Surgical robot control system and control method

Abstract

The present application relates to a surgical robot control system and control method. The surgical robot control method includes: receiving user needs and generating interactive control commands; generating motion control commands according to the interactive control commands; and controlling the end of the robotic arm to execute the motion control commands, wherein the motion control commands include controlling the end of the robotic arm to perform actions according to multiple motion modes. The surgical robot control method can control the end of the robotic arm to perform actions according to multiple motion modes through the motion control commands, realize different motion schemes in multiple clinical application scenarios, and can realize flexible switching between multiple motion modes by controlling the end of the robotic arm through interactive control commands in any application scenario.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a surgical robot control system and control method. Background Art

[0002] The use of surgical robots to assist surgery can improve the efficiency and quality of surgery. The surgical robot includes hardware equipment such as a control system, a robotic arm, a floor brake, a foot pedal or a camera device. The robotic arm, floor brake, foot pedal or camera device are respectively connected to the control system. The control system and the robotic arm include a variety of control logic operation systems. The operation logic of the control logic operation system of the traditional surgical robot is not clear enough, the operation of the robotic arm controlled by the control system is not flexible enough, and the safety is poor. Summary of the invention

[0003] Based on this, it is necessary to provide a surgical robot control system and control method to address the problems that the operation logic of the control logic operation system of the traditional surgical robot is not clear enough, the operation of the robotic arm manipulated by the control system is not flexible enough, and the safety is poor.

[0004] The present application provides a surgical robot control method, comprising:

[0005] Receive user needs and generate interactive control commands;

[0006] generating a motion control command according to the interactive control command; and

[0007] The end of the robot arm is controlled to execute the motion control command, wherein the motion control command includes controlling the end of the robot arm to perform actions according to multiple motion modes.

[0008] In one embodiment, the controlling the end of the robotic arm to execute the motion control command includes the step of controlling the end of the robotic arm to perform actions according to multiple motion modes, and the multiple motion modes include:

[0009] Free motion mode, autonomous motion mode, axial motion mode, fine-tuning motion mode and spherical motion mode.

[0010] In one embodiment, the motion control command includes any one or more of the following four control commands:

[0011] Controlling each of the plurality of motion modes to be reciprocated multiple times;

[0012] Controlling the interactive execution between the autonomous motion mode and the free motion mode, the axial motion mode, the fine-tuning motion mode and the spherical motion mode;

[0013] Controlling the bidirectional interactive execution between the axial motion mode and the fine-tuning motion mode, the bidirectional interactive execution between the axial motion mode and the spherical motion mode, and the bidirectional interactive execution between the fine-tuning motion mode and the spherical motion mode;

[0014] The axial motion mode, the fine-tuning motion mode and the spherical motion mode are controlled to be switched unidirectionally to the free motion mode respectively.

[0015] In one embodiment, the robot control method further includes:

[0016] Interact with at least one motion mode information among the multiple motion modes to achieve safe control of the surgical robot control system.

[0017] In one embodiment, the step of implementing safety control of the surgical robot control system includes implementing safety control of the surgical robot by adopting any one or more of the following steps:

[0018] The robot arm is subjected to emergency stop control, a warning of safety risk is issued to the user, an automatic avoidance route is generated for the robot arm, and the movement of the robot arm is prohibited.

[0019] A surgical robot control system, comprising:

[0020] Main control module, used to generate motion control commands;

[0021] An interactive module, which interacts with the main control module to receive user requirements, generate interactive control commands, and send them to the main control module;

[0022] Multiple motion modules interact with the main control module to execute the motion control command.

[0023] In one embodiment, the plurality of motion modules include:

[0024] A free motion module, which interacts with the main control module and the interaction module respectively, and is used to control the end of the robotic arm to move freely;

[0025] An autonomous motion module, which interacts with the main control module and the interaction module respectively, and is used to perform autonomous motion according to the path points planned by the main control module;

[0026] An axial motion module, which interacts with the main control module and the interaction module respectively, and is used to control the end of the robot arm to move along a predefined axial direction;

[0027] The motion adjustment module interacts with the main control module and the interaction module respectively, and is used to control the final adjustment of the end of the robot arm before axial movement.

[0028] In one embodiment, the adjustment motion module includes,

[0029] A fine-tuning motion module, which interacts with the main control module and the interaction module respectively, and is used to control the end of the robotic arm to translate a predetermined distance along a fixed direction in a predefined plane; and / or,

[0030] The spherical motion module interacts with the main control module and the interactive module respectively, and is used to control the end of the robotic arm to move along a predefined spherical surface.

[0031] In one embodiment, the interaction module includes:

[0032] The self-loop interaction device interacts with each of the multiple motion modules respectively, and is used to control each of the multiple motion modules to perform reciprocatingly for multiple times.

[0033] In one embodiment, the interaction module further includes:

[0034] The autonomous interaction device interacts with each of the multiple motion modules respectively to control the interaction between the autonomous motion module and the free motion module, the axial motion module, the fine-tuning motion module and the spherical motion module.

[0035] In one embodiment, the interaction module further includes:

[0036] A predefined motion interaction device interacts with the axial motion module, the fine-tuning motion module and the spherical motion module respectively, and is used to control the two-way interaction between the axial motion module and the fine-tuning motion module, the two-way interaction between the axial motion module and the spherical motion module, and the two-way interaction between the fine-tuning motion module and the spherical motion module.

[0037] In one embodiment, the interaction module further includes:

[0038] The one-way switching device interacts with the free motion module, the axial motion module, the fine-tuning motion module and the spherical motion module respectively, and is used to control the axial motion module, the fine-tuning motion module and the spherical motion module to switch to the free motion module in one direction respectively.

[0039] In one embodiment, the surgical robot control system further includes:

[0040] The safety control system interacts with the main control module and each of the multiple motion modules to achieve safety control of the surgical robot control system.

[0041] In one embodiment, the safety control system includes:

[0042] The emergency stop device interacts with information of each of the multiple motion modules, and is used for stopping the robotic arm from continuing to move through the emergency stop device when the user determines that there is a safety risk in the movement of the robotic arm.

[0043] In one embodiment, the safety control system further includes:

[0044] The safety boundary computing device interacts with the free motion module, the axial motion module and the spherical motion module respectively, and is used to compare the actual motion trajectory of the robot arm with the predefined safety boundary in real time. When it is found that the actual motion trajectory is about to reach the safety boundary, it warns the user of the safety risk.

[0045] In one embodiment, the safety control system further includes:

[0046] The obstacle collision avoidance device interacts with the autonomous motion module information and is used to generate a simplified obstacle model based on the system hardware model and an unknown patient head model. When the main control module plans the path points of the autonomous motion module, the obstacle collision avoidance device generates an avoidance route that can avoid the simplified obstacle model.

[0047] In one embodiment, the safety control system further includes:

[0048] The trajectory interlocking device interacts with each of the multiple motion modules to monitor the motion trajectory of the robotic arm in real time. When it is found that the deviation between the actual motion trajectory of the robotic arm and the planned motion trajectory exceeds a preset deviation, the user is warned or the movement of the robotic arm is directly prohibited.

[0049] The present application relates to a surgical robot control system and control method. The surgical robot control method includes: receiving user needs and generating interactive control commands; generating motion control commands according to the interactive control commands; and controlling the end of the robotic arm to execute the motion control commands, wherein the motion control commands include controlling the end of the robotic arm to perform actions according to multiple motion modes. The surgical robot control method can control the end of the robotic arm to perform actions according to multiple motion modes through the motion control commands, realize different motion schemes in multiple clinical application scenarios, and can realize flexible switching between multiple motion modes by controlling the end of the robotic arm through interactive control commands in any application scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic diagram of a surgical robot control system provided in one embodiment of the present application;

[0052] Figure 2 A schematic diagram of a motion module provided in one embodiment of the present application;

[0053] Figure 3 A schematic diagram of an interaction module provided in one embodiment of the present application;

[0054] Figure 4 A schematic diagram of switching between different motion modules provided in one embodiment of the present application;

[0055] Figure 5 A schematic diagram of a surgical robot control system provided in one embodiment of the present application;

[0056] Figure 6 A schematic diagram of a surgical robot control system provided in one embodiment of the present application;

[0057] Figure 7 A main interface display diagram of the multiple motion modules provided in one embodiment of the present application;

[0058] Figure 8 This is an interface display diagram of the axial motion module provided in one embodiment of the present application;

[0059] Fig. 9 This is an interface display diagram of plane fine adjustment in the fine adjustment motion module provided in one embodiment of the present application;

[0060] Fig.10 This is an interface display diagram of spherical fine-tuning in the fine-tuning motion module provided in one embodiment of the present application.

[0061] Description of reference numerals:

[0062] Surgical Robot Control System 100

[0063] Main control module 10

[0064] Interactive Module 20

[0065] Self-circulating interactive device 21

[0066] Autonomous interactive device 22

[0067] Predefined motion interaction device 23

[0068] One-way switching device 24

[0069] Motion Module 30

[0070] Free Movement Module 31

[0071] Autonomous Movement Module 32

[0072] Axial motion module 33

[0073] Fine-tuning motion module 34

[0074] Spherical motion module 35

[0075] Safety control system 40

[0076] Emergency stop device 41

[0077] Safety boundary computing device 42

[0078] Obstacle collision avoidance device 43

[0079] Track interlocking device 44 DETAILED DESCRIPTION

[0080] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0081] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of this application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0082] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0083] See also Figure 1 , Figure 1 A surgical robot control system 100 is provided for the present application. The surgical robot control system 100 comprises: a main control module 10 , an interaction module 20 and a plurality of motion modules 30 .

[0084] The main control module 10 is used to generate motion control commands. The main control module 10 may include a computer host and a computer program stored in the computer host.

[0085] The interaction module 20 interacts with the main control module 10. The interaction module 20 is used to receive the motion control command of the main control module 10 and generate an interaction control command according to user needs. The user needs here can be to control the robot arm to move a certain distance in a certain direction, or to control the end of the robot arm to enter a certain precision area.

[0086] The multiple motion modules 30 interact with the main control module 10. The multiple motion modules 30 are used to execute the motion control command. And the multiple motion modules 30 interact with the interactive module 20, that is, the multiple motion modules 30 and the interactive module 20 are logically interconnected. Similarly, the user clicks on a certain motion module among the multiple motion modules 30 through the interactive module 20. The command is transmitted to the main control module 10, and the control software in the main control module 10 generates the relevant motion control command required by the certain motion module, and then sends it to the multiple motion modules 30, and the corresponding motion mode is executed by the robotic arm and the robotic arm control system. The multiple motion modules 30 can switch with each other. Switching between the multiple motion modules 30 can command the robotic arm or the end of the robotic arm to move more safely and flexibly.

[0087] The surgical robot control system 100 provided in this embodiment can allocate or switch the motion modes of the multiple motion modules 20 through the interaction module 20, so as to realize the real-time motion function of the robot arm that can flexibly switch the motion modes and is safe and reliable in any application scenario. In addition, the surgical robot control system 100 in this embodiment can be applied to a flexible, reliable and safe multi-mode robot arm motion module-level solution, which is not only applicable to stereotactic surgical robots, but also can be used in orthopedic or spinal surgery robots based on six-degree-of-freedom robot arms or seven-degree-of-freedom robot arms, such as joint replacement, bone trauma treatment, etc.

[0088] See also Figure 2 , Figure 2 This is a schematic diagram of the motion module 30 provided in one embodiment of the present application. In one embodiment, the plurality of motion modules 30 include: a free motion module 31, an autonomous motion module 32, an axial motion module 33, and an adjustment motion module.

[0089] The free motion module 31 interacts with the main control module 10 and the interactive module 20 respectively. The free motion module 31 is used to control the free motion of the end of the robot arm. In the free motion module 31, the user manually drags the end of the robot arm to move freely, that is, the user can control the free motion in the motion space of the robot arm itself. Specifically, the free motion module 31 can be used by the user to manually drag the end of the robot arm to move any trajectory under the condition that any robot arm is movable. Generally, a gripping part that is convenient for the user to hold can be designed at the end of the robot arm. The front, back, left, right, up and down translational motions can be performed near the gripping part, and counterclockwise, clockwise and other rotations, as well as rotational and translational motions can be performed. In specific implementation, the user enters the working state of the free motion module 31 through the main control module 10. That is, the user clicks the "free motion" button on the operation interface of the main control module 10 to enter the free motion module 31 to work.

[0090] From the implementation layer, the main control module 10 receives input from the user: enters the free motion module 31, and then sends the parameters of the free motion mode and the robot arm unlocking command to the free motion module 31. The free motion module 31 receives the above two parameters and determines whether the communication and data reading with the end six-degree-of-freedom force sensor are normal (the free motion mode is a force control mode, and the premise is that the end six-degree-of-freedom force sensor works normally). If normal, the parameters of the free motion mode and the points required for the robot arm joint movement calculated based on the real-time external force information obtained by the six-degree-of-freedom force sensor are sent to the underlying control hardware (which can be a robot arm control cabinet). When the underlying control hardware detects that the pedal enable signal is valid, it executes the free motion mode according to the external drag force information.

[0091] The autonomous motion module 32 interacts with the main control module 10 and the interaction module 20 respectively. The autonomous motion module 32 is used to perform autonomous motion according to the path points planned by the main control module 10. Without manual intervention by the user, it is used to automatically move the end of the robotic arm from the current position to the predefined surgical target point, thereby realizing the positioning and orientation function of the surgical instrument. The autonomous motion module 32 refers to an active motion module that allows the robot / robotic arm to autonomously avoid obstacles.

[0092] During specific implementation, the main control module 10 determines by itself whether the spatial registration process has been completed (that is, whether the alignment of the robot arm coordinate system and the patient coordinate system has been completed. After alignment, the robot arm can know where the patient's head is), and the spatial registration result is confirmed, which is guaranteed by the workflow. The main control module 10 needs to send the path information (initial point and end point) to be planned to the path planning algorithm of the autonomous motion module 32. The autonomous motion module 32 performs path planning based on the path information. After successful planning, the trajectory points are sent to the underlying control hardware (robot arm control cabinet). The underlying control hardware waits for the pedal to be stepped on, and the robot arm executes according to the planned path points until it moves to the final target point.

[0093] The axial motion module 33 interacts with the main control module 10 and the interaction module 20 respectively. The axial motion module 33 is used to control the end of the robotic arm to move along a predefined axial direction. When manually dragged by the user, the end of the robotic arm can only move in a single direction along the deep puncture direction of the surgical instrument, and cannot move or rotate in other directions. During the operation, after the robotic arm completes the automatic movement positioning, the doctor needs to manually adjust the distance between the surgical instrument and the target target without affecting the posture, thereby achieving a more accurate orientation function.

[0094] In specific implementation, the main control module 10 determines by itself whether the spatial registration process has been completed (the alignment of the robot arm coordinate system and the patient coordinate system is completed. After the alignment, the robot arm can know where the patient's head is), and the spatial registration result is confirmed and guaranteed by the workflow.

[0095] The main control module 10 determines by itself whether the execution process of a path has been completed and the path has been run to the designated position. Since the axial motion module 33 is coupled with the autonomous motion module 32, the axial motion mode can only be enabled after a certain path has completed autonomous motion and has been run to the designated position, otherwise it is always in a disabled state, that is, the user cannot actively initiate the axial motion mode.

[0096] After receiving the axial mode parameters, the axial motion module 33 checks the working condition of the six-degree-of-freedom force sensor (the axial mode is also a force control mode based on the six-degree-of-freedom force sensor). If normal, the axial motion algorithm is used to calculate the motion point of the manipulator arm and send it to the underlying control hardware. After receiving the axial mode parameters and the manipulator arm's motion point, the underlying control hardware performs the axial motion under the control of the foot pedal.

[0097] The fine-tuning motion module 34 interacts with the main control module 10 and the interactive module 20 respectively. The fine-tuning motion module 34 is used to control the end of the manipulator to translate a predetermined distance along a fixed direction in a predefined plane. Automatic movement can be completed according to predefined motion parameters without manual dragging by the user. Combined with clinical application scenarios, it can be divided into plane fine-tuning and spherical fine-tuning. Among them, plane fine-tuning refers to stepping motion with equal intervals or set intervals in the front, back, left and right directions of a certain end face of the tool at the end of the manipulator, and can also be extended to 8 directions such as 4 diagonal directions. Spherical fine-tuning refers to equiradian motion in the front, back, left and right directions on a spherical surface with a constant radius, with the target point as the center. Plane fine-tuning mode and spherical fine-tuning mode refer to stepping small displacements on a specific plane or sphere. The spherical mode refers to the movement of the human-cooperative manipulator in a specific area, which is not allowed to exceed the area (such as in a cone) and the center point of the tool remains unchanged. Specifically, the fine-tuning motion module 34 can provide parameters such as fine-tuning step length, fine-tuning distance, and fine-tuning direction.

[0098] In specific implementation, the main control module 10 determines by itself whether the spatial registration process has been completed (the alignment of the robot arm coordinate system and the patient coordinate system is completed. After alignment, the robot arm can know where the patient's head is), and the spatial registration result is confirmed, which is guaranteed by the workflow. The main control module 10 determines by itself whether the execution process of a path has been completed and the path has been run in place. It is coupled with the autonomous motion mode, that is, the fine-tuning motion mode can only be enabled after a certain path has completed autonomous motion and is in place, otherwise it will be in a non-enabled state, that is, the user cannot actively start the fine-tuning motion mode.

[0099] The adjustment motion module interacts with the main control module 10 and the interaction module 20 respectively, and is used to control the final adjustment of the end of the robot arm before the axial movement. In one embodiment, the adjustment motion module includes a fine-tuning motion module 34 and / or a spherical motion module 35. In other embodiments, the adjustment motion module may also include other types of irregular fine-tuning motion modules.

[0100] After receiving the mode parameters (fine-tuning mode) and the fine-tuning distance and the fine-tuning direction, the fine-tuning motion module 34 calculates the movement point of the robot arm for the fine-tuning motion according to the fine-tuning motion algorithm and sends it to the underlying control hardware. After receiving the mode parameters (fine-tuning mode) and the robot arm's waiting movement point, the underlying control hardware performs the fine-tuning motion under the control of the foot pedal.

[0101] The spherical motion module 35 interacts with the main control module 10 and the interactive module 20 respectively. The spherical motion module 35 is used to control the end of the robot arm to move along a predefined spherical surface. Similar to the above-mentioned spherical fine-tuning motion mode, the difference is that the spherical motion is a spherical restricted motion manually dragged by the user, facing different application scenarios.

[0102] In specific implementation, the main control module 10 determines by itself whether the spatial registration process has been completed (the alignment of the robot arm coordinate system and the patient coordinate system is completed. After alignment, the robot arm can know where the patient's head is), and the spatial registration result is confirmed, which is guaranteed by the workflow. The main control module 10 determines by itself whether the process of executing a path has been completed and the path has been run to the right place. It is coupled with the autonomous motion mode, that is, the spherical motion mode can only be enabled after a certain path has completed autonomous motion and is in place, otherwise it is always in a non-enabled state, that is, the user cannot actively trigger the spherical motion mode.

[0103] After receiving the spherical mode parameters, spherical distance, spherical direction and other parameters, the spherical motion module 35 calculates the robot arm movement point of the spherical motion according to the spherical motion algorithm and sends it to the underlying control hardware. After receiving the spherical mode parameters and the robot arm's waiting movement point, the underlying control hardware performs the spherical motion under the control of the foot pedal.

[0104] The surgical robot control system 100 provided in this application can enable the stereotactic surgical robot to meet the motion schemes in various clinical application scenarios. Specifically, in the process of treating spinal diseases using a surgical robot based on a six-degree-of-freedom or seven-degree-of-freedom robotic arm, the free motion module 31 can be switched to the axial motion module 33. After the end of the robotic arm moves to the positioning point 1, it can be switched to the fine-tuning motion module 34 and slowly moved to the positioning point 2, and then the specific surgical steps can be implemented according to the surgical plan. Here, positioning point 2 is closer to the affected area than positioning point 1.

[0105] See also Figure 3 and Figure 4 , Figure 3 It is a schematic diagram of the interaction module 20 provided in one embodiment of the present application. Figure 4Schematic diagram of switching between different motion modules 30 provided in one embodiment of the present application. Different motion modules in the multiple motion modules 30 can be flexibly switched according to actual clinical application scenarios. The logic diagram of flexible switching between different motion modules is as follows: Figure 4 .

[0106] In one embodiment, the interaction module 20 includes a self-circulating interaction device 21 .

[0107] The self-loop interaction device 21 interacts with each of the plurality of motion modules 30. The self-loop interaction device 21 is used to control each of the plurality of motion modules 30 to execute repeatedly. In this embodiment, each motion module can be executed repeatedly after being selected, such as Figure 4 ① in the.

[0108] In one embodiment, the interaction module 20 further includes an autonomous interaction device 22 .

[0109] The autonomous interaction device 22 interacts with each of the plurality of motion modules 30. The autonomous interaction device 22 is used to control the interaction between the autonomous motion module 32 and the free motion module 31, the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35. Figure 4 ② in the.

[0110] In one embodiment, the interaction module 20 further includes a predefined motion interaction device 23 .

[0111] The predefined motion interaction device 23 interacts with the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35 respectively. The predefined motion interaction device 23 is used to control the two-way interaction between the axial motion module 33 and the fine-tuning motion module 34, the two-way interaction between the axial motion module 33 and the spherical motion module 35, and the two-way interaction between the fine-tuning motion module 34 and the spherical motion module 35. Figure 4 ③ in the.

[0112] In one embodiment, the interaction module 20 further includes a one-way switching device 24 .

[0113] The one-way switching device 24 interacts with the free motion module 31, the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35. The one-way switching device 24 is used to control the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35 to switch to the free motion module 31 in one direction. Figure 4 ④ in the.

[0114] Because in actual operation, the multiple motion modules 30 need to complete the execution of a certain path according to the autonomous motion module before switching to the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35. Therefore, in clinical application scenarios, the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35 are all unidirectional switches when switching to the free motion module 31 respectively.

[0115] See also Figure 5 , Figure 5 Schematic diagram of a surgical robot control system 100 provided in one embodiment of the present application. In one embodiment, the surgical robot control system 100 further includes a safety control system 40. The safety control system 40 interacts with the main control module 10 and interacts with each of the multiple motion modules 30. The safety control system 40 is used to implement safety control of the surgical robot control system 100.

[0116] In this embodiment, the surgical robot control system 100 provided includes: the main control module 10, the interactive module 20, the multiple motion modules 30 and the safety control system 40. The surgical robot control system 100 in this embodiment includes the safety control system 40 for realizing the safety control of the surgical robot control system 100. When the surgical robot control system 100 allocates or switches the motion modes of the multiple motion modules 20 through the interactive module 20, it realizes the real-time motion function of the robotic arm that can flexibly switch the motion mode and is safe and reliable in any application scenario. In addition, the surgical robot control system 100 in this embodiment can be applied to a flexible, reliable and safe multi-mode robotic arm motion module-level solution, which is not only suitable for stereotactic surgical robots, but also can be used in orthopedic or spinal surgical robots based on six-degree-of-freedom robotic arms or seven-degree-of-freedom robotic arms, such as joint replacement, bone trauma treatment, etc.

[0117] The surgical robot control system 100 provided in the embodiment of the present application defines a variety of motion modules 30 based on clinical scenarios. Each motion module 30 has corresponding safety design considerations. When using the surgical robot control system 100, the user only considers the actual clinical application, and does not need to pay too much attention to the safety design, because the relevant safety design is completely completed by the surgical robot control system 100. At the same time, combined with the actual clinical application scenario, the various motion modes can be flexibly switched, which expands the usability and safety design of the stereotactic surgical robot in the application scenario, and further reduces the doctor user's dependence on system operation experience.

[0118] See also Figure 6 , Figure 6 This is a schematic diagram of the surgical robot control system 100 provided in one embodiment of the present application. The main safety risk introduced by the robotic arm of the surgical robot during movement is that it may accidentally collide with the patient's head or the cart itself. Therefore, the surgical robot control system 100 provided in the present application provides the following corresponding safety design solutions based on the identified safety risks:

[0119] In one embodiment, the safety control system 40 includes an emergency stop device 41 .

[0120] The emergency stop device 41 interacts with each of the multiple motion modules 30. The emergency stop device 41 is used when the user determines that there is a safety risk in the movement of the robotic arm, and the user stops the robotic arm from continuing to move through the emergency stop device 41. Specifically, the emergency stop device 41 can be a foot pedal that interacts with the robotic arm information. Conventionally, during the operation of the surgical robot, the various motion modules 30 can only be triggered when the user steps on the foot pedal. When the user determines that there is a safety risk in the movement of the robotic arm, the user can release the foot pedal at the first time to stop all movements of the robotic arm. In one embodiment, the free motion module 31, the autonomous motion module 32, the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35 all need to complete the corresponding motion process under the condition that the user continues to step on the foot pedal when starting the operation.

[0121] In one embodiment, the security control system 40 further includes a security boundary computing device 42 .

[0122] The safety boundary computing device 42 interacts with the free motion module 31, the axial motion module 33 and the spherical motion module 35. The safety boundary computing device 42 is used to compare the actual motion trajectory of the robot arm with the predefined safety boundary in real time, and warn the user of safety risks when it is found that the actual motion trajectory is about to reach the safety boundary.

[0123] In this embodiment, for the manual dragging movement of the free motion module 31, the axial motion module 33, and the spherical motion module 35, the main control module 10 cannot know all the motion trajectories in advance, but can compare the actual motion trajectory with the predefined safety boundary in real time. When the main control module 10 finds that the actual motion trajectory is about to reach the safety boundary, it can prompt the user through a warning or voice. When the safety boundary is reached again, the main control module 10 can control the safety boundary calculation device 42 to stop the movement of the robot arm to avoid further safety risks. It should be noted that only when the warning is confirmed by the user can the robot arm move within the safety boundary when the user drags. For the axial motion module 33, it is also necessary to define a safety boundary in the depth direction according to the length of the surgical instrument and the length of the adapter to ensure that in the axial motion mode, the user ensures that the end of the instrument or adapter does not collide with the patient's head when manually dragging.

[0124] In one embodiment, the safety control system 40 further includes an obstacle collision avoidance device 43 .

[0125] The obstacle collision avoidance device 43 interacts with the autonomous motion module 32. The obstacle collision avoidance device 43 is used to generate a simplified obstacle model based on the system hardware model and the unknown patient head model. When the main control module 10 plans the path points of the autonomous motion module 32, the obstacle collision avoidance device 43 generates an avoidance route that can avoid the simplified obstacle model. In view of the situation where the autonomous motion module 32 can plan the path trajectory in advance, when planning the path, the system avoids collision situations and avoids collision interference in advance on the premise of obtaining the cart model, patient head model and other instrument tool models.

[0126] The simplified obstacle model can be simplified into a combination of the following three categories. The first type of model is a model of components that may be hit on a system cart, instrument tool or cart. This type of model has been solidified after the mechanical design is completed, and can be exported through special software and claimed as a mesh file for collision detection during path planning. The second type of model is an unknown patient head model. This type of model can be obtained through preoperative radiological imaging CT scanning and finally passed to the collision detection algorithm of the lower computer to perform collision detection. The third type of model is an unknown and numerous third-party head frame models for fixing the head. This type of model can be expanded to the outside by a bounding box model of approximately 20mm-60mm based on the acquired patient head model and the known system mechanical component model for fixing the patient's head, that is, no part of the robotic arm can enter this bounding box.

[0127] In one embodiment, the safety control system 40 further includes a trajectory interlocking device 44 .

[0128] The trajectory interlocking device 44 interacts with each motion module in the multiple motion modules 30. The trajectory interlocking device 44 is used to monitor the motion trajectory of the robot arm in real time. When it is found that the deviation between the actual motion trajectory of the robot arm and the planned motion trajectory exceeds the preset deviation, the user is warned or the movement of the robot arm is directly prohibited. Specifically, when it is found that the actual path trajectory deviates greatly from the planned path trajectory, the movement of the robot arm is warned in advance or prohibited. The large deviation here can be understood as the deviation between the actual motion trajectory of the robot arm and the planned motion trajectory exceeding the preset deviation. Because the actual motion trajectory is quite different from the planned motion trajectory (for example, the Euclidean distance exceeds 1 cm), there must be some unpredictable anomalies, which increases the possibility of the final collision, so it can be avoided in advance.

[0129] In another embodiment of the present application, the surgical robot control system 100 further includes: a speed selection device, a locking and unlocking device, a motion enabling device, and an automatic homing device. The speed selection device can set different motion speeds for different motion states in the motion module 30. The locking and unlocking device can lock and control different motion states in the motion module 30. The motion enabling device can perform emergency stop processing for different motion states in the motion module 30. The automatic homing device can control the motion module 30 to return to the initial position from different motion states.

[0130] The present application also provides a surgical robot control method, comprising:

[0131] Receiving user requirements and generating interactive control commands In this step, the interactive module 20 described above may be used to receive user requirements and generate interactive control commands.

[0132] Generate a motion control command according to the interactive control command. In this step, the main control module 10 mentioned above can be used to generate the motion control command.

[0133] The end of the robot arm is controlled to execute the motion control command, wherein the motion control command includes controlling the end of the robot arm to execute actions according to multiple motion modes. In this step, the multiple motion modules 30 mentioned above can be used to respectively execute the multiple motion modes.

[0134] In this embodiment, the surgical robot control method can realize different motion schemes in a variety of clinical application scenarios. In any application scenario, interactive control commands can be generated by receiving user needs; motion control commands can be generated according to the interactive control commands; and the end of the robotic arm can be controlled to execute the motion control commands, and the motion control commands include controlling the end of the robotic arm to perform actions according to a variety of motion modes. Thereby, the surgical robot control method can realize flexible switching between the multiple motion modes. Specifically, in the process of treating spinal diseases using a surgical robot with a robotic arm based on a seven-degree-of-freedom force sensor, the free motion mode can be switched to the axial motion mode. After the end of the robotic arm moves to positioning point 1, it can switch to the fine-tuning motion mode and slowly move to positioning point 2, and then implement specific surgical steps according to the surgical plan. Here, positioning point 2 is closer to the affected area than positioning point 1.

[0135] In one embodiment, the control of the end of the robotic arm to execute the motion control command includes the steps of controlling the end of the robotic arm to perform actions according to multiple motion modes, and the multiple motion modes include: free motion mode, autonomous motion mode, axial motion mode, fine-tuning motion mode and spherical motion mode. Among them, in the free motion mode, the end of the robotic arm can be controlled to move freely. In the autonomous motion mode, autonomous motion can be performed according to the path points planned by the main control module 10. In the axial motion mode, the end of the robotic arm can be controlled to move along a predefined axial direction. In the fine-tuning motion mode, the end of the robotic arm can be controlled to translate a predetermined distance along a fixed direction in a predefined plane. In the spherical motion mode, the end of the robotic arm can be controlled to move along a predefined spherical surface.

[0136] In one embodiment, the motion control command includes any one or more of the following four control commands:

[0137] Controlling each of the plurality of motion modes to be reciprocated multiple times;

[0138] Controlling the interactive execution between the autonomous motion mode and the free motion mode, the axial motion mode, the fine-tuning motion mode and the spherical motion mode;

[0139] Controlling the bidirectional interaction between the axial motion mode and the fine-tuning motion mode, the bidirectional interaction between the axial motion mode and the spherical motion mode, and the bidirectional interaction between the fine-tuning motion mode and the spherical motion mode; or

[0140] The axial motion mode, the fine-tuning motion mode and the spherical motion mode are controlled to be switched unidirectionally to the free motion mode respectively.

[0141] In this embodiment, the logic diagram for flexible switching between different motion modes can be referred to, where Figure 4 It is demonstrated that different motion systems in the multiple motion modes can be flexibly switched according to actual clinical application scenarios.

[0142] In one embodiment, the robot control method further includes: interacting with at least one motion mode information of the multiple motion modes to achieve safety control of the surgical robot control system.

[0143] In this embodiment, a safety control step is added so that the robot control method can realize the real-time motion function of the robot arm with flexible switching of motion modes and safe and reliable motion in any application scenario. In addition, the surgical robot control method in this embodiment, the multi-mode robot arm motion system and scheme with flexible and reliable control strategy and high safety are not only applicable to stereotactic surgical robots, but also can be used in surgical robots based on six-degree-of-freedom force sensors or seven-degree-of-freedom force sensors for orthopedic or spinal surgery such as joint replacement and bone trauma treatment.

[0144] In one embodiment, the step of implementing safety control of the surgical robot control system includes implementing safety control of the surgical robot by adopting any one or more of the following steps:

[0145] The robot arm is subjected to emergency stop control, a warning of safety risk is issued to the user, an automatic avoidance route is generated for the robot arm, and the movement of the robot arm is prohibited.

[0146] Specifically, the emergency stop control of the robotic arm may be: when the user determines that there is a safety risk in the movement of the robotic arm, the user may stop the robotic arm from continuing to move through the emergency stop device 41 .

[0147] The warning of the safety risk to the user may be issued by comparing the actual motion trajectory of the robot arm with a predefined safety boundary in real time, and when it is found that the actual motion trajectory is about to reach the safety boundary, warning the user of the safety risk.

[0148] The automatic avoidance route of the robotic arm may be generated by: generating a simplified obstacle model based on the system hardware model and the unknown patient head model; when the main control module 10 plans the path points of the autonomous motion module 32, the obstacle collision avoidance device 43 generates an avoidance route that can avoid the simplified obstacle model.

[0149] Prohibiting the movement of the robotic arm may include: monitoring the movement trajectory of the robotic arm in real time, and when it is found that the deviation between the actual movement trajectory of the robotic arm and the planned movement trajectory exceeds a preset deviation, warning the user or directly prohibiting the movement of the robotic arm.

[0150] The present application also provides a surgical robot, comprising the surgical robot control system 100, a robotic arm, a floor brake, a foot pedal, a camera device and other hardware devices described in any of the above embodiments.

[0151] See also Figure 7 , Figure 7 This is a main interface display diagram of the multiple motion modules 30 in the main control module 10 in one embodiment of the present application. The present application also provides interface display diagrams of the two motion modules, the axial motion module 33 and the fine-tuning motion module 34, in the main control module 10 below to respectively illustrate the operation process of the two motion modules.

[0152] See also Figure 8 , Figure 8 This is an interface display diagram of the axial motion module 33 in one embodiment of the present application, and its interface operation method is as follows:

[0153] Determine that the positioning point 1 is the target distance, which is completed by preoperative planning. Step on the pedal (start the movement of the robot arm), and use the free movement module 31, the autonomous movement module 32, or the combined movement module of the free movement module 31 and the autonomous movement module 32 to move the robot arm to the positioning point 1.

[0154] The main control module 10 can display multiple types of information, including image information, fixed data information, real-time data information, and operation information. The image information can display one image or multiple images at the same time. The fixed data information and the real-time data information can be displayed directly on the image information or in a separate display area. The operation information can be used for user input information and can be displayed directly on the image information or in a separate display area.

[0155] In a specific embodiment, select "Axial Mode" from the main page of the main control module 10, and the system enters the sub-page of "Axial Mode". When the user needs to manually adjust the axial position of the end instrument, the image information display area will perform a global real-time dynamic display based on the position of the end instrument and the skull. Figure 8As shown, the motion mode interface of the axial motion module 33 includes two image information, namely, a real-time display of the global image and a real-time display of the enlarged image. The above two image information are used to display the overall position relationship, wherein the human head is a scanned CT image, and the robotic arm, the instrument and the human hand are its STL data format model or a preset 3D data format model. When the user needs to manually adjust the axial position of the terminal instrument, the image information display area will perform a global real-time dynamic display according to the position of the terminal instrument and the skull, displaying the puncture axis movement direction, positioning point 1, positioning point 2, the current terminal tool point, the skull entry point, the target point, etc. The image information display area will also display the enlarged image in real time, and the main enlarged area is the puncture axis movement direction, positioning point 2, the current terminal tool point, and the skull entry point. The enlarged image can be dynamically adjusted and enlarged according to the current terminal tool point position, or the user can manually adjust and enlarge the local view.

[0156] like Figure 8 As shown, the motion mode interface of the axial motion module 33 also includes a display area for fixed data information. The display area for fixed data information can display "coordinates of the entry point", "coordinates of the target point", "coordinates of positioning point 1" and "coordinates of positioning point 2".

[0157] like Figure 8 As shown, the motion mode interface of the axial motion module 33 also includes a display area for real-time data information. For example, the terminal adapter is subjected to thrust (N), and this data indicates that the user has applied force information to the instrument; the coordinates from the origin Q of the terminal instrument coordinate system to the positioning point 2 are displayed in real time; the coordinates from the origin Q of the terminal instrument coordinate system to the cranial entry point are displayed in real time; the coordinates from the origin Q of the terminal instrument coordinate system to the target point are displayed in real time. The coordinate values ​​in this example are all displayed relative to the target coordinates, but can also be displayed relative to other coordinate systems. The types of coordinate display include but are not limited to rectangular coordinates and spherical coordinates. The display in the display area of ​​real-time data information may include all of the above display content or part of it.

[0158] like Figure 8 As shown, the motion mode interface of the axial motion module 33 also includes a display area for operation information. Users can set the maximum distance of the axial mode by themselves. Users can also arbitrarily choose "lock the robotic arm", "unlock the robotic arm" or "exit the axial motion mode". Locking the robotic arm allows users to perform other operations more safely without worrying about other abnormal movements of the robotic arm. When the user wants the axial motion mode, he can unlock the robotic arm to perform axial motion or exit the current axial motion mode. In principle, the axial motion interface is the main interface of the motion module, but the sub-interface can still include some functions of the main interface. For example, if the user does not want to return to the main interface to switch the motion mode (such as autonomous motion mode, etc.), he can directly switch to other motion modes in the sub-interface.

[0159] See also Fig. 9 and Fig.10 , Fig. 9 This is an interface display diagram of plane fine-tuning in the fine-tuning motion module 34 described in one embodiment of the present application. Fig.10 This is an interface display diagram of spherical fine adjustment in the fine adjustment motion module 34 in one embodiment of the present application. Fig. 9 Taking the interface operation method of the fine-tuning motion module 34 as an example, the following is explained:

[0160] Determine that the positioning point 1 is the target distance, which is completed by preoperative planning. Step on the pedal, select the autonomous motion module 32 or the combined motion module of the free motion module 31 and the autonomous motion module 32 to move the robot arm to the positioning point 1.

[0161] Select "Plane Fine-tuning Mode" or "Spherical Fine-tuning Mode" on the main page of the main control module 10, and the system enters the sub-page of "Fine-tuning Mode". "Fine-tuning Mode" can further select "Plane Fine-tuning Mode" and "Spherical Fine-tuning Mode". Fig. 9 As shown, the motion mode interface of the fine-tuning motion module 34 includes image information, data information and operation information. The image information display area includes two areas, which are respectively used to display the global image (visual Figure 1 ) and real-time display of magnified images (view Figure 2 ).

[0162] The display area of ​​the data information includes a step amount input area and a step position display area. The user can enter the fine-tuning movement after inputting the step amount, selecting the movement mode and unlocking the robotic arm.

[0163] The display area of ​​the data information also includes step direction keys, and the step direction includes but is not limited to the interface button form in this example, and can also be physical up, down, left, and right buttons or corresponding voice recognition, etc. The direction diagram displays the coordinates of the current position after stepping relative to the initial position in real time, and displays relative numerical information in real time. The coordinate values ​​in this example are all displayed relative to the coordinates of the initial positioning point, but can also be displayed relative to other coordinate systems. The types of coordinate display include but are not limited to rectangular coordinates and spherical coordinates.

[0164] The display area of ​​the operation information includes a mode selection switching area, which can freely switch between the plane fine-tuning mode and the spherical fine-tuning mode, and can click the initial position point to reset to the initial positioning point.

[0165] The operation information display area also includes control buttons. After using the step mode, the user can lock the robot arm and perform other surgical operations more safely. The user can also perform multiple consecutive steps until the desired puncture position is reached. When the fine-tuning mode is completed, the user can click to exit the directional quantitative stepping micro-displacement motion mode. Figure 7 The main interface of

[0166] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0167] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A surgical robot control method, characterized in that: include: Receive user needs and generate interactive control commands; generating a motion control command according to the interactive control command; as well as Controlling the end of the robot arm to execute the motion control command, wherein the motion control command includes controlling the end of the robot arm to perform actions according to multiple motion modes; The multiple motion modes include: axial motion mode, fine-tuning motion mode, spherical motion mode, free motion mode and autonomous motion mode; The axial motion mode is used to control the end of the robot arm to move along a predefined axial direction, the fine-tuning motion mode is used to control the end of the robot arm to translate a predetermined distance along a fixed direction in a predefined plane, and the spherical motion mode is used to control the end of the robot arm to move along a predefined spherical surface; The motion control command includes any one or two of the following control commands: Controlling the bidirectional interactive execution between the axial motion mode and the fine-tuning motion mode, the bidirectional interactive execution between the axial motion mode and the spherical motion mode, and the bidirectional interactive execution between the fine-tuning motion mode and the spherical motion mode; The axial motion mode, the fine-tuning motion mode and the spherical motion mode are controlled to switch to the free motion mode unidirectionally respectively; the axial motion mode, the fine-tuning motion mode and the spherical motion mode are coupled with the autonomous motion mode respectively; after a certain path completes autonomous motion and is in place, the axial motion mode, the fine-tuning motion mode and the spherical motion mode are in an enabled state, otherwise the axial motion mode, the fine-tuning motion mode and the spherical motion mode are in a disabled state, and the user cannot initiate the corresponding motion mode in the disabled state.

2. The surgical robot control method according to claim 1, characterized in that: The motion control command includes any one or two of the following control commands: Controlling each of the plurality of motion modes to be reciprocated multiple times; Controlling the interactive execution between the autonomous motion mode and the free motion mode, the axial motion mode, the fine adjustment motion mode and the spherical motion mode.

3. The surgical robot control method according to claim 2, characterized in that: The robot control method further comprises: Interact with at least one motion mode information among the multiple motion modes to achieve safe control of the surgical robot control system.

4. The surgical robot control method according to claim 3, characterized in that: The step of achieving safety control of the surgical robot control system includes implementing safety control of the surgical robot by adopting any one or more of the following steps: The robot arm is subjected to emergency stop control, a warning of safety risk is issued to the user, an automatic avoidance route is generated for the robot arm, and the movement of the robot arm is prohibited.

5. A surgical robot control system, characterized in that: include: A main control module (10), used for generating motion control commands; An interactive module (20) interacts with the main control module (10) to receive user requirements, generate interactive control commands, and send them to the main control module (10); A plurality of motion modules (30) interacting with the main control module (10) to execute the motion control command; The plurality of motion modules (30) include: an axial motion module (33), a fine-tuning motion module (34) and a spherical motion module (35); The axial motion module (33) interacts with the main control module (10) and the interaction module (20) respectively to control the end of the robot arm to move along a predefined axial direction; a fine-tuning motion module (34), which interacts with the main control module (10) and the interaction module (20) respectively, and is used to control the end of the robot arm to translate a predetermined distance along a fixed direction in a predefined plane; and / or The spherical motion module (35) interacts with the main control module (10) and the interaction module (20) respectively, and is used to control the end of the robot arm to move along a predefined spherical surface; the axial motion mode, the fine-tuning motion mode and the spherical motion mode are respectively coupled with the autonomous motion mode; after the autonomous motion on a certain path is completed and in place, the axial motion mode, the fine-tuning motion mode and the spherical motion mode are in an enabled state; otherwise, the axial motion mode, the fine-tuning motion mode and the spherical motion mode are in a disabled state, and the user cannot initiate the corresponding motion mode in the disabled state.

6. The surgical robot control system according to claim 5, characterized in that: The plurality of motion modules (30) include: A free motion module (31) which interacts with the main control module (10) and the interaction module (20) respectively, and is used to control the end of the robot arm to perform free motion; The autonomous motion module (32) interacts with the main control module (10) and the interactive module (20) respectively, and is used to perform autonomous motion according to the path points planned by the main control module (10).

7. The surgical robot control system according to claim 5, characterized in that: The interaction module (20) comprises: The self-circulating interaction device (21) interacts with each type of motion module in the plurality of motion modules (30) to control each type of motion module in the plurality of motion modules (30) to perform reciprocating execution multiple times.

8. The surgical robot control system according to claim 6, characterized in that: The interaction module (20) further includes: An autonomous interaction device (22) is configured to interact with each type of motion module in the plurality of motion modules (30) to control the interaction between the autonomous motion module (32) and the free motion module (31), the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35).

9. The surgical robot control system according to claim 5, characterized in that: The interaction module (20) further includes: The predefined motion interaction device (23) interacts with the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35) respectively to control the two-way interaction between the axial motion module (33) and the fine-tuning motion module (34), the two-way interaction between the axial motion module (33) and the spherical motion module (35), and the two-way interaction between the fine-tuning motion module (34) and the spherical motion module (35).

10. The surgical robot control system according to claim 6, characterized in that: The interaction module (20) comprises: The one-way switching device (24) is respectively configured to exchange information with the free motion module (31), the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35), and is configured to control the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35) to respectively switch to the free motion module (31) in one direction.

11. The surgical robot control system according to claim 6, characterized in that: Also includes: A safety control system (40) interacts with the main control module (10) and interacts with at least one of the plurality of motion modules (30) to achieve safety control of the surgical robot control system (100).

12. The surgical robot control system according to claim 11, characterized in that: The safety control system (40) comprises: An emergency stop device (41) interacts with information of each of the plurality of motion modules (30) and is used for, when a user determines that there is a safety risk in the movement of the robotic arm, the user stops the robotic arm from continuing to move through the emergency stop device (41).

13. The surgical robot control system according to claim 11, characterized in that: The safety control system (40) further includes: The safety boundary computing device (42) interacts with the free motion module (31), the axial motion module (33) and the spherical motion module (35) respectively, and is used to compare the actual motion trajectory of the robot arm with the predefined safety boundary in real time, and warn the user of the safety risk when it is found that the actual motion trajectory is about to reach the safety boundary.

14. The surgical robot control system according to claim 11, characterized in that: The safety control system (40) further includes: The obstacle collision avoidance device (43) interacts with the autonomous motion module (32) and is used to generate a simplified obstacle model based on a system hardware model and an unknown patient head model. When the main control module (10) plans a path point of the autonomous motion module (32), the obstacle collision avoidance device (43) generates an avoidance route that can avoid the simplified obstacle model.

15. The surgical robot control system according to claim 11, characterized in that: The safety control system (40) further includes: A trajectory interlocking device (44) interacts with each of the plurality of motion modules (30) to monitor the motion trajectory of the robotic arm in real time, and when it is found that the deviation between the actual motion trajectory of the robotic arm and the planned motion trajectory exceeds a preset deviation, warns the user or directly prohibits the movement of the robotic arm.

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