, after receiving the trigger operation on the operating component, firstly, the information of the currently triggered operating component is identified and acquired. Then, the depth to which the operating component is pressed or moved, i.e., the displacement or pressing stroke generated by the operating component during the triggering process, is further detected. Based on the magnitude of this operating depth, the target rotation speed that the first joint should achieve during rotation is calculated and determined in real time. The greater the operating depth, the faster the corresponding desired rotation speed; the smaller the operating depth, the slower the desired rotation speed, thereby achieving continuous adjustment and control of the rotation speed of the first joint. Based on the above embodiments, optionally, for the third configuration adjustment condition, detecting a trigger avoidance event includes at least one of the following: determining that a trigger avoidance event is triggered based on the current distance between the surgical robotic arm and the adjacent surgical robotic arm being less than a preset threshold; or, determining that a trigger avoidance event is triggered based on the intersection between the predicted motion trajectory of the surgical robotic arm and the predicted motion trajectory of the adjacent surgical robotic arm.

[0067] Specifically, in the event of a collision risk, the detection and determination of the avoidance event can be achieved in two ways. One way is to measure the spatial distance between the surgical robotic arm and the adjacent surgical robotic arm in real time. When the measured distance is less than a preset safe distance threshold, it can be determined that the triggering condition is met and an avoidance event is generated. The other way is to predict the movement path of the surgical robotic arm in the future through an algorithm, and at the same time predict the movement path of the adjacent surgical robotic arm. When the two predicted trajectories overlap or intersect in space and time, the system determines that an interference risk is about to occur and triggers an avoidance event.

[0068] In this embodiment, optionally, the specific implementation process of the first joint rotation may include: obtaining the relative position information between the surgical robotic arm and the adjacent surgical robotic arm; and controlling the first joint to perform rotational movement in the direction of rotation away from the adjacent surgical robotic arm based on the relative position information.

[0069] In practical applications, the rotation of the first joint during configuration adjustment can be determined based on the real-time spatial relationship between the surgical robotic arm and adjacent surgical robotic arms. First, the relative position data between the surgical robotic arm and adjacent surgical robotic arms, including the distance and orientation angle between them, can be obtained through sensors or a positioning system. Then, based on this relative position information, it can be determined which side of the surgical robotic arm the adjacent surgical robotic arm is located on, and the first joint can be controlled to rotate in a direction away from the side where the adjacent surgical robotic arm is located, thereby adjusting the overall configuration of the surgical robotic arm in a direction away from the adjacent surgical robotic arm.

[0070] For example, when the surgical robotic arms are the two middle arms in a four-arm system, there are adjacent robotic arms on both its left and right sides. In this case, the specific implementation process of controlling the first joint to rotate away from the adjacent surgical robotic arms based on relative position information is as follows: First, sensors acquire the current distances between the middle robotic arm and its left-adjacent robotic arm, and between the middle robotic arm and its right-adjacent robotic arm. These two distances are then compared. If the left distance is less than the right distance, it indicates the robotic arm is closer to its left-adjacent robotic arm, posing a higher risk of collision. In this case, the first joint is controlled to rotate to the right, moving away from the left-adjacent robotic arm. Conversely, if the right distance is less than the left distance, it indicates the robotic arm is closer to its right-adjacent robotic arm. In this case, the first joint is controlled to rotate to the left, moving away from the right-adjacent robotic arm.

[0071] If the distances on both sides are equal or less than the safety threshold, the robot can choose to avoid the obstacle based on preset priority turning rules, such as turning to one side by default, or by combining subsequent motion trajectory predictions. In this way, the middle robotic arm can automatically choose to turn to the side with more space and lower risk in complex scenarios with adjacent arms on both sides, based on real-time relative position information, thereby effectively increasing the distance between itself and the adjacent robotic arms on both sides and avoiding mutual interference.

[0072] The above-mentioned method triggers avoidance events through real-time distance monitoring and motion trajectory prediction, which can promptly detect current or impending robot arm interference risks, thereby providing an accurate and reliable basis for initiating configuration adjustments.

[0073] In this embodiment, optionally, when there is a first linear joint located between the first joint and the target joint to be avoided, and the direction of movement is perpendicular to or intersects the rotation axis of the first joint in space, the specific implementation process of the rotation of the first joint may include the following steps: Step 1: Determine the target rotation speed of the first linear joint based on its current position parameters.

[0074] Step 2: Based on the target rotation speed, control the first joint to perform rotational motion.

[0075] Specifically, in the joint chain of a robotic arm, if a first linear joint is provided between the first joint and the joint to be avoided, and the direction of movement of the first linear joint is spatially perpendicular to or forms a certain angle with the axis of rotation of the first joint (e.g., Figure 3 (The second degree of freedom corresponds to the joint in the diagram). Therefore, when controlling the rotation of the first joint, it is first necessary to obtain the current position parameter of the first linear joint. This position parameter reflects the specific position of the first linear joint in its direction of movement. Then, based on this position parameter, the target rotation speed that the first joint should adopt is calculated and determined in real time, so that the target rotation speed can match the current position of the first linear joint. This allows the avoidance target joint to achieve a relatively consistent linear velocity adjustment effect in space. Finally, rotation control is performed on the first joint according to the target rotation speed. In this way, by dynamically adjusting the rotation speed of the first joint based on its real-time position, the avoidance target joint achieves a relatively consistent linear velocity, thereby improving the smoothness and coordination of the robotic arm's configuration adjustment process.

[0076] To ensure operational safety during configuration adjustments and to clearly inform operators of the current status, this embodiment further includes the following optional steps in addition to the above-mentioned approach: Step 1: Under the condition that the configuration adjustment is met, control the surgical robotic arm to enter the avoidance adjustment mode; in the avoidance adjustment mode, the surgical instruments do not respond to the control commands of the main controller.

[0077] The control commands from the main controller refer to the motion commands generated and sent to the surgical robotic arm by the main control arm and other control devices on the doctor's operating platform. These commands are used to control the surgical instruments to perform fine operations such as posture or position adjustments. Specifically, when the preset configuration adjustment conditions are met, the surgical robotic arm is switched to a working mode specifically for configuration adjustment, namely the avoidance adjustment mode. In this mode, the surgical robotic arm will perform rotation of the first joint and compensating movements of the first and second joint groups to achieve an avoidance configuration. However, at the same time, the surgical instruments will temporarily disconnect from the control association with the main controller and will no longer receive or respond to any motion commands issued by the main controller. This ensures that during the process of changes in the overall configuration of the robotic arm, the surgical instruments will not undergo unexpected movements due to external manipulation, thus avoiding interference with the surgical operation or safety risks.

[0078] Step 2: Display the first prompt message indicating that the surgical robotic arm is currently in a robotic arm avoidance adjustment state.

[0079] The first prompt message refers to the visual or perceptible information displayed to the operator through a graphical user interface, indicator lights, or sound prompts after the surgical robotic arm enters the avoidance adjustment mode. Specifically, after the surgical robotic arm enters the avoidance adjustment mode, perceptible information can be presented to the operator through a graphical user interface, indicator lights, a display screen, or sound prompts. This information clearly indicates that the surgical robotic arm is currently in an avoidance adjustment state, allowing the operator to intuitively understand that the robotic arm is undergoing configuration adjustment and that the surgical instruments are temporarily not responding to the main controller's control commands. This facilitates the operator's understanding of the current working mode and allows for appropriate operational decisions.

[0080] To balance obstacle avoidance requirements with the continuity of surgical procedures during configuration adjustment, this embodiment provides another optional implementation method based on the above solution: when the configuration adjustment conditions are met, the surgical robotic arm, while responding to the main controller's commands, simultaneously performs the rotational movement of the first joint and the compensating movements of the first and second joint groups. Specifically, when the configuration adjustment conditions are met, the surgical robotic arm can continue to respond to the main controller's commands; that is, the surgical instruments can still perform posture or position adjustments according to the main controller's control. At the same time, the rotation of the robotic arm's first joint and the compensating movements of the first and second joint groups are also executed synchronously. These two types of movements occur in parallel in time and are kinematically superimposed, ensuring that the normal operation of the surgical instruments is not interrupted during the robotic arm's completion of the obstacle avoidance configuration adjustment, thereby achieving coordinated operation of obstacle avoidance and surgical procedures.

[0081] S220, Control the surgical instruments on the surgical robotic arm to perform attitude or position adjustments based on the avoidance configuration.

[0082] The technical solution of this application embodiment enables the surgical robotic arm to flexibly initiate avoidance adjustments based on different triggering scenarios by setting multiple configuration adjustment conditions. Among these, external dragging operation allows operators to manually intervene by directly contacting the robotic arm, suitable for rapid preoperative adjustments or temporary intraoperative avoidance scenarios; operation component triggering provides a precise and controllable electric adjustment method, facilitating remote or fine-tuned control of the robotic arm's movement by the operator; automatic detection of collision risk events can promptly trigger avoidance when there is a risk of interference between the robotic arm and the surrounding environment or other robotic arms, without manual intervention. These multiple triggering methods complement each other, meeting the needs of different operational scenarios and improving the timeliness and automation level of the robotic arm's avoidance adjustments, thereby effectively reducing intraoperative collision risks and ensuring surgical safety.

[0083] Example 3: Figure 7This diagram illustrates a method for adjusting the configuration of a surgical robotic arm according to an embodiment of this application. Based on the aforementioned embodiments, the end effector of the surgical instrument can be retracted to a safe area before configuration adjustment. After completing the avoidance configuration adjustment, it can be re-extended into the target working position. This achieves avoidance adjustment of the robotic arm while ensuring the safety of the end effector. Specific implementation details 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. Figure 7 As shown, the method specifically includes the following steps: S310, in response to an event that satisfies the configuration adjustment conditions, controls the power box on which the surgical instrument is mounted to slide upward along the carriage so that the end effector of the surgical instrument is retracted to a safe area.

[0084] The power unit refers to a device mounted on the surgical robotic arm for driving the movement of surgical instruments; it can slide up and down along a carriage. The carriage is a guide structure mounted on the surgical robotic arm for the power unit to slide on. For example, Figure 8 This is a schematic diagram of the installation structure of the power unit and carriage of a surgical instrument. Figure 8 As shown, the slide 71 is fixedly installed at the end of the surgical robotic arm, and the power box 72 is slidably installed on the slide 71 and can move up and down along the guide direction of the slide 71; a cannula mounting component 73 is also provided below the power box 72 for installing the puncture cannula of the surgical instrument to ensure that the surgical instrument stably passes through the body wall and enters the patient's body.

[0085] The safe zone refers to the spatial position of the end effector of the surgical instrument in the retracted state. This position can prevent the end effector from interfering with the surrounding environment during the adjustment of the robotic arm configuration.

[0086] Specifically, when the configuration adjustment condition is triggered, the power box carrying the surgical instruments can be controlled to move upward under the guide of the carriage, which will drive the surgical instruments to move upward as a whole. This will allow the end effector, which was originally located in the patient's body or surgical area, to move upward to a safe space position that will not interfere with the surrounding environment, thus preparing for the subsequent adjustment of the overall configuration of the robotic arm.

[0087] S320. After confirming that the end effector of the surgical instrument has been retracted to a safe area, control the surgical robotic arm to adjust from the initial configuration to the avoidance configuration.

[0088] Specifically, after the power box slides upwards along the carriage to completely retract the end effector into the safe area, the current position of the end effector is confirmed through sensor detection or position feedback to ensure that it is within a safe space that will not interfere with the surrounding environment. Based on this confirmation, the configuration adjustment process of the surgical robot arm is then initiated. The robot arm gradually changes from its initial configuration state to an avoidance configuration state through the rotation of the first joint and the compensating movements of the first and second joint groups. This safely completes the reconfiguration of the overall robot arm configuration while ensuring that the end effector has moved out of the risk area. Based on the above-mentioned structure of the surgical robot arm with redundant degrees of freedom, this embodiment also provides a further optimization scheme. That is, the surgical robot arm also includes a sixth joint and a seventh joint connected in sequence. The rotation of the sixth and seventh joints is used to change the posture of the surgical instrument's shaft in space, and the eighth joint of the surgical instrument is used to change the rotation angle of the surgical instrument. In other words, the robotic arm's joint chain further includes a sixth and a seventh joint, which are connected in sequence. Through their respective rotational movements, the orientation angle of the surgical instrument's shaft in three-dimensional space can be adjusted, that is, the pitch, yaw, and other postures of the shaft can be changed. At the same time, the surgical instrument itself is also equipped with an eighth joint, the rotation of which can cause the surgical instrument to rotate around the central axis of its own shaft, thereby changing the circumferential orientation of the surgical instrument's end effector relative to the shaft.

[0089] Given that the robotic arm already has a structure with a sixth, seventh, and eighth joint (such as...) Figure 3 As shown, the sixth, seventh, and eighth joints correspond sequentially to the sixth, seventh, and eighth degrees of freedom of the robotic arm end effector used to adjust the instrument's posture and rotation. The method further includes: during the adjustment of the surgical robotic arm from the initial configuration to the avoidance configuration, based on the constraint that the position of the remote motion center point remains unchanged, controlling the sixth and seventh joints of the surgical robotic arm to perform posture compensation movements to maintain the posture of the surgical instrument's axis in space; and / or, controlling the eighth joint to perform rotation compensation movements to maintain the rotation angle of the surgical instrument around its axis.

[0090] In this embodiment, while performing the rotation of the first joint and the compensating movements of the first and second joint groups, the maintenance of the surgical instrument's own posture can also be considered. Specific implementation methods can include the following two: First, under the constraint that the remote motion center point remains unchanged, by controlling the sixth and seventh joints to perform additional compensating movements, the interference caused by the overall configuration change of the robotic arm on the posture of the surgical instrument's shaft can be offset, ensuring that the orientation angle of the shaft in space remains constant. Second, by controlling the eighth joint to perform rotational compensating movements, the influence of the configuration change on the surgical instrument's rotation angle can be offset, ensuring that the circumferential orientation of the surgical instrument around the shaft remains constant. Thus, during the robotic arm's avoidance configuration adjustment process, the posture and angle of the surgical instrument relative to the patient or surgical area remain stable, without affecting the continuity of the surgical operation.

[0091] Based on the above embodiments, optionally, the specific steps for controlling the sixth and seventh joints of the surgical robotic arm to perform posture compensation movements may include: (1) Obtain the attitude change information of the surgical instrument shaft caused by the joints in the first joint, the first joint group, and the second joint group during the adjustment process. The attitude change information of the surgical instrument shaft refers to the change or trend data of the orientation angle of the surgical instrument shaft in space caused by the movement of each joint in the first joint, the first joint group, and the second joint group. Specifically, during the adjustment of the surgical robot arm from the initial configuration to the avoidance configuration, the rotation of the first joint and the compensating motion of each joint in the first joint group and the second joint group can be monitored or calculated to obtain the comprehensive influence of the movement of these joints on the orientation angle of the surgical instrument shaft in space. This influence is presented in the form of attitude change information, reflecting the degree of deviation of the original attitude of the shaft due to the joint movement.

[0092] (2) Based on the posture change information, determine the compensation angles corresponding to the sixth and seventh joints. The compensation angle refers to the amount of rotation that needs to be applied to the sixth and seventh joints to counteract the posture change of the surgical instrument shaft. This amount of rotation enables the sixth and seventh joints to produce corresponding movements, thereby restoring the original posture of the surgical instrument shaft in space. Specifically, after obtaining the posture change information, this posture change information can be solved or mapped to obtain the amount of rotation that needs to be performed by the sixth and seventh joints respectively. This amount of rotation is the compensation angle, which is used to make the sixth and seventh joints produce corresponding movements to counteract the posture change of the shaft.

[0093] (3) Based on the compensation angle, control the rotation of the sixth and seventh joints to counteract the attitude change of the surgical instrument shaft. Specifically, the determined compensation angle can be applied as a control command to the sixth and seventh joints respectively, driving these two joints to rotate in the direction and magnitude specified by the compensation angle. The rotational movement of the sixth and seventh joints performs reverse compensation for the attitude change of the surgical instrument shaft caused by the movement of the first joint, the first joint group, and the second joint group, thereby restoring the orientation angle of the surgical instrument shaft in space to its state before the change. The above-mentioned method of controlling the sixth and seventh joints of the surgical robot to perform attitude compensation movement effectively counteracts the interference of the robot configuration adjustment on the attitude of the surgical instrument shaft by detecting attitude changes in real time and calculating the compensation angle, and driving the sixth and seventh joints to perform precise reverse movement, thus ensuring that the orientation of the shaft in space remains stable.

[0094] S330. After the surgical robotic arm is adjusted to the avoidance configuration, the control power box slides down along the carriage to allow the end effector of the surgical instrument to re-extend into the target working position.

[0095] The target working position refers to the predetermined surgical operation position reached by the end effector of the surgical instrument after it has been inserted into the patient's body. Specifically, after the robotic arm has completed its adjustment from the initial configuration to the avoidance configuration and confirmed to be in a stable state, the power unit is controlled again to slide downwards under the guidance of the carriage. This causes the entire surgical instrument to move downwards, allowing the end effector, which had previously been retracted to the safe area, to move downwards again into the patient's body and finally reach the pre-set target working position to resume the surgical operation. In this way, after the robotic arm completes the avoidance configuration adjustment, it automatically returns the end effector to the target working position, ensuring that the surgical operation can be resumed quickly and accurately.

[0096] S340, Control the surgical instruments on the surgical robotic arm to perform attitude or position adjustments based on the avoidance configuration.

[0097] In this embodiment, when the configuration adjustment conditions are met, the power box is first controlled to slide upwards along the slide, retracting the end effector to a safe area. This avoids collisions or interference between the end effector and the surrounding environment during the overall configuration change of the robotic arm. After confirming that the end effector has been safely retracted, the robotic arm is adjusted from its initial configuration to an avoidance configuration, ensuring that the robotic arm body can move flexibly without being restricted by the position of the end effector. Once the robotic arm has completed the avoidance configuration adjustment, the power box is controlled to slide downwards along the slide, re-extending the end effector to the target working position, allowing the surgical instrument to quickly return to the predetermined operating area. The entire process, while ensuring the safety of the end effector, achieves rapid connection between the adjustment of the robotic arm's avoidance configuration and the surgical operation, effectively improving the adaptability and operational continuity of the surgical robot in complex environments.

[0098] Example 4: Figure 9 This diagram illustrates a method for adjusting the configuration of a surgical robotic arm according to an embodiment of this application. Based on the foregoing embodiments, the process of adjusting the surgical robotic arm configuration can be further described in detail. 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.

[0099] like Figure 9 As shown, the method specifically includes the following steps: S410, under the condition of satisfying the configuration adjustment, in response to the rotation command for the first joint, the desired motion speed of the first joint is obtained.

[0100] The rotation command refers to the control signal triggered by the operating component or automatically generated and sent to the first joint by the control system. This command instructs the first joint to perform rotational movement. The desired speed refers to the target speed value that the first joint should achieve during rotation, as included in or determined by the rotation command.

[0101] Specifically, when the configuration adjustment conditions are met, if a rotation command is received for the first joint, the target speed value that the first joint should reach during this rotation is determined from the command or based on the command parameters. This speed value is the desired motion speed, which is used for subsequent precise speed control of the first joint.

[0102] S420. Based on the kinematic constraint that the desired motion speed and the position of the preset remote motion center point remain unchanged, determine the joint motion speeds acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group, respectively, so that while keeping the first joint rotating at the desired motion speed, the first joint group and the second joint group cooperate to perform compensating motion to drive the surgical robot arm to adjust from the initial configuration to the avoidance configuration.

[0103] Among them, joint motion velocity refers to the actual motion velocity that should be performed by each of the first joint, at least one joint in the first joint group, and at least one joint in the second joint group after kinematic calculation.

[0104] Specifically, after obtaining the desired motion speed of the first joint, kinematic calculations can be performed based on the constraint that the position of the remote motion center point must remain unchanged. The calculations yield the specific motion speeds to be applied to the first joint, at least one joint in the first joint group, and at least one joint in the second joint group. The first joint rotates at the desired motion speed, while each joint in the first and second joint groups performs compensating movements at the calculated joint motion speeds. These joint movements cooperate to gradually change the surgical robot arm from its initial configuration to an avoidance configuration, while ensuring that the position of the remote motion center point does not shift throughout the adjustment process. In this embodiment, optionally, the specific steps for determining the joint motion speed based on the kinematic constraint that the desired motion speed and the preset position of the remote motion center point remain unchanged may include: First, establishing a motion mapping relationship from the joint space to the pose space of the remote motion center point according to the current configuration of the surgical robot arm. Here, the current configuration refers to the joint angle combination state of the surgical robot arm at the current moment. The motion mapping relationship refers to the mathematical correspondence between the joint space and the pose space of the remote motion center point, used to describe how the motion of each joint affects the position and orientation of the remote motion center point.

[0105] Specifically, based on the current configuration of the surgical robotic arm, a mapping matrix can be established to describe the correspondence between the joint motion velocities of the first joint, at least one joint in the first joint group, and at least one joint in the second joint group, and the pose change velocity of the remote motion center point, thereby obtaining the motion mapping relationship.

[0106] Step 2: Determine the null-space motion relation based on the motion mapping relationship and the constraint that the position of the remote motion center point remains unchanged. The null-space motion relation refers to the mathematical relationship formed by all motion combinations in joint space that can produce the desired effect under the constraint that the position of the remote motion center point remains unchanged. The null-space motion relation is used to generate joint movements that do not cause changes in the position of the remote motion center point.

[0107] Specifically, based on the mapping matrix representing the motion mapping relationship calculated in the previous step, a null space projection matrix can be calculated to decompose any joint motion into components that cause motion of the remote motion center point and components that do not cause motion of the remote motion center point. Thus, the null space projection matrix can be determined as the null space motion relationship.

[0108] Step 3: Based on the zero-space motion relationship, process the initial joint motions containing the desired motion velocity to obtain the zero-space joint motions. The initial joint motions refer to the set of joint motions that initially include the rotational requirements of the first joint, based on the desired motion velocity. The zero-space joint motions refer to the combination of joint motions generated within the zero-space motion relationship that does not cause a change in the position of the remote motion center point.

[0109] Specifically, an initial joint motion velocity vector can be constructed with the desired motion velocity as the motion velocity of the first joint and the motion velocities of the remaining joints being zero. Subsequently, the initial joint motion velocity vector is mapped according to the zero-space motion relationship to generate zero-space joint motion, where each joint motion in the zero-space joint motion corresponds to a component that does not cause motion of the remote motion center point.

[0110] Step 4: Based on the comparison between the actual and desired motion speeds of the first joint in the zero-space joint motion, adjust the zero-space joint motion to generate joint motion speeds so that the joint motion speed corresponding to the first joint is equal to the desired motion speed.

[0111] The actual motion speed refers to the actual motion speed value of the first joint during zero-space joint motion.

[0112] Specifically, the velocity value of the first joint in the motion can be obtained from the generated zero-space joint motion data. The desired motion velocity is compared with the first calculated velocity, and the ratio between the two is calculated as a scaling factor. The scaling factor is multiplied by the motion velocity of each joint in the zero-space joint motion, so that the velocities of all joints are synchronously amplified or reduced. In the new set of joint motion velocities obtained after scaling, the velocity of the first joint is exactly equal to the desired motion velocity. At the same time, the velocities of each joint in the first joint group and the second joint group are also adjusted by the same proportion, thereby achieving precise control of the velocity of the first joint while ensuring that the position of the remote motion center point remains unchanged. This technical solution establishes a motion mapping relationship between the joint space and the pose space of the remote motion center point, and determines the zero-space motion relationship based on the constraint that the position of the remote motion center point remains unchanged. It can generate zero-space joint motion without causing a change in the position of the remote motion center point while satisfying this constraint. On this basis, the initial joint motion containing the desired motion velocity is processed to obtain the zero-space joint motion. Then, it is adjusted according to the comparison result of the actual motion velocity of the first joint in the zero-space joint motion and the desired motion velocity, and finally, the joint motion velocity that makes the actual motion velocity of the first joint equal to the desired motion velocity is generated. This achieves precise control of the first joint's movement speed under the kinematic constraint that the remote motion center point remains strictly unchanged. At the same time, it ensures that the first and second joint groups can work together to perform compensatory movements, allowing the surgical robotic arm to smoothly adjust from the initial configuration to the avoidance configuration. This satisfies the avoidance requirements while ensuring the safety and stability of the surgical operation.

[0113] The specific implementation of determining the joint movement velocity acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group may include: Under the condition of configuration adjustment, the robotic arm is kinematically controlled with the constraint that the position of the remote motion center point remains unchanged. First, a motion mapping relationship from joint space to the pose space of the remote motion center point is established based on the current configuration of the surgical robotic arm. Let the end-effector pose velocity of the remote motion center point be v (a 6×1 vector). The joints involved in the robotic arm's motion are the first joint and joints three through eight, totaling seven joints, with joint velocities of v0 and v1. (7×1 vector), then this mapping relationship is given by the Jacobian matrix of the robotic arm. The description satisfies: (1) In the formula, The end-effector pose velocity of the remote motion center point is represented by a 6×1 vector, which contains velocity components in three position directions and three attitude directions. The Jacobian matrix represents the robotic arm and describes the mapping relationship between joint velocities and end-effector pose velocities.

[0114] Furthermore, based on the constraints of the motion mapping relationship and the invariance of the remote motion center point position, i.e., setting v = 0, the null space motion relationship is determined. The pseudo-inverse formula for calculating the Jacobian matrix is ​​expressed as: (2) Therefore, the formula for the null projection matrix is ​​expressed as: (3) (4) in, It is the identity matrix. To achieve the desired Cartesian pose velocity at the end point, For any desired joint velocity, this part of the motion will not produce any end-effector Cartesian motion. Similar to the mathematical concept, it's a matrix mapping. Any joint velocity vector, after passing through this... The resulting new joint velocities ensure that no end-effector movement occurs. This matrix is ​​used to generate joint motions that do not cause changes in the position of the remote motion center point.

[0115] Furthermore, let the desired motion velocity of the first joint be... The initial expected velocity of the remaining joints is zero, and the initial joint motion can be expressed as: Based on the zero-space motion relationship , The initial joint motion is processed to obtain the zero-space joint motion: (5) in, It is an intermediate quantity in the calculation. The velocity of the first joint, i.e., the value of the first dimension position in the 7*1 vector, is denoted as: In order to ensure and Similarly, calculate a scaling factor: (6) Furthermore, by using this coefficient to scale the zero-space joint motion as a whole, the final joint motion velocity can be expressed as: (7) The above process ensures that the actual movement speed of the first joint is equal to the desired movement speed, while maintaining the position of the remote motion center point, thereby driving the surgical robotic arm to adjust from the initial configuration to the avoidance configuration.

[0116] Based on the aforementioned kinematic control scheme, this embodiment provides another method for determining joint movement speed in the special case where the first linear joint does not participate in compensating motion: when there is a first linear joint adjacent to the first joint and its movement direction is perpendicular to the rotation axis of the first joint, and the first linear joint does not participate in compensating motion. That is, in the joint configuration of the surgical robot arm, a first linear joint is provided adjacent to the first joint, the movement direction of the first linear joint is spatially perpendicular to the rotation axis of the first joint, and during this configuration adjustment process, the first linear joint does not participate in the compensating motion performed by the first joint group or the second joint group, i.e., its position or state remains unchanged during the adjustment process.

[0117] In this scenario, based on the kinematic constraint that the desired motion velocity remains unchanged from the position of the preset remote motion center point, the specific steps for determining the joint motion velocity include: (1) Update the desired position of the first joint based on the rotation command for the first joint.

[0118] Specifically, based on the motion direction and speed information contained in the received rotation command specifically for controlling the first joint, and combined with the current actual position of the first joint, the target position that the first joint should reach during this adjustment process can be calculated and set.

[0119] (2) Determine the initial pose of the remote motion center point based on the initial configuration of the surgical robotic arm.

[0120] Specifically, the initial position and initial posture of the remote motion center point in space can be obtained by starting from the current joint angle combination state of the surgical robotic arm and through kinematic calculations.

[0121] (3) Determine the target pose of the first linear joint based on the desired position of the first joint.

[0122] Specifically, after knowing the desired position that the first joint will reach, the position and posture that the first linear joint adjacent to the first joint and whose direction of movement is perpendicular to the rotation axis of the first joint should present at the desired position are calculated based on the structural connection relationship and kinematic constraints of the surgical robotic arm.

[0123] (4) Based on the target pose of the first linear joint and the initial pose of the remote motion center point, calculate the target pose of the remote motion center point with the first linear joint as the reference frame.

[0124] Specifically, the initial position and orientation of the remote motion center point in global space can be transformed into a new reference coordinate system with the first linear joint as the target through coordinate transformation, thereby obtaining the target position and orientation that the remote motion center point should maintain in the new reference system.

[0125] (5) Based on the target pose of the remote motion center point with the first linear joint as the reference frame, the desired position of the joint to be compensated in the first joint group and the second joint group is determined by inverse kinematics calculation.

[0126] Specifically, after knowing the desired position and orientation of the remote motion center point relative to the first linear joint coordinate system, the kinematic model of the robotic arm is used to perform inverse solving to calculate the target positions that the joints to be compensated in the first joint group and the joints to be compensated in the second joint group should reach in order to achieve the target pose.

[0127] (6) Based on the desired position of the first joint and the desired position of the joint to be compensated, generate joint motion velocities that act on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group. Specifically, the desired position of the first joint can be integrated with the desired positions of the joints to be compensated in the first joint group and the joints to be compensated in the second joint group obtained by inverse kinematics calculation to form a complete set of joint position commands. Then, based on the deviation between these desired positions and the current positions of each joint, the velocity commands required to drive the first joint, the third joint in the first joint group, and the fourth joint in the second joint group to perform their respective movements are calculated using a velocity planning algorithm.

[0128] The above-described step-by-step calculation method achieves precise determination of the joint motion velocity of the robotic arm under the specific constraint that the first linear joint does not participate in the compensation motion. Specifically, it involves: firstly, updating the desired position of the first joint based on the rotation command, and determining the initial pose of the remote motion center point in conjunction with the initial configuration; then, calculating the target pose of the first linear joint based on the desired position of the first joint, and establishing a new reference frame based on this, calculating the target pose of the remote motion center point in this reference frame; furthermore, obtaining the desired positions of the joints to be compensated in the first and second joint groups through inverse kinematics calculation; and finally, integrating all desired positions to generate the motion velocity commands for each joint. This scheme can ensure that the position of the remote motion center point remains unchanged while driving the coordinated movement of other joints, allowing the robotic arm to smoothly adjust from the initial configuration to the avoidance configuration, thus satisfying the avoidance requirements and ensuring the stability and safety of the surgical operation.

[0129] Based on the above-mentioned situation where the first linear joint does not participate in the compensating motion, this embodiment provides a corresponding method for determining the joint motion speed in another case where the first linear joint belongs to the second joint group and participates in the compensating motion. Specifically, it may include the following steps: (1) Update the desired position of the first joint based on the rotation command for the first joint. (2) Determine the initial pose of the remote motion center point based on the initial configuration of the surgical robotic arm.

[0130] (3) Based on the desired position of the first joint and the undetermined position of the first linear joint, construct a joint group to be solved, including the first linear joint.

[0131] Specifically, when the first linear joint participates in the compensation motion, the expected position of the first joint that has been updated is taken as a known quantity, while the undetermined position of the first linear joint is taken as a quantity to be solved. The first joint, the first linear joint, and other joints in the first joint group and the second joint group that need to participate in the compensation motion are combined into a joint set for subsequent inverse kinematics calculation.

[0132] (4) Perform inverse kinematics calculation on the joint group to be solved to obtain the expected joint position.

[0133] Among them, the desired joint position satisfies the constraint that the position of the remote motion center point remains unchanged.

[0134] Specifically, the set of joints, including the first joint, the first linear joint, and other joints to be compensated in the first joint group and the second joint group, can be used as the solution object. Based on the constraint that the position of the remote motion center point remains unchanged, the target position that each joint in the set should reach can be solved by the inverse kinematics calculation method.

[0135] (5) Extract the expected position acting on the first joint, the expected position acting on the first linear joint, and the expected position acting on the remaining joints to be compensated in the first joint group and the second joint group from the expected joint positions.

[0136] Specifically, the solution set containing multiple joint target positions obtained through inverse kinematics calculation is split into three parts: the target position corresponding to the first joint, the target position corresponding to the first linear joint, the target position corresponding to the other joints to be compensated in the first joint group (excluding the first linear joint), and the target position corresponding to the joints to be compensated in the second joint group.

[0137] (6) Based on the desired position of the first joint, the desired position of the first linear joint and the desired positions of the remaining joints to be compensated, generate joint motion velocities that act on the first joint, at least one joint in the first joint group and at least one joint in the second joint group respectively.

[0138] Specifically, the target positions of the first joint, the first linear joint, and the remaining joints to be compensated in the first and second joint groups extracted from the inverse kinematics calculation can be integrated. Based on the deviation between these target positions and the current actual positions of each joint, the velocity commands required to drive the first joint, at least one joint in the first joint group, and at least one joint in the second joint group to perform motion can be calculated through velocity planning or position difference.

[0139] The specific implementation of determining the joint movement velocity acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group may include: When the first linear joint does not participate in the compensation motion, the specific process of configuration adjustment based on kinematic calculation is as follows. Let q be the current position of each joint of the robotic arm when entering the adjustment state. Then, the current pose of the remote motion center point can be obtained through forward kinematic calculation as follows: (8) in, The algorithm for the forward kinematics of the robotic arm. The pose (including position and orientation) of the remote motion center point in the global coordinate system.

[0140] Assuming the robotic arm configuration adjustment is triggered by a button or other means, and the position of the first joint is updated to q1, the position of the first linear joint adjacent to the first joint and not involved in the compensation motion (i.e., joint 2) remains unchanged. Then, the pose of joint 2 at the current moment can be calculated from the updated position of the first joint and the current position of joint 2: (9) in, This represents the current actual position of joint 2. The pose of joint 2 in the global coordinate system.

[0141] To maintain the position of the remote motion center point without joint 2 participating in the movement, the pose of the remote motion center point, expressed in the global coordinate system, needs to be transformed into a local coordinate system with joint 2 as the reference frame, to obtain the desired pose of the remote motion center point in the joint 2 reference frame: (10) This expression represents the pose of the remote motion center point in the global coordinate system. Through joint 2 position The inverse transformation is mapped to the coordinate system of joint 2. At this point, the pose of the remote motion center point relative to joint 2 is determined solely by the motion of joints 3 to 8. Subsequently, based on this desired pose... The desired positions that joints 3 to 8 should reach can be obtained by inverse kinematics calculation: (11) in, Indicates the inverse kinematics algorithm. The target positions are for joints 3 to 8.

[0142] In this scheme, the movement of the first joint can be controlled at a fixed speed or at any speed generated by manual dragging by the operator, as long as joints 3 to 8 can respond in a timely manner and complete the inverse kinematics calculation. It should be noted that this implementation is based on the premise that the first linear joint (joint 2) does not participate in the compensation movement; the movement of joints 3 to 5 ensures that the position of the remote motion center point remains unchanged. If the first linear joint also participates in the compensation movement, then the inverse kinematics calculation can be performed directly on the entire joint group including joint 2, without the need for separate calculation. .

[0143] This technical solution provides a complete method for determining joint motion velocity when the first linear joint participates in compensation motion. Specifically, it involves updating the desired position of the first joint based on its rotation command, determining the initial pose of the remote motion center point by combining the initial configuration, and then constructing a joint group to be solved by combining the desired position of the first joint with the position to be determined of the first linear joint. Inverse kinematics is used to obtain the desired positions of each joint that satisfy the constraint of the invariant position of the remote motion center point. The desired positions of the first joint, the first linear joint, and the remaining joints to be compensated in the first and second joint groups are then extracted from the solution results. Finally, motion velocity commands acting on each joint are generated. This solution ensures that the position of the remote motion center point remains strictly unchanged even when the first linear joint actively participates in compensation, while simultaneously enabling the first joint to rotate at the desired velocity and driving other joints in the first and second joint groups to collaboratively execute compensation motion. This allows the robotic arm to smoothly adjust to the avoidance configuration, effectively improving the motion control accuracy and flexibility of the surgical robotic arm under complex avoidance requirements.

[0144] S430: Controls surgical instruments on the robotic arm to perform attitude or position adjustments based on an avoidance configuration.

[0145] The technical solution of this application embodiment responds to the rotation command for the first joint when the configuration adjustment conditions are met, obtains the desired movement speed of the first joint, and calculates the joint movement speeds of the relevant joints in the first joint, the first joint group, and the second joint group based on the constraint that the position of the remote motion center point remains unchanged. This allows the first joint to rotate at the desired speed while the first joint group and the second joint group coordinately perform compensating movements. Under the premise of ensuring that the position of the remote motion center point remains strictly unchanged, the movement speed of the first joint can be precisely controlled and other joints can be driven to compensate synchronously. This enables the surgical robotic arm to smoothly adjust from the initial configuration to the avoidance configuration, effectively avoids interference between the robotic arm and the surrounding environment, and improves the safety and flexibility of surgical operations.

[0146] Example 5: Figure 10 This is a flowchart illustrating a method for adjusting the configuration of a surgical robotic arm according to an embodiment of this application. This embodiment is applicable to situations where the configuration of the robotic arm is reasonably adjusted to avoid obstacles while keeping the position of the remote motion center point of the surgical instrument unchanged. This method can be executed by a surgical robotic arm configuration adjustment 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, a PC, or a server.

[0147] This application provides a targeted design for the joint structure and motion relationships of a robotic arm. Specifically, the surgical robotic arm includes at least a first joint and a target joint that avoids a change in the projected position of the target joint on the horizontal plane, the first joint rotating to cause a change in the projected position of the target joint on the horizontal plane. Based on this structure, this application proposes a method for adjusting the configuration of a surgical robotic arm.

[0148] It should be noted that the specific structure and implementation of features such as the first joint, the first joint group, and the second joint group in this embodiment have been described in detail in the foregoing embodiments, and will not be repeated here.

[0149] like Figure 10 As shown, the method includes: controlling the surgical robotic arm to adjust from an initial configuration to an avoidance configuration when the configuration adjustment conditions are met. The configuration adjustment process includes: S510. During the first time period, control the first joint to rotate along the first direction to the first angle, control the joints in the first joint group and the second joint group to perform the first compensating movement, and adjust to the first avoidance configuration.

[0150] In this process, the axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane. The first angle refers to the target position value reached by the first joint during the first time period. The first compensating motion refers to the motion performed by the joints in the first and second joint groups during the first time period, used to coordinate with the rotation of the first joint to maintain the position of the remote motion center point. The first avoidance configuration refers to the joint angle combination state reached by the surgical robot at the end of the first time period. Specifically, in the first time period divided by the configuration adjustment process, the first joint is first driven to rotate in the first direction to reach a pre-set first angle position. Simultaneously, the joints in the first joint group and the joints in the second joint group are controlled to perform the first compensating motion corresponding to the first time period. Through the coordination of the rotation of the first joint and the compensating motions of the two joint groups, the surgical robot as a whole changes from the initial configuration to the first intermediate target state, i.e., the first avoidance configuration.

[0151] S520. In the second time period adjacent to the first time period, the first joint is controlled to continue rotating along the first direction to the second angle, and the joints in the first joint group and the second joint group are controlled to perform a second compensating movement to adjust to the second avoidance configuration. Here, the second angle refers to the new target position value reached by the first joint during the second time period. The second avoidance configuration refers to the joint angle combination state reached by the surgical robot arm at the end of the second time period. At least one joint in the first joint group and / or the second joint group performing the first compensating movement has a first motion curve during the first time period. The corresponding joint performing the second compensating movement has a second motion curve during the second time period. Here, the motion curve is used to characterize the change law of the joint's motion parameters over time. Motion parameters are quantitative indicators describing the joint's motion state, including at least one of position, velocity, and acceleration. The curve characteristics of the first motion curve and the second motion curve are different, and the curve characteristics include at least one of average, extreme value, variance, and median.

[0152] Specifically, in the second time period immediately following the first time period, the first joint continues to move in the same direction of rotation as in the first time period until it reaches the second angular position. Simultaneously, the joints in the first and second joint groups are controlled to perform a second compensating movement corresponding to the second time period, causing the surgical robot arm to further change from the first avoidance configuration to the second intermediate target state, i.e., the second avoidance configuration. At least one joint in the first or second joint group performing the first compensating movement has a first motion curve during the first time period, which describes the change in motion parameters such as position, velocity, or acceleration of the joint over time. The corresponding joint performing the second compensating movement has a second motion curve during the second time period, which also describes the change in motion parameters of the joint over time. The first and second motion curves differ in their curve characteristics. These curve characteristics describe the statistical characteristics of the motion curves and include at least one of the following: mean, extreme values, variance, or median, used to characterize the differences in statistical properties or change patterns between the two curves.

[0153] Based on the aforementioned multi-stage segmented adjustments, this embodiment further combines the structural features of the robotic arm with the relationship of motion projection to reveal a special motion law. Regardless of how the first joint is instructed to rotate, when the first joint continues to rotate in a single direction, at least one joint in the first joint group and the second joint group will exhibit non-monotonic motion characteristics, as follows: Figure 11 This is a simplified schematic diagram of the horizontal projection of the robotic arm provided in this embodiment. Figure 11 The image shows the projection of a robotic arm on a patient trolley onto a horizontal plane. Let R denote the remote motion center point, and the trajectory ry, marked by a gray solid-line circle, represent the first joint (i.e.,...). Figure 3 The joint corresponding to degree 1 in the diagram rotates while the joint corresponding to degree 2 rotates. Figure 3 The projection trajectory of the second joint on the horizontal plane when the joint corresponding to degree 2 of freedom is stationary. On the horizontal projection, the line connecting the first joint to the second joint is denoted as L1, and the line connecting the second joint to the remote center of motion is denoted as L2. The angle between L1 and L2 is denoted as... The diagram uses three thick black lines to indicate the position of the first joint at different angles. Following the counter-clockwise rotation of the first joint, the three thick lines from left to right correspond to times T1, T2, and T3, respectively. It should be noted that... Figure 11 The mid-to-long-range motion center point R is located outside the circle OA1A2. This is only an example for demonstration purposes and does not constitute a constraint on the configuration of the robotic arm. In practical applications, R can also be located inside the circle OA1A2.

[0154] As an example, at time T1, the operator presses a button to instruct the first joint to rotate counterclockwise. By time T2, due to the rotation of L1, if other joints do not compensate, the remote motion center point will shift along the ry trajectory. To keep the remote motion center point unchanged, the 4th joint (i.e., Figure 3 The fourth degree of freedom (corresponding to the joint) changes the included angle by rotation. This rotates L2 to the position of the middle gray solid line. At this point, the end of L2 is located at point B2, which deviates from the remote motion center point R. Combined with the hardware structure, this involves 5 joints (i.e....). Figure 3 The rotation of the joint corresponding to the fifth degree of freedom (L1) can change the length of L2 while keeping the intersection of L1 and L2 unchanged. For example, L2 shortens when joint 5 rotates upward and lengthens when joint 5 rotates downward. In order to keep the remote motion center point unchanged at the angle corresponding to the middle gray solid line, joint 5 needs to perform an upward rotation to shorten L2 from point B2 to point R.

[0155] At time T3, joint 4 continues to rotate and change the included angle. This rotates L2 to the position indicated by the solid gray line on the right. At this point, the end of L2 is located at point B3, and there is another deviation between it and the remote motion center point R. To keep the remote motion center point unchanged at this angle, joint 5 needs to perform a downward rotation motion to extend L2 from point B3 to point R.

[0156] During the aforementioned dynamic process, it can be observed that the movement of joint 5 exhibits a non-monotonic characteristic of first rotating upwards and then downwards; that is, while joint 1 continues to rotate counterclockwise, the direction of movement of joint 5 reverses. Specifically, this phenomenon manifests as follows: as the link between joint 1 and joint 2 moves from one side of the remote center of motion to the other, joint 2 exhibits a non-monotonic movement, first moving in one direction and then in the opposite direction.

[0157] The non-monotonic motion of joint 5 causes a vertical shift in the center of motion of the distal axis. To compensate for this shift, joint 3 needs to move up and down, so joint 3 will also exhibit a non-monotonic motion of moving up first and then down. Similarly, if joint 3 participates in the compensatory motion, it adjusts by changing the length of L1, and joint 3 will also exhibit a non-monotonic motion characteristic of moving up first and then down.

[0158] Figure 12 This is a schematic diagram illustrating the change in the angle of the target joint as the angle of the first joint increases, as provided in this embodiment. Figure 12As shown, the variation curve can be summarized into two typical cases: one is that the solid black curve presents an arc or sine curve and a similar function shape, in which the change in the angle of the avoidance target joint changes monotonically with the increase of the change in the angle of the first joint; the other is that the dashed black curve presents a non-monotonic variation characteristic, specifically, under a certain position of at least one surgical robotic arm, when the first joint rotates continuously in a single direction, the movement direction of joint 5 can be observed to reverse, that is, joint 5 first rotates upwards by a certain angle, and before reaching its rotation limit and still having room to continue rotating upwards, it begins to rotate downwards due to the need for compensating movement, forming a non-monotonic movement sequence of first rotating upwards and then downwards. The dividing point of this non-monotonic change is not caused by the physical limit of the joint, but by the compensating movement requirement determined by the constraint that the position of the remote motion center point remains unchanged. It should be noted that the monotonic and non-monotonic variation curves shown here are only illustrative and do not represent that the motion parameters of a certain joint or two joints meet the same initial velocity or other motion parameters or have a limited range of values. In summary, this scheme presents a special motion sequence: the first joint rotates monotonically, while the joints in the first joint group and the second joint group move in coordination. Under the premise of keeping the position of the remote motion center point unchanged, at least one joint in the first joint group and the second joint group exhibits non-monotonic motion characteristics, that is, its motion direction is reversed during the adjustment process.This application provides a method, apparatus, device, and medium for adjusting the configuration of a surgical robotic arm. The surgical robotic arm includes at least a first joint and a target joint that avoids a change in the projection position of the target joint on the horizontal plane. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane. The method includes: controlling the surgical robotic arm to adjust from an initial configuration to a target configuration when configuration adjustment conditions are met; wherein the configuration adjustment process includes: controlling the first joint to rotate along a first direction to a first angle during a first time period, controlling the joints in the first joint group and the second joint group to perform a first compensating movement to adjust to the first target configuration; the axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the axis of rotation of the first joint. The joint's axis of motion is not perpendicular to the horizontal plane. In the second time period adjacent to the first time period, the first joint is controlled to continue rotating along the first direction to a second angle, and the joints in the first and second joint groups are controlled to perform a second compensating movement, adjusting to a second avoidance configuration. At least one joint in the first and / or second joint groups performing the first compensating movement has a first motion curve during the first time period; the corresponding joint performing the second compensating movement has a second motion curve during the second time period. The motion curve characterizes the change in the joint's motion parameters over time, and the motion parameters include at least one of position, velocity, and acceleration. The first and second motion curves have different curve characteristics, including at least one of average, extreme values, variance, and median. This technical solution effectively increases the distance between the target joint and surrounding obstacles without requiring additional hardware or interrupting surgical operations, improving the automation level and adjustment accuracy of the surgical robotic arm during intraoperative avoidance, and ensuring the continuity and safety of the surgical operation.

[0159] Example 6: In one optional implementation of this application, as an example, the following is provided: Under the condition of configuration adjustment, the surgical robotic arm is controlled to adjust from the initial configuration to the avoidance configuration by moving the first joint (such as rotating or displacing) and the first joint group and the second joint group performing compensating movements; wherein, the first distance between the avoidance target joint and the surrounding environmental obstacles in the avoidance configuration is greater than the second distance between the avoidance target joint and the surrounding environmental obstacles in the initial configuration. For example, the first joint in this embodiment can be implemented as follows: Figure 3Any one of the joints corresponding to the first to third degrees of freedom shown, and each joint in the first joint group and the second joint group performing the compensating motion, can be at least two of the candidate joint sets excluding the first joint among the joints corresponding to the first to fifth degrees of freedom. For example, at least one joint in the first joint group and the second joint group has a motion axis that is not perpendicular to the motion axis of the first joint. The surgical instrument on the robotic arm is controlled to perform attitude or position adjustments based on an avoidance configuration; wherein, during the adjustment of the robotic arm from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instrument remains unchanged; optionally, in some examples, the direction of rotation of the first joint is monotonic, and the direction of rotation of at least one joint in the joint group performing the compensating motion is non-monotonic.

[0160] In one optional implementation of this application, to avoid confusion regarding the first joint described in different embodiments, the first joint in Embodiment 5 is also referred to as the actively driven joint. It is understood that the description herein is only for distinguishing the names of different joints and is not intended to constrain the driving method of the first joint in other embodiments to be actively driven or non-actively driven. In one optional implementation of this application, when the actively driven joint is implemented as the first joint in the various embodiments described above, the movement of the actively driven joint causes the target joint to... Figure 11 In the direction of the A1-A2 arc, the distance between the object and the obstacle changes.

[0161] In another alternative implementation of this application, the actively driven joint is implemented as Figure 3 In the case of the joint corresponding to the second degree of freedom shown in the figure, the movement of the actively driven joint causes the target joint to... Figure 11 The distance between the object and the obstacle changes along the direction of the O-A1 axis (the direction of movement of the second degree of freedom translation joint).

[0162] In another alternative implementation of this application, the actively driven joint is implemented as Figure 3 In the case of degree of freedom 3 shown, the movement of the actively driven joint causes a change in the vertical distance between the target joint and the obstacle. It is understood that when the actively driven joint is implemented as different joints, the joints included in the first joint group and the second joint group may be different or the same. In one example, the set of motion joints comprised of the actively driven joint, the first joint group, and the second joint group includes at least three joints corresponding to the first to fifth degrees of freedom. Exemplarily, the set of motion joints includes at least one of the following: Figure 3 The corresponding joints for the first, second, and fourth degrees of freedom. Figure 3 The corresponding joints for the first, third, fourth, and fifth degrees of freedom. Figure 3 The joints corresponding to the first to fifth degrees of freedom.

[0163] Example 7: Figure 13 This is a schematic diagram of an adjustment device for a surgical robotic arm configuration provided in an embodiment of this application. The surgical robotic arm includes at least a first joint and a target joint that avoids a change in the projection position of the target joint on the horizontal plane, which is different from the projection position of the first joint on the horizontal plane. The device includes: The robotic arm configuration adjustment module 610 is used to control the surgical robotic arm to adjust from an initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements on the first and second joint groups, when configuration adjustment conditions are met; wherein, in the avoidance configuration, a first distance between the avoidance target joint and the surrounding environmental obstacles is greater than a second distance between the avoidance target joint and the surrounding environmental obstacles in the initial configuration; the motion axis of at least one joint in the first joint group is not perpendicular to the rotation axis of the first joint, and the motion axis of at least one joint in the second joint group is not perpendicular to the horizontal plane; An instrument position adjustment module 620 controls the surgical instruments on the surgical robotic arm to perform posture or position adjustments based on the avoidance configuration. During the adjustment process from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instruments remains unchanged. The rotation direction of the first joint is monotonic, and the rotation direction of at least one joint in the joint group performing the compensating movement is non-monotonic. This application provides a method, apparatus, device, and medium for adjusting the configuration of a surgical robotic arm. The surgical robotic arm includes at least a first joint and an avoidance target joint whose projection position on the horizontal plane differs from that of the first joint. Rotation of the first joint causes a change in the projection position of the avoidance target joint on the horizontal plane. The apparatus includes a robotic arm configuration adjustment module, used to control the surgical robotic arm to adjust from an initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements on the first and second joint groups, provided that configuration adjustment conditions are met. The first distance between the avoidance target joint and surrounding obstacles in the avoidance configuration is greater than the distance between the first joint and the obstacle in the avoidance configuration. The second distance between the target joint and the surrounding environmental obstacles is determined in the initial configuration. The axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane. An instrument position adjustment module controls the surgical instruments on the surgical arm to perform posture or position adjustments based on the avoidance configuration. During the adjustment process from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instruments remains unchanged. The direction of rotation of the first joint is monotonic, while the direction of motion of at least one joint in the joint group performing the compensating motion is non-monotonic. This technical solution effectively increases the distance between the target joint and the surrounding environmental obstacles without changing the existing robotic arm hardware structure or requiring additional mechanisms such as cyclone joints. Compared to adding a cyclone joint, this solution avoids the increased system complexity, manufacturing costs, and cumbersome intraoperative adjustments to the robotic arm that come with adding hardware. It also avoids the problems of increased space occupation in the operating room due to increased hardware, increased difficulty during robot positioning, and increased risk of interference between robotic arms. This solution improves the automation and accuracy of the surgical robotic arm's obstacle avoidance during surgery without interrupting the procedure, ensuring the continuity and safety of the surgical operation.

[0164] Optionally, based on the above-mentioned device, the first joint group includes a second joint, the rotation axis of the second joint is in the vertical direction, and the rotational movement of the second joint is used to change the projection direction of the line connecting the avoidance target joint and the remote motion center point of the surgical instrument on the horizontal plane.

[0165] Based on the above-mentioned device, optionally, the second joint group includes at least one of the following: the second joint group includes a third joint and a fourth joint, wherein the third joint is a linear joint and its movement direction is vertical, and the fourth joint is a rotary joint and its rotation axis is horizontal; the second joint group includes a fifth joint, wherein the fifth joint is a linear joint and its movement direction is perpendicular to the rotation axis of the first joint.

[0166] Based on the above-mentioned device, optionally, at least one joint in the joint group performing the compensating movement has a rotational direction and / or linear motion direction that exhibits a change characteristic during the compensating movement: first moving along a first direction and then moving along a second direction opposite to the first direction.

[0167] Based on the above device, optionally, the rotation of the first joint includes: acquiring relative position information between the surgical robotic arm and an adjacent surgical robotic arm; and controlling the first joint to perform a rotational movement in a direction away from the adjacent surgical robotic arm based on the relative position information.

[0168] Based on the above device, optionally, when there is a first linear joint located between the first joint and the avoidance target joint, and whose direction of movement is spatially perpendicular to or intersects the rotation axis of the first joint at an angle, the first joint rotates, including: determining a target rotation speed corresponding to the first joint based on the current position parameters of the first linear joint; and controlling the first joint to perform rotational movement based on the target rotation speed. Based on the above device, optionally, the configuration adjustment conditions include at least one of the following: receiving an external dragging operation applied to the surgical robotic arm; receiving a trigger operation performed on the operating component corresponding to the first joint; and detecting a collision risk event.

[0169] Based on the above-described device, optionally, the operating component includes at least one of the following: the operating component includes a first operating portion and a second operating portion, wherein when the first operating portion is triggered, it instructs the first joint to rotate in a first direction, and when the second operating portion is triggered, it instructs the first joint to rotate in a second direction; the operating component includes a single operating portion, wherein when the single operating portion is triggered in a first operating state, it instructs the first joint to rotate in a first direction, and when it is triggered in a second operating state, it instructs the first joint to rotate in a third direction.

[0170] Based on the above-mentioned device, optionally, the robotic arm configuration adjustment module is also used to control the surgical robotic arm to enter an avoidance adjustment mode when the configuration adjustment conditions are met; wherein, in the avoidance adjustment mode, the surgical instrument does not respond to the control commands of the main controller; and displays a first prompt message to indicate that the surgical robotic arm is currently in the robotic arm avoidance adjustment state.

[0171] Based on the above-described device, optionally, the robotic arm configuration adjustment module is further configured to, under the condition of meeting the configuration adjustment requirements, control the surgical robotic arm to simultaneously execute the rotational movement of the first joint and the compensating movements of the first joint group and the second joint group while responding to the main controller's command. Optionally, based on the above-described device, the surgical robotic arm further includes a sixth joint and a seventh joint connected in sequence. The rotation of the sixth and seventh joints is used to change the posture of the surgical instrument's shaft in space. The eighth joint of the surgical instrument is used to change the rotation angle of the surgical instrument. The device further includes: an instrument compensation rotation module, configured to, during the process of the surgical robotic arm adjusting from the initial configuration to the avoidance configuration, based on the constraint that the position of the remote motion center point remains unchanged, control the sixth and seventh joints of the surgical robotic arm to perform posture compensation movements to maintain the posture of the surgical instrument's shaft in space unchanged; and / or, control the eighth joint to perform rotation compensation movements to maintain the rotation angle of the surgical instrument around its shaft unchanged.

[0172] Based on the above-mentioned device, optionally, an instrument compensation rotation module is used to acquire information on the posture changes of the surgical instrument shaft caused by the joints in the first joint, the first joint group, and the second joint group during the adjustment process; determine the compensation angle corresponding to the sixth joint and the seventh joint based on the posture change information; and control the rotation of the sixth joint and the seventh joint based on the compensation angle to counteract the posture changes of the surgical instrument shaft.

[0173] Optionally, based on the above-described device, the device may further include an instrument retraction module, which, in response to an event that satisfies the configuration adjustment conditions, controls the power box on which the surgical instrument is mounted to slide upward along the carriage so that the end effector of the surgical instrument is retracted to a safe area; after confirming that the end effector of the surgical instrument has been retracted to the safe area, performs the step of controlling the surgical robotic arm to adjust from the initial configuration to the avoidance configuration.

[0174] Optionally, based on the above-described device, the device may also include an instrument retraction module, which is further used to control the power box to slide downward along the slide after the surgical robotic arm is adjusted to the avoidance configuration, so that the end effector of the surgical instrument re-extends into the target working position.

[0175] Based on the above device, optionally, the robotic arm configuration adjustment module includes: a desired speed acquisition submodule, used to acquire the desired movement speed of the first joint in response to a rotation command for the first joint; The robotic arm configuration adjustment submodule is used to determine the joint motion speeds acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group, respectively, based on the kinematic constraint that the desired motion speed and the position of the preset remote motion center point remain unchanged. This allows the first joint group and the second joint group to cooperate in performing compensating motions while maintaining the rotation of the first joint at the desired motion speed, thereby driving the surgical robotic arm to adjust from the initial configuration to the avoidance configuration.

[0176] Based on the above device, optionally, a robotic arm configuration adjustment submodule is used to establish a motion mapping relationship from the joint space to the pose space of the remote motion center point according to the current configuration of the surgical robotic arm. Based on the motion mapping relationship and the constraint that the position of the remote motion center point remains unchanged, a zero-space motion relationship is determined; wherein, the zero-space motion relationship is used to generate joint motions that do not cause changes in the position of the remote motion center point; based on the zero-space motion relationship, the initial joint motion containing the desired motion velocity is processed to obtain the zero-space joint motion; based on the comparison result between the actual motion velocity of the first joint in the zero-space joint motion and the desired motion velocity, the zero-space joint motion is adjusted to generate the joint motion velocity, so that the joint motion velocity corresponding to the first joint is equal to the desired motion velocity.

[0177] The surgical robotic arm configuration adjustment device provided in this application embodiment can execute the surgical robotic arm configuration adjustment method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the execution method.

[0178] 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.

[0179] Example 8: An adjustment device for the configuration of a surgical robotic arm provided in this application embodiment, wherein the surgical robotic arm includes at least a first joint and a target joint for avoidance that has a different projection position on the horizontal plane than the first joint. The first joint rotates to cause a change in the projection position of the target joint on the horizontal plane. The device includes: a configuration adjustment module, used to control the surgical robotic arm to adjust from an initial configuration to an avoidance configuration when configuration adjustment conditions are met; wherein the configuration adjustment module includes: a first configuration adjustment submodule, used to control the first joint to rotate along a first direction to a first angle within a first time period, and to control the joints in the first joint group and the second joint group to perform a first compensating movement to adjust to a first avoidance configuration; the axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane; The second configuration adjustment submodule is used to control the first joint to continue rotating along the first direction to a second angle in a second time period adjacent to the first time period, and to control the joints in the first joint group and the second joint group to perform a second compensating movement to adjust to a second avoidance configuration. Wherein, at least one joint in the first joint group and / or the second joint group performing the first compensating movement has a first motion curve during the first time period; the corresponding joint performing the second compensating movement has a second motion curve during the second time period; the motion curve is used to characterize the change law of the joint's motion parameters over time, and the motion parameters include at least one of position, velocity, and acceleration; the curve characteristics of the first motion curve and the second motion curve are different, and the curve characteristics include at least one of average value, extreme value, variance, and median.

[0180] This application provides a method, apparatus, device, and medium for adjusting the configuration of a surgical robotic arm. The surgical robotic arm includes at least a first joint and a target joint that has a different projection position on a horizontal plane from the first joint. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane. The apparatus includes a configuration adjustment module for controlling the surgical robotic arm to adjust from an initial configuration to a target configuration when configuration adjustment conditions are met. The configuration adjustment module includes a first configuration adjustment submodule for controlling the first joint to rotate along a first direction to a first angle within a first time period, and controlling joints in the first joint group and the second joint group to perform a first compensating movement to adjust to the first target configuration. The axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the axis of rotation of the first joint. The motion axis of each joint is not perpendicular to the horizontal plane; the second configuration adjustment submodule is used to control the first joint to continue rotating along the first direction to a second angle in a second time period adjacent to the first time period, and to control the joints in the first joint group and the second joint group to perform a second compensating movement to adjust to a second avoidance configuration; wherein, at least one joint in the first joint group and / or the second joint group performing the first compensating movement has a first motion curve in the first time period; the corresponding joint performing the second compensating movement has a second motion curve in the second time period; the motion curve is used to characterize the change law of the joint's motion parameters over time, and the motion parameters include at least one of position, velocity, and acceleration; the curve characteristics of the first motion curve and the second motion curve are different, and the curve characteristics include at least one of average value, extreme value, variance, and median. The technical solution of this application realizes that without adding additional hardware mechanisms and without interrupting the surgical operation, the distance between the avoidance target joint and the surrounding environmental obstacles is effectively increased, improving the automation level and adjustment accuracy of the surgical robotic arm in intraoperative avoidance, and ensuring the continuity and safety of the surgical operation.

[0181] The surgical robotic arm configuration adjustment device provided in this application embodiment can execute the surgical robotic arm configuration adjustment method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the execution method.

[0182] 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.

[0183] Example 9: Figure 14This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 14 A block diagram is shown of an exemplary electronic device 70 suitable for implementing embodiments of the present application. Figure 14 The electronic device 70 shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application. Figure 14 As shown, the electronic device 70 is presented in the form of a general-purpose computing device. The components of the electronic device 70 may include, but are not limited to: one or more processors or processing units 701, system memory 702, and bus 703 connecting different system components (including system memory 702 and processing unit 701).

[0184] Bus 703 represents one or more of several bus architectures, including a memory bus or memory controller, peripheral bus, graphics acceleration port, processor, or 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 Microchannel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus. Electronic device 70 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 70, including volatile and non-volatile media, removable and non-removable media. System memory 702 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 707 and / or cache memory 705. Electronic device 70 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 706 can be used to read and write non-removable, non-volatile magnetic media (… Figure 14 Not shown; usually referred to as a "hard drive"). Although Figure 14Not shown, a disk drive for reading and writing to removable non-volatile disks (e.g., "floppy disks") and an optical disk drive for reading and writing to removable non-volatile optical disks (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 703 via one or more data media interfaces. Memory 702 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. A program / utility 708 having a set (at least one) of program modules 707 may be stored, for example, in memory 702. Such program modules 707 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 707 generally perform the functions and / or methods described in the embodiments of this application. Electronic device 70 can also communicate with one or more external devices 709 (e.g., keyboard, pointing device, display 710, etc.), and with one or more devices that enable a user to interact with the electronic device 70, and / or with any device that enables the electronic device 70 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 711. Furthermore, electronic device 70 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 712. As shown, network adapter 712 communicates with other modules of electronic device 70 via bus 703. It should be understood that, although... Figure 14 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 70, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0185] The processing unit 701 executes various functional applications and page processing by running programs stored in the system memory 702, such as implementing the surgical robotic arm configuration adjustment method provided in the embodiments of this application.

[0186] Example 10: 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 method for adjusting the configuration of a surgical robotic arm. The surgical robotic arm includes at least a first joint and an avoidance target joint whose projection position on a horizontal plane differs from that of the first joint. Rotation of the first joint causes a change in the projection position of the avoidance target joint on the horizontal plane. The method includes: under configuration adjustment conditions, controlling the surgical robotic arm to adjust from an initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements of a first joint group and a second joint group; wherein a first distance between the avoidance target joint and surrounding environmental obstacles in the avoidance configuration is greater than a second distance between the avoidance target joint and the surrounding environmental obstacles in the initial configuration; the axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane; controlling surgical instruments on the surgical robotic arm to perform posture or position adjustments based on the avoidance configuration; During the adjustment process of the robotic arm from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instrument remains unchanged; the direction of motion of the first joint rotation is monotonic, and the direction of motion of at least one joint in the joint group performing the compensating motion is non-monotonic.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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).

[0191] 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 method for adjusting the configuration of a surgical robotic arm, characterized in that, The surgical robotic arm includes at least a first joint and a target joint for avoidance that has a different projection position on the horizontal plane than the first joint. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane. The method includes: Under the condition of configuration adjustment, the surgical robotic arm is controlled to adjust from the initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements of the first joint group and the second joint group; wherein, the first distance between the avoidance target joint and the surrounding environmental obstacles in the avoidance configuration is greater than the second distance between the avoidance target joint and the surrounding environmental obstacles in the initial configuration; the motion axis of at least one joint in the first joint group is not perpendicular to the rotation axis of the first joint, and the motion axis of at least one joint in the second joint group is not perpendicular to the horizontal plane; The surgical instruments on the robotic arm are controlled to perform attitude or position adjustments based on the avoidance configuration; During the adjustment process of the robotic arm from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instrument remains unchanged; the direction of motion of the first joint rotation is monotonic, and the direction of motion of at least one joint in the joint group performing the compensating motion is non-monotonic.

2. The method according to claim 1, characterized in that, The first joint group includes a second joint, the rotation axis of the second joint is vertical, and the rotational movement of the second joint is used to change the projection direction of the line connecting the avoidance target joint and the remote motion center point of the surgical instrument on the horizontal plane.

3. The method according to claim 1, characterized in that, The second joint group includes at least one of the following: The second joint group includes a third joint and a fourth joint. The third joint is a linear joint with a vertical direction of movement, and the fourth joint is a rotary joint with a horizontal axis of rotation. The second joint group includes a fifth joint, which is a linear joint and moves in a direction perpendicular to the rotation axis of the first joint.

4. The method according to any one of claims 1 to 3, characterized in that, At least one joint in the joint group performing the compensating movement exhibits a characteristic change in its rotational direction and / or linear motion direction during the compensating movement: it first moves along a first direction and then moves along a second direction opposite to the first direction.

5. The method according to any one of claims 1 to 3, characterized in that, When a first linear joint exists between the first joint and the target joint to be avoided, and the direction of movement is spatially perpendicular to or intersects the rotation axis of the first joint at an angle, the first joint rotates, including: Based on the current position parameters of the first linear joint, determine the target rotational speed corresponding to the first joint; Based on the target rotation speed, the first joint is controlled to perform rotational motion.

6. The method according to any one of claims 1 to 3, characterized in that, The configuration adjustment conditions include at least one of the following: Receives an external dragging operation applied to the surgical robotic arm; A trigger operation is received to execute on the operating component corresponding to the first joint; A collision risk event has been detected.

7. The method according to claim 6, characterized in that, The operating component includes at least one of the following: The operating component includes a first operating part and a second operating part. When the first operating part is triggered, it instructs the first joint to rotate in a first direction, and when the second operating part is triggered, it instructs the first joint to rotate in a second direction. The operating component includes a single operating part, which, when triggered in a first operating state, instructs the first joint to rotate in a first direction, and when triggered in a second operating state, instructs the first joint to rotate in a third direction.

8. The method according to any one of claims 1 to 3, characterized in that, The method further includes: When the configuration adjustment conditions are met, the surgical robotic arm is controlled to enter the avoidance adjustment mode; wherein, in the avoidance adjustment mode, the surgical instrument does not respond to the control commands of the main controller; Display a first prompt message indicating that the surgical robotic arm is currently in a robotic arm avoidance adjustment state.

9. The method according to any one of claims 1 to 3, characterized in that, The surgical robotic arm further includes a sixth joint and a seventh joint connected in sequence. Rotation of the sixth and seventh joints is used to change the orientation of the surgical instrument's shaft in space. An eighth joint of the surgical instrument is used to change the rotation angle of the surgical instrument. The method further includes: During the adjustment of the surgical robotic arm from the initial configuration to the avoidance configuration, based on the constraint that the position of the remote motion center point remains unchanged, the sixth and seventh joints of the surgical robotic arm are controlled to perform attitude compensation movements to maintain the attitude of the surgical instrument's axis in space; and / or, The eighth joint is controlled to perform rotational compensation motion to keep the rotation angle of the surgical instrument around its axis constant.

10. The method according to any one of claims 1 to 3, characterized in that, The method of controlling the surgical robotic arm to adjust from an initial configuration, in which the first joint rotates and the first and second joint groups perform compensating movements, to an avoidance configuration includes: In response to a rotation command for the first joint, the desired motion speed of the first joint is obtained; Based on the kinematic constraint that the desired motion speed remains unchanged from the position of the preset remote motion center point, joint motion speeds are determined for acting on the first joint, at least one joint in the first joint group, and at least one joint in the second joint group, respectively, such that while keeping the first joint rotating at the desired motion speed, the first joint group and the second joint group cooperate to perform compensating motion to drive the surgical robot arm to adjust from the initial configuration to the avoidance configuration.

11. A method for adjusting the configuration of a surgical robotic arm, characterized in that, The surgical robotic arm includes at least a first joint and a target joint for avoiding obstacles, the target joint having a different projection position on the horizontal plane than the first joint. Rotation of the first joint causes a change in the projection position of the target joint on the horizontal plane, including: When the configuration adjustment conditions are met, the surgical robotic arm is controlled to adjust from the initial configuration to the avoidance configuration; The configuration adjustment process includes: During the first time period, the first joint is controlled to rotate along the first direction to the first angle, and the joints in the first joint group and the second joint group are controlled to perform the first compensating movement to adjust to the first avoidance configuration; the axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane. During the second time period adjacent to the first time period, the first joint is controlled to continue rotating along the first direction to the second angle, and the joints in the first joint group and the second joint group are controlled to perform the second compensating movement to adjust to the second avoidance configuration. Wherein, at least one joint in the first joint group and / or the second joint group performing the first compensating movement has a first motion curve during the first time period; the corresponding joint performing the second compensating movement has a second motion curve during the second time period; the motion curve is used to characterize the change law of the joint's motion parameters over time, and the motion parameters include at least one of position, velocity, and acceleration; The first motion curve and the second motion curve have different curve characteristics, which are used to describe the statistical characteristics of the motion curve.

12. An adjustment device for the configuration of a surgical robotic arm, characterized in that, The surgical robotic arm includes at least a first joint and a target joint for avoiding obstacles, the first joint rotating to cause a change in the projected position of the target joint on the horizontal plane. The device includes: A robotic arm configuration adjustment module is used to control the surgical robotic arm to adjust from an initial configuration to an avoidance configuration by rotating the first joint and performing compensating movements on the first and second joint groups, provided that configuration adjustment conditions are met. In this configuration, a first distance between the target joint and an obstacle in the avoidance configuration is greater than a second distance between the target joint and the obstacle in the initial configuration. The axis of motion of at least one joint in the first joint group is not perpendicular to the axis of rotation of the first joint, and the axis of motion of at least one joint in the second joint group is not perpendicular to the horizontal plane. The instrument position adjustment module controls the surgical instruments on the surgical robotic arm to perform posture or position adjustments based on the avoidance configuration. During the adjustment process of the robotic arm from the initial configuration to the avoidance configuration, the position of the remote motion center point of the surgical instrument remains unchanged; the direction of motion of the first joint rotation is monotonic, and the direction of motion of at least one joint in the joint group performing the compensating motion is non-monotonic.

13. An adjustment device for the configuration of a surgical robotic arm, characterized in that, The surgical robotic arm includes at least a first joint and a target joint for avoiding obstacles, the first joint rotating to cause a change in the projected position of the target joint on the horizontal plane. The device includes: The configuration adjustment module is used to control the surgical robotic arm to adjust from the initial configuration to an avoidance configuration when the configuration adjustment conditions are met; The configuration adjustment module includes: The first configuration adjustment submodule is used to control the first joint to rotate along the first direction to the first angle during the first time period, and to control the joints in the first joint group and the second joint group to perform the first compensation movement to adjust to the first avoidance configuration; the motion axis of at least one joint in the first joint group is not perpendicular to the rotation axis of the first joint, and the motion axis of at least one joint in the second joint group is not perpendicular to the horizontal plane. The second configuration adjustment submodule is used to control the first joint to continue rotating along the first direction to a second angle in a second time period adjacent to the first time period, and to control the joints in the first joint group and the second joint group to perform a second compensating movement to adjust to a second avoidance configuration. Wherein, at least one joint in the first joint group and / or the second joint group performing the first compensating movement has a first motion curve during the first time period; the corresponding joint performing the second compensating movement has a second motion curve during the second time period; the motion curve is used to characterize the change law of the joint's motion parameters over time, and the motion parameters include at least one of position, velocity, and acceleration; the curve characteristics of the first motion curve and the second motion curve are different, and the curve characteristics are used to describe the statistical characteristics of the motion curve.

14. 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 at least one processor, the computer program being executed by at least one processor to enable at least one processor to perform the method of adjusting the configuration of the surgical robotic arm according to any one of claims 1-11.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to execute the method for adjusting the configuration of the surgical robotic arm according to any one of claims 1-11.

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