Robot system and control method

Abstract

The present disclosure relates to the field of medical devices and discloses a control method for a robotic system. The robotic system includes multiple motion arms, including a first motion arm and a second motion arm. The control method includes: obtaining a current position of a first end of the first motion arm; determining a target position of the second end based on the current position of the first end and a relative position relationship between the second end of the second motion arm and the first end, the target position including a target position and a target position; determining a motion path of the second motion arm based on the target position of the second end; and controlling the second end of the second motion arm to move to the target position based on the motion path, so that the second end forms a relative position relationship with the first end. The method enables the motion arm to reach the target position accurately, quickly, and safely, thereby reducing preoperative preparation time and achieving efficient and safe preoperative preparation.

Description

Technical Field

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

[0002] Laparoscopic surgery is a widely used surgical procedure, offering advantages such as minimal invasiveness. In recent years, surgical robots have used motion arms to achieve greater stability and precision in surgical procedures. During surgery, these arms deliver surgical instruments through a probing mechanism into the surgical site within the body (e.g., of a human or animal) to perform the procedure.

[0003] At present, the surgical process performed using surgical robots mainly includes preoperative positioning, intraoperative operation and postoperative preparation. Before the operation, a surgical assistant (such as an assistant doctor or nurse) is usually required to adjust the motion arm to a suitable position according to the type of surgery and the surgical posture, fix the motion arm to the punch card, and then set the surgical instrument at the end of the motion arm so that the surgical instrument can enter the body through the punch card. The movement of the motion arm can be manually adjusted by the surgical assistant from its distal end (i.e., close to the patient end), or it can be controlled by the surgical assistant or the doctor by operating the control device at the proximal end of the motion arm (i.e., close to the doctor's control end). However, since the motion arm may be large in size and weight, there are stability issues and collision risks, especially in single-port surgery. Therefore, the adjustment of the motion arm is complicated and time-consuming. Similarly, the adjustment of the motion arm during and after the operation has the above problems. Summary of the Invention

[0004] In some embodiments, the present disclosure provides a control method for a robot system, wherein the robot system includes multiple motion arms, and the multiple motion arms include a first motion arm and a second motion arm. The control method includes: obtaining the current posture of the first end of the first motion arm; determining the target posture of the second end based on the current posture of the first end and the relative posture relationship between the second end of the second motion arm and the first end, the target posture including a target position and a target posture; determining the motion path of the second motion arm based on the target posture of the second end; and controlling the second end of the second motion arm to move to the target posture based on the motion path, so that the second end forms the relative posture relationship with the first end.

[0005] In some embodiments, the present disclosure provides a robot system comprising: a plurality of motion arms, the plurality of motion arms including a first motion arm and a second motion arm; a control device, the control device being configured to obtain a current posture of the first end of the first motion arm, and determine a target posture of the second end based on the current posture of the first end and the relative posture relationship between the second end of the second motion arm and the first end; the control device being further configured to determine a motion path of the second motion arm based on the target posture of the second end, and based on the motion path, controlling the second end of the second motion arm to move to the target posture so that the second end forms the relative posture relationship with the first end.

[0006] In some embodiments, the present disclosure provides a computer-readable storage medium comprising one or more instructions, wherein the instructions are executed by a processor to configure the processor to perform the control method described in any embodiment of the present disclosure.

[0007] In some embodiments, the present disclosure provides a computer system, comprising: a memory for storing at least one instruction; and a processor configured to execute the at least one instruction to perform the control method described in any embodiment of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] To clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0009] Figure 1 shows a structural block diagram of a robot system according to some embodiments of the present disclosure;

[0010] Figure 2 shows a schematic diagram of the three-dimensional structure of a robot system according to some embodiments of the present disclosure;

[0011] Figure 3 A schematic structural diagram of a motion arm of a robot system according to some embodiments of the present disclosure is shown;

[0012] Figure 4 shows a partial cross-sectional view of an auxiliary connection device according to some embodiments of the present disclosure;

[0013] Figure 5 A flow chart showing a control method for a robot system according to some embodiments of the present disclosure is shown;

[0014] Figure 6shows another structural block diagram of a robot system according to some embodiments of the present disclosure;

[0015] Figure 7 A flow chart showing a method for determining a motion path of a motion arm according to some embodiments of the present disclosure is shown;

[0016] Figure 8 A flowchart of a method for determining a target posture of a motion arm according to some embodiments of the present disclosure is shown;

[0017] Figure 9 A schematic diagram of the architecture of a controller according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0018] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0019] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply 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 on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In this disclosure, the end closest to the user (e.g., a doctor) is defined as the proximal end, near end, or rear end, and the end closest to the patient being operated on is defined as the distal end, far end, or front end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0020] In the present disclosure, the term "position" refers to the positioning of an object or a portion of an object in three-dimensional space (for example, three translational degrees of freedom can be described using changes in Cartesian X, Y, and Z coordinates, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, respectively). In the present disclosure, the term "posture" refers to the rotational setting of an object or a portion of an object (i.e., three rotational degrees of freedom, such as roll, pitch, and yaw). In the present disclosure, the term "pose" refers to the combination of the position and pose of an object or a portion of an object, such as six parameters of the six degrees of freedom mentioned above. In the present disclosure, the pose of a motion arm or a portion of an object refers to the pose of a coordinate system defined by the motion arm or a portion of the object relative to a coordinate system defined by a support or base on which the motion arm is located, or a world coordinate system. In the present disclosure, the pose of a motion arm can be represented by a set of joint values ​​of a plurality of joints included in the motion arm when the motion arm is in that pose (for example, a one-dimensional matrix composed of these joint values). In the present disclosure, the joint value of a joint indicates the angle rotated by the corresponding joint relative to the corresponding joint axis or the distance moved relative to the initial position. In the present disclosure, the motion path of a motion arm or a portion thereof refers to the path that the motion arm or a portion thereof travels from one position to another. In the present disclosure, the lateral or horizontal direction refers to the lateral direction in the coordinate system defined by the support or base on which the motion arm is located or the world coordinate system, and the longitudinal or vertical direction refers to the longitudinal direction in the coordinate system defined by the support or base on which the motion arm is located or the world coordinate system.

[0021] Figure 1 FIG. 1 shows a block diagram of a robot system 10 according to some embodiments of the present disclosure. Figure 1 As shown, the robot system 10 may include a control device 11 and a plurality of motion arms connected to the control device 11. In some embodiments, as shown in FIG. Figure 1 As shown, the multiple motion arms may include a first motion arm 12a and a second motion arm 12b. The control device 11 may be used to control the first motion arm 12a and the second motion arm 12b. For example, the control device 11 may adjust the movement, posture, mutual coordination, etc. of the first motion arm 12a and the second motion arm 12b. In some embodiments, the ends of the first motion arm 12a and the second motion arm 12b may respectively include a first end (e.g., the end arm 128a or the distal end of the end arm 128a) and a second end (e.g., the end arm 128b or the distal end of the end arm 128b). The control device 11 may control the movement of the first motion arm 12a or the second motion arm 12b so that the first end 128a or the second end 128b moves to a desired position and posture.

[0022] For the sake of simplicity, this disclosure Figure 1The exemplary robotic system 10 is shown in the following figures as including two motion arms. However, those skilled in the art will appreciate that the robotic system 10 may also include three, four, or more motion arms. The robotic system 10 may include a surgical robotic system, such as a laparoscopic surgical robotic system. It should be understood that the robotic system 10 may also include specialized or general-purpose robotic systems used in other fields (e.g., manufacturing, machinery, etc.).

[0023] Figure 2 FIG. 1 shows a schematic diagram of a three-dimensional structure of a robot system 10 according to some embodiments of the present disclosure. Figure 2 As shown, the robotic system 10 may include a surgical trolley 13 and a first motion arm 12a and a second motion arm 12b mounted on the trolley 13. In some embodiments, the trolley 13 may include a base 131 and a crossbeam 132. In some embodiments, the first motion arm 12a and the second motion arm 12b may be movably mounted on the crossbeam 132. It should be understood that the multiple motion arms of the robotic system 10 may also be mounted on multiple surgical trolleys, for example, each motion arm being mounted on a corresponding surgical trolley. Alternatively, one motion arm may be mounted on one surgical trolley, while the remaining motion arms may be mounted on another surgical trolley.

[0024] In some embodiments, each motion arm of the robotic system 10 (e.g., the first motion arm 12a and the second motion arm 12b) may include multiple connecting rods and multiple joints connected in series. In some embodiments, each joint of each motion arm may include a motor to drive the corresponding joint to rotate, thereby driving the corresponding connecting rod to rotate.

[0025] Figure 3 FIG. 1 shows a schematic diagram of the structure of the motion arm of the robot system 10 according to some embodiments of the present disclosure. Figure 3As shown, the second motion arm 12b (or the first motion arm 12a) may include joints 1201b-1208b and links 121b-128b. The proximal end of the link 121b (the end close to the crossbeam 132 in this disclosure is defined as the proximal end of the motion arm) is connected to the crossbeam 132, and the links 121b-127b are connected in series. Joint 1201b may be located at the proximal connection between the crossbeam 132 and the link 121b, joint 1202b may be located at the connection between the link 121b and the second link 122b, joint 1203b may be located at the connection between the link 122b and the link 123b, joint 1204b may be located at the connection between the link 123b and the link 124b, joint 1205b may be located at the connection between the link 124b and the link 125b, joint 1206b may be located at the connection between the link 125b and the link 126b, joint 1207b may be located at the connection between the link 126b and the link 127b, and joint 1208b may be located at the connection between the link 127b and the link 128b. Link 128b serves as the farthest link of the second motion arm 12b, forming the second end arm 128b of the second motion arm 12b. The determination and representation of the position and posture of the end arm requires the joint decision of each of the aforementioned joints.

[0026] In some embodiments, the robotic system 10 may include one or more surgical instruments 14, such as Figure 3 As shown. Figure 2 As shown, surgical instrument 14a can be detachably mounted on first end arm 128a of first motion arm 12a, and surgical instrument 14b can be detachably mounted on second end arm 128b of second motion arm 12b. It should be understood that surgical instruments 14a and 14b may include, but are not limited to, clamps for performing surgery, electrocautery, or image capture devices for performing illuminated imaging (e.g., endoscopic tools), etc. Parts of surgical instruments 14a and 14b can be inserted into a body part of a human or animal to perform a medical procedure, such as surgery.

[0027] In some embodiments, as Figure 2 As shown, the robotic system 10 may further include an auxiliary connecting device 15, such as a sheath. A portion of the auxiliary connecting device 15 may be positioned at a body part of a human or animal requiring surgery, such as a surgical port (e.g., an incision or natural opening), and another portion may be detachably connected to a motion arm (e.g., the first and second end arms 128a, 128b of the first and second motion arms 12a, 12b) to better facilitate surgery.

[0028] Figure 4 FIG. 1 shows a partial cross-sectional view of the auxiliary connection device 15 according to some embodiments of the present disclosure. Figure 4As shown, the auxiliary connecting device 15 may include multiple sheaths, such as sheath 151 and sheath 152. In some embodiments, the auxiliary connecting device 15 may also include multiple connecting portions (such as connecting portions 153 and 154) provided on the multiple sheaths. The connecting portions may include, but are not limited to, clamps, snap-fit ​​structures, adhesive structures, plug-in structures, and suction structures. Connecting portions 153 and 154 may be fixedly provided on sheaths 151 and 152, respectively.

[0029] In some embodiments, each movement arm (eg, the first and second movement arms 12a, 12b) may include a connection piece (eg, a connection piece) that cooperates with the connection portion (eg, the connection portions 153 and 154). Figure 2 The auxiliary connecting device 15 can be detachably fixedly connected to the connecting members 1281a and 1281b of the first and second moving arms 12a and 12b respectively through the connecting parts 153 and 154. In some embodiments, as Figure 2 As shown, the connecting members 1281a and 1281b can be fixedly arranged on the first end arm 128a and the second end arm 128b respectively, and the connecting members 1281a and 1281b are respectively connected to the connecting portion 153 and the connecting portion 154, so that the auxiliary connecting device 15 is detachably fixedly connected to the first and second moving arms 12a and 12b.

[0030] It should be understood that the position of the end of the first motion arm 12a (e.g., the first end arm 128a, the distal end of the first end arm 128a, the distal center of motion (RCM), or the connector 1281a) and the end of the second motion arm 12b (e.g., the second end arm 128b, the distal end of the second end arm 128b, the distal center of motion, or the connector 1281b) can be the position of the end coordinate system relative to the coordinate system of the support, base (e.g., the surgical trolley 10) on which the motion arms are located, or the world coordinate system. In some embodiments, the relative position relationship of the ends of the multiple motion arms can be based on the current surgical type or the configuration of the auxiliary connecting device. For example, the configuration of the auxiliary connecting device can be determined based on the current surgical type. Based on the configuration of the auxiliary connecting device, the shapes and relative positional relationships between the multiple sheaths of the auxiliary connecting device are determined to determine the relative positional relationship of the ends of the multiple motion arms. For example, the relative positional relationship between the end of the first motion arm 12a and the end of the second motion arm 12b can be determined based on the shapes and relative positional relationships of the sheaths 151 and 152. The relative posture relationship between the ends of the first moving arm 12a and the second moving arm 12b can indicate the relative position relationship and relative posture relationship between the ends of the first moving arm 12a and the ends of the second moving arm 12b. For example, the relative posture relationship of the ends may include, for example, the relative posture relationship between the first end arm 128a of the first moving arm 12a or a portion of the first end arm 128a and the second end arm 128b of the second moving arm 12b or a portion of the second end arm 128b. Alternatively, the relative posture relationship of the ends may also include the relative posture relationship between the surgical instruments 14a and 14b mounted on the first end arm 128a and the second end arm 128b. Alternatively, the relative posture relationship of the ends may also include the relative posture relationship between the connecting members 1281a and 1281b fixedly disposed on the first end arm 128a and the second end arm 128b. In some embodiments, the relative pose relationship can be stored in an associated relative pose model to be used to calculate the target pose of the end of the second motion arm 12b (e.g., the end arm 128b or a portion thereof, the surgical instrument 14b mounted on the end arm 128b, or the connector 1281b fixed to the end arm 128b). Since the connectors 1281a and 1281b are respectively fixed to the first end arm 128a and the second end arm 128b, when the first end arm 128a and the second end arm 128b meet the relative pose relationship of the end, the connectors 1281a and 1281b can be connected to the connecting parts 153 and 154, respectively.

[0031] It should be understood that when the first motion arm 12a moves to the target position, the target position of the surgical instrument 14a installed at the end of the first motion arm 12a can be determined, and when the second motion arm 12b moves to the target position, the target position of the surgical instrument 14b installed at the end of the second motion arm 12b can be determined. In some embodiments of the present disclosure, the target position or posture of the end of each motion arm (e.g., the first and second end arms 128a, 128b, and the connecting members 1281a, 1281b fixedly arranged on the first and second motion arms 12a, 12b, and the surgical instruments 14a, 14b installed on the first and second motion arms 12a, 12b) can be achieved by one or more of the multiple joints included in the corresponding motion arm. In some embodiments, the multiple joints of the end of the motion arm (e.g., the first and second end arms 128a, 128b) used to achieve the target posture are closer to the distal end of the motion arm relative to the multiple joints of the motion arm used to achieve the target position. It should be understood that the multiple joints for achieving the target posture and target position of the end of the motion arm may also include other configurations, which may be configured according to specific needs.

[0032] In some embodiments, after the surgical instruments are mounted on the end arms, the surgical instruments 14a and 14b can pass through the sheaths 151 and 152 of the auxiliary connecting device 15, respectively, and enter the human body along the sheaths 151 and 152 to achieve the target posture. In some embodiments, the sheaths 151 and 152 of the auxiliary connecting device 15 can be flexible, and the portion of the surgical instruments 14a and 14b extending through the auxiliary connecting device 15 is also flexible, so that when the first end arm 128a and the second end arm 128b deviate from the relative posture relationship, the connecting portions 153 and 154 on the auxiliary connecting device 15 can be connected to the connecting members 1281a and 1281b on each movable arm. The flexible portion of the auxiliary connecting device 15 can facilitate each surgical instrument to pass through the sheath and enter the surgical area even when there is a certain error in the posture of the end arms.

[0033] During the preoperative preparation process, when positioning the motion arms, one of the first and second motion arms 12a, 12b, for example, the first motion arm 12a, can be moved to a suitable position. For example, a suitable position can include a position suitable for surgery, which can refer to the distal ends of the motion arms (e.g., the first and second distal arms 128a, 128b) being in a position and posture suitable for the surgical procedure. The second motion arm 12b is moved to a suitable position corresponding to the first motion arm 12a, so that the distal end of the second motion arm 12b also has a position and posture suitable for the surgical procedure. In some embodiments, the correspondence between the first and second motion arms 12a, 12b is constrained by an auxiliary connecting device 15 connected to the first and second motion arms 12a, 12b. It should be understood that different auxiliary connecting devices can be selected for different surgical procedures and surgical sites, and that the shapes of the multiple sheaths and their relative positional relationships can vary for different auxiliary connecting devices, thereby varying the desired relative positional relationship between the distal ends of the first and second motion arms 12a, 12b.

[0034] It should be understood that Figure 4 The auxiliary connecting device 15 shown is merely exemplary. In some embodiments, the robotic system 10 may include three, four, or more motion arms, and the auxiliary connecting device 15 may include three, four, or more sheaths, each of which includes a corresponding connecting portion for connecting each sheath to each motion arm and constraining the relative positions of the distal ends of the multiple motion arms.

[0035] The present disclosure provides a control method that can be used for a robot system. Figure 5 A flow chart of a control method 500 for the robotic system 10 is shown, according to some embodiments of the present disclosure. Figure 6 1 shows another simplified block diagram of the robotic system 10 according to some embodiments of the present disclosure. Figure 5 and Figure 6 As shown, the method 500 may be executed by a control device (eg, the control device 11) for the robot system 10 and may be implemented by software, firmware, and / or hardware. The control device 11 may be implemented by a computing device.

[0036] like Figure 5 As shown, in step 501, the current position of the first end of the first motion arm is obtained. For example, the current position of the first end of the first motion arm 12a of the robot system 10 (for example, the first end arm 128a) is obtained. In some embodiments, Figure 6 As shown, the control device 11 can be connected to each movement arm (for example, the first movement arm and the second movement arm 12a, 12b) for communication. Figure 6As shown, the first motion arm 12a may further include one or more sensors 129a. The motors of the joints 1201-1208a may be connected to the multiple sensors 129a. The second motion arm 12b may further include one or more sensors 129b. The motors of the joints 1201-1208b may be connected to the multiple sensors 129b. Figure 6 While one sensor is shown as an example, it should be understood that the illustrated sensors 129a and 129b may represent a plurality of sensors. Sensors 129a and 129b may include, but are not limited to, encoders or potentiometers. The sensors may be used to obtain joint values ​​of a plurality of joints of the corresponding motion arm to obtain the current posture of the motion arm. Sensors 129a and 129b may include optical fiber sensors extending from the motion arm to sense the posture of the motion arms 12a and 12b. It should be understood that the current posture may include the current attitude and the current position.

[0037] In some embodiments, as Figure 6 As shown, the control device 11 may include one or more processors 111 and a memory 112. The processor 111 may be communicatively connected to the multiple sensors 129a of the first motion arm 12a to obtain the current joint values ​​of the joints 1201-1208a of the first motion arm 12a through the multiple sensors 129a. The processor 111 may be communicatively connected to the multiple sensors 129b of the second motion arm 12b to obtain the current joint values ​​of the joints 1201-1208b of the second motion arm 12b through the multiple sensors 129b. In some embodiments, the processor 111 may solve the current joint values ​​of the joints based on the positive kinematics model of the first and second motion arms 12a and 12b to obtain the current posture of the first and second motion arms 12a and 12b. In some embodiments, the positive kinematics model of the motion arm may be pre-set and stored in the memory 112. The forward kinematic model of the motion arm can determine the posture of the end of the motion arm (for example, the posture of the first and second end arms 128a, 128b, the connecting parts 1281a, 1281b fixed on the first and second motion arms 12a, 12b, and the surgical instruments 14a, 14b installed on the first and second motion arms 12a, 12b) based on all known joint variables of the motion arm (for example, joint values).

[0038] In step 503, the relative posture relationship between the second end of the second motion arm and the first end can be optionally determined. In some embodiments, the relative posture relationship between the second end of the second motion arm 14b (e.g., second end arm 128b) and the first end of the first motion arm 14a (e.g., first end arm 128a) of the robot system 10 can be determined based on input information. In some embodiments, the input information can include the current operation type and the configuration of the auxiliary connecting device 15 (e.g., sheath). In some embodiments, the current operation type can be the type of operation currently to be performed, for example, the operation type can include but is not limited to general surgery, thoracic surgery, urological surgery, gynecological surgery, etc. In some embodiments, the configuration of the sheath can include the type of sheath, such as the specifications and models of the sheath under different procedures (the specifications and models can include but are not limited to, for example, the length of the sheath, radial dimension, aperture size, number of sheaths, relative positional relationship of multiple sheath settings, etc.). Sheaths of different configurations can be associated with different motion arm relative posture relationships.

[0039] In some embodiments, the control device 11 may further include an input device 113. Input information may be input by a user through the input device 113. In some embodiments, the input device 113 may include a user interface, such as a keyboard, a touch screen, buttons, a microphone, etc. In some embodiments, the input device 113 may include one or more buttons, for example, buttons may include but are not limited to "select key", "confirm key", "start and stop key", "previous step and "next step", etc. In some embodiments, the input device 113 may also include a touch screen, and the user may also make selections and inputs by touching the screen. In some implementations, the input device 113 may also be used to receive setting information from the user (such as the current type of surgery, the configuration of the auxiliary connection device, the relative posture model or other setting information, etc.).

[0040] In some embodiments, the current surgical type or the configuration of the auxiliary connecting device is determined by input information to determine the relative positional relationship between the first end of the first moving arm 12a and the second end of the second moving arm 12b under the current surgical type or the configuration of the auxiliary connecting device. It should be understood that the relative positional relationship of the ends can be the relative positional relationship and relative posture relationship between the first end arm 128a and the second end arm 128b. In some embodiments, the surgical instruments 14a and 14b can be mounted on the first and second end arms 128a and 128b, and the relative positional relationship between the surgical instruments 14a and 14b can be determined by the relative positional relationship between the first end arm 128a of the first moving arm 12a and the second end arm 128b of the second moving arm 12b. Alternatively, the relative positional relationship between the ends can be the relative positional relationship between the connectors 1281a and 1281b.

[0041] In step 505, the target posture of the second end is determined based on the current posture of the first end and the relative posture relationship between the second end and the first end. For example, the target posture of the second end arm 128b can be determined based on the current posture of the first end arm 128a and the relative posture relationship between the second end arm 128b and the first end arm 128a. The target posture includes a target posture and a target position. In some embodiments, the target posture of the second end can be the position and posture of the second end arm 128b (or the distal end of the second end arm 128b). Alternatively, the target posture of the second end can be the posture along the distal center of motion (RCM) of the second end arm 128b. Alternatively, the target posture of the second end can be the posture of the connector 1281b provided on the second end arm 128b for connection to the auxiliary connecting device 15. It should be understood that the position of the connector 1281b can include a position within a preset distance range from the auxiliary connecting device 15, and the preset distance can include but is not limited to 10 cm. For example, in the target position, the second end arm 128b and the first end arm 128a (e.g., the connectors 1281a and 1281b on the first and second end arms 128a and 128b) can be connected to the auxiliary connecting device 15 (e.g., the connecting portions 153 and 154 on the sheaths 151 and 152), respectively. In some embodiments, when the surgical instrument 14b is provided on the second end arm 128b, in the target position, the surgical instruments 14a and 14b can be respectively passed through the auxiliary connecting device 15 (e.g., the sheaths 151 and 152) in a specific relative position relationship to enter the surgical site.

[0042] In step 507, the motion path of the second motion arm is determined based on the target position of the second end. For example, the motion path of the second motion arm 12b can be determined based on the target position of the second end arm 128b. It should be understood that the motion path may include the paths of multiple joints of the second motion arm 12b. In some embodiments, the following method can be used: Figure 7 The illustrated method 700 determines a motion path of a motion arm.

[0043] In step 509, based on the motion path, the second end of the second motion arm is controlled to move to the target posture, so that the second end forms a relative posture relationship with the first end. For example, based on the motion path of the second motion arm 12b, the second motion arm 12b can be controlled to move to the target posture, so that the second end arm 128b forms a relative posture relationship with the first end arm 128a. In some embodiments, the control device 11 can control the movement of multiple joints of the second motion arm 12b based on the motion path, so that the second motion arm 12b moves to the target posture according to the set motion path, and the second end arm 128b forms a desired relative posture relationship with the first end arm 128a. In the target posture, the first end arm 128a and the second end arm 128b can be connected to the sheaths 151 and 152 of the auxiliary connecting device 15, respectively.

[0044] In some embodiments, the method 500 may further include: during the process of the second moving arm moving to the target posture, determining whether the second moving arm has an interference relationship with other moving arms of the plurality of moving arms. In response to the interference relationship between the second moving arm and other moving arms of the plurality of moving arms, an alarm message is issued. This can avoid causing the second moving arm 12b to collide with other moving arms. In some embodiments, the alarm message can be displayed through a display screen. In some embodiments, the alarm message can also be output through other output modules of the operating trolley 4 (such as speakers, alarm indicator lights, etc.). For example, when an interference relationship occurs between the moving arms, the speaker can emit an alarm sound, the alarm indicator light flashes, etc. Based on the alarm message, the user can check the alarm message in time and solve the problem in time, so as to prompt the user to understand in real time the various situations that may occur during the movement of the second moving arm 12b.

[0045] Figure 7 FIG. 7 is a flow chart showing a method 700 for determining a motion path of a motion arm according to some embodiments of the present disclosure. The method 700 may be performed by a control device (e.g., Figure 1 or Figure 6 For example, the control device 11 for the robot system 10 may include a processor (e.g., Figure 6 The processor 111 shown is configured to execute the method 700. The method 700 can be used to implement, for example Figure 5 In step 507 , the motion path of the second motion arm 12 b is determined.

[0046] like Figure 7As shown, in step 701, the initial position and posture of the second motion arm 12b is obtained. In some embodiments, the initial position and posture of the second motion arm 12b can be obtained by using sensors installed at each joint of the second motion arm 12b to obtain initial joint values ​​of each joint of the second motion arm 12b. It should be understood that the initial position and posture may also include the current position and posture of the second motion arm 12b.

[0047] In step 703, the target pose of the second motion arm is determined based on the target pose of the second end and the inverse kinematics model of the second motion arm. For example, the target pose of the second motion arm 12b can be determined by solving the inverse kinematics model of the second motion arm 12b based on the target pose of the second end arm 128b. It should be understood that the inverse kinematics model of the motion arm can be used to solve the joint values ​​of the motion arm when the pose of any part of the motion arm is known. The inverse kinematics model of the motion arm can be predetermined. It should be understood that based on the target pose of the second end arm 128b, the target joint values ​​of the second end arm 128b at the target pose can be determined. Through the target joint values ​​of the second end arm 128b, the remaining joint values ​​of the other joints of the second motion arm 12b can be determined using the inverse kinematics model of the second motion arm 12b, so that the target pose of the second motion arm 12b can be obtained. For example, Figure 8 The method shown can be used to determine the target pose of the second motion arm.

[0048] At step 707, a motion path of the second motion arm is determined based on the initial position and the target position of the second motion arm. In some embodiments, for example, based on the initial position and the target position of the second motion arm 12b, an interpolation method can be used to plan the motion path of the second motion arm 12b from its initial position to its target position.

[0049] In some embodiments, method 700 may further include step 705. In step 705, it is determined whether an interference relationship will form between the second moving arm and other moving arms of the plurality of moving arms. For example, during the process of planning the motion path of the second moving arm 12b, it is determined whether an interference relationship will form between the first moving arm 12a and the second moving arm 12b, or between the plurality of second moving arms 12b. The interference relationship may include, for example, the possibility of a collision between the second moving arm 12b and the first moving arm 12a.

[0050] In some embodiments, method 700 may further include steps 709 and 711. In step 709, the second motion arm is controlled to move to a target position. For example, in response to the fact that there will be no interference between the first motion arm 12a and the second motion arm 12b, the second motion arm 12b is controlled to move to the target position. In step 711, an alarm message is issued. For example, in response to the fact that there will be an interference between the first motion arm 12a and the second motion arm 12b, an alarm message is issued. In some embodiments, the alarm message may be displayed in at least one of the following ways: display on a display screen, voice broadcast display, or alarm indicator light display.

[0051] Figure 8 FIG. 8 is a flow chart showing a method 800 for determining a target pose of a motion arm according to some embodiments of the present disclosure. The method 800 may be performed by a control device (e.g., Figure 1 or Figure 6 For example, the control device 11 for the robot system 10 may include a processor (e.g., Figure 6 The processor 111 shown is configured to execute the method 800. The method 800 can be used to implement, for example Figure 7 Step 703 is shown to determine the target posture of the second motion arm 12b.

[0052] like Figure 8 As shown, in step 801, one of the multiple joints of the second motion arm is selected as a characteristic joint, and a recommended target joint value of the characteristic joint is set. In some embodiments, the selected characteristic joint of the second motion arm 12b can be a joint among the multiple joints of the second motion arm 12b that is likely to collide with the first motion arm 12a, for example Figure 3 It should be understood that when the robotic system 10 includes multiple motion arms (e.g., three or four motion arms), the recommended target joint values ​​of the characteristic joints of different motion arms may be different. The recommended target joint values ​​may be predetermined.

[0053] In step 803, based on the recommended target joint values, the target pose of the second end, and the inverse kinematics model of the second motion arm, other target joint values ​​of other joints of the second motion arm are determined. It should be understood that the other target joint values ​​may include target joint values ​​of all other joints of the second motion arm 12b except the characteristic joints. For example, based on the target pose of the second end arm 128b of the second motion arm 12b and the recommended target joint values ​​of the recommended joints (e.g., joint 1205b), the inverse kinematics model of the second motion arm 12b is solved to obtain other target joint values ​​of all other joints of the second motion arm 12b.

[0054] In some embodiments, method 800 may further include step 805. In step 805, it is determined whether the other target joint values ​​of the second motion arm are all within the joint motion range of the corresponding joint. It should be understood that each joint of the motion arm has a certain range of motion, and the joint motion range of each joint includes the range between the minimum limit joint value and the maximum limit joint value of the corresponding joint. In some embodiments, the minimum limit joint value and the maximum limit joint value may not be within the joint motion range. For example, and not by way of limitation, some joints move between 18 degrees and 45 degrees, some joints move between 45 degrees and 90 degrees, and some joints move between -90 degrees and -45 degrees, and so on.

[0055] In some embodiments, method 800 may further include step 807. In step 807, the recommended target joint value is increased or decreased by a preset adjustment value to adjust the recommended target joint value of the second motion arm. For example, in response to at least one of the other target joint values ​​of the second motion arm 12b not being within the joint motion range of the corresponding joint, the recommended target joint value is increased or decreased by a preset adjustment value to adjust the recommended target joint value of the second motion arm 12b. In some embodiments, the adjustment value may be set to, for example, 0.2° or 0.5°, etc. to adjust the recommended target joint value. It should be understood that 0.2° or 0.5° are only examples, and the adjustment value may also be set to other values. Increase or decrease the preset adjustment value until there is a solution or the joint motion range of the characteristic joint is reached (which may not include a limit value). For example, having a solution may mean that the recommended target joint value is within the joint motion range of the characteristic joint.

[0056] In some embodiments, the method 800 may further include step 809. In step 809, it is determined whether the adjusted recommended target joint value is within the joint motion range of the characteristic joint.

[0057] In some embodiments, method 800 may further include step 811. In step 811, the adjusted recommended target joint value is selected as the recommended target joint value. For example, in response to the adjusted recommended target joint value being within the joint motion range of the feature joint, the adjusted recommended target joint value is selected as the recommended target joint value, and the process returns to step 803.

[0058] In some embodiments, the method 800 may further include step 813. In step 813, the current posture of the first end is adjusted. For example, in response to the adjusted recommended target joint value not being within the joint motion range of the characteristic joint, it is indicated that the current process has no solution. In this way, the current posture of the first end arm 128a can be adjusted within the preset compensation range through instructions, and then the control method described in the present disclosure (for example, Figure 5It should be understood that the instruction can be generated by the user through the user interface to control the movement of one or more joints of the first motion arm 12a to change the current posture of the first end arm 128a.

[0059] In step 817, the target pose of the second moving arm 12b is determined based on the recommended target joint values ​​and the other target joint values. For example, in response to the fact that the other target joint values ​​of the second moving arm 12b are all within the joint motion range of the corresponding joint, the set of the recommended target joint values ​​and the other target joint values ​​is selected as the target joint values ​​of the second moving arm 12b. By determining the target joint values ​​of the second moving arm 12b, the target pose of the second moving arm 12b can be determined.

[0060] In some embodiments, method 800 may optionally further include step 815. In step 815, a determination is made as to whether an interference relationship will form between the second moving arm and any other moving arm of the plurality of moving arms. For example, in response to all other target joint values ​​of the second moving arm 12b being within the joint motion range of the corresponding joint, a determination is made as to whether an interference relationship will form between the second moving arm 12b and the first moving arm 12a. In some embodiments, in response to the second moving arm 12b not forming an interference relationship with the first moving arm 12a, step 817 is executed. In some embodiments, in response to the second moving arm 12b forming an interference relationship with the first moving arm 12a, the process returns to step 807.

[0061] In some embodiments, when there are multiple sets of solutions that meet the conditions for the recommended target joint values ​​and other target joint values ​​(for example, multiple sets of target joint values ​​for the second moving arm 12b that meet the conditions), the set of solutions with the lowest probability of interference between the joints of the second moving arm 12b and the first moving arm 12a can be selected as the target joint values ​​for the second moving arm 12b. It should be understood that the probability of interference and whether interference has occurred can be determined based on the distance between the recommended target joint values ​​and other target joint values ​​of the second moving arm 12b and the corresponding joint values ​​of the first moving arm. For example, a larger distance indicates a lower probability of interference.

[0062] Figure 9 FIG. 1 shows a schematic diagram of the architecture of a control device 11 included in a medical device control system 10 according to an embodiment of the present disclosure. Figure 9 As shown, the control device 11 may include an input device 113, an output device 114, one or more memories 112, one or more processors 111, and a communication interface 115. In some embodiments, the control device 11 may also not include an output device.

[0063] In some embodiments, the input device 113 may include, but is not limited to, buttons, a keyboard, a touch screen, a microphone, and other devices. The input device may be configured to directly receive an operation command from the user, or to receive an operation instruction from the user so that the control device can obtain a specific operation command based on the operation instruction. The operation command may include, for example, a command to instruct the second end arm 128b to move to a position that forms a desired relative posture relationship with the first end arm 128a. In some embodiments, the input device 113 may also be used to receive setting information from the user, such as setting information for the current surgery type, the configuration of the auxiliary connection device, a relative posture model, and the like.

[0064] In some embodiments, the output device 114 may include, but is not limited to, a display, a speaker, and an indicator light, which may be configured to indicate the status of various components of the robot system 10 , output error alarm signals, and the like.

[0065] In some embodiments, the memory 112 may store a computer program that can be executed on the processor 111. The processor 111 implements the control method described in the above embodiment when executing the computer program. The number of memories 112 and processors 111 can be one or more. The communication interface 115 is used to communicate between the control device 11 (for example, the processor 111 of the control device 11) and an external device. In the present disclosure, the control device 11 can, for example, communicate with the motors provided in the joints of each motion arm (for example, the first motion arm 12a, the second motion arm 12b) through the communication interface 115, thereby instructing each motion arm to move to the corresponding target position. The control device 11 can also, for example, communicate with the sensors at the joints of the motion arm through the communication interface 115 to receive the joint values ​​of the joints of the motion arm. In one example of the present disclosure, the communication interface 115 can be a CAN (Controller Area Network) bus communication interface, which enables the control device 11 to communicate with the motors and sensors provided in each joint through the CAN bus.

[0066] like Figure 9 As shown, the input device 113, the output device 114, the memory 112, the processor 111, and the communication interface 115 can be interconnected via a bus to achieve mutual communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component Architecture (EISA) bus, etc.

[0067] In some embodiments, the processor 111 may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors, which are not limited herein.

[0068] In some embodiments, the control device 11 can be integrated with the base 131 and located within the base 131 (e.g., below the base 131) to save space. However, in actual applications, the control device 11 can also be provided separately from the base 131, or the control device 11 can be partially integrated with the base 131 and partially separate from the base 131. Alternatively, the control device 11 can be provided in other configurations to communicate with and control each of the motion arms.

[0069] In some embodiments, the present disclosure provides a computer-readable storage medium. The computer-readable storage medium may include at least one instruction. The at least one instruction is executed by a processor to configure the processor to execute the control method in any of the above embodiments.

[0070] In some embodiments, the present disclosure provides a computer system that may include a non-volatile storage medium and at least one processor. The non-volatile storage medium may include at least one instruction. The processor is configured to execute the at least one instruction to configure the processor to perform the control method of any of the above embodiments.

[0071] In some embodiments, a computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0072] In some embodiments, the computer-readable storage medium may include, but is not limited to, a portable computer disk, a hard disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state memory technology, a CD-ROM, a digital versatile disk (DVD), an HD-DVD, a Blue-Ray or other optical storage device, a magnetic tape, a disk storage or other magnetic storage device, or any other medium that can be used to store the desired information and can be accessed by a computer, on which computer-executable instructions are stored, which, when executed in a machine (e.g., a computer device), cause the machine to perform the control method of the present disclosure. It should be understood that the computer device may include a personal computer, a server, or a network device, etc.

[0073] Some embodiments of the present disclosure can help optimize the positioning of motion arms during preoperative preparation. The target positions of other motion arms can be calculated based on the real-time position of one motion arm and the other motion arms can be moved to the target position, thereby achieving a preoperative positioning process with a high degree of automation.

[0074] Some embodiments of the present disclosure can, after calculating the target position of other motion arms in real time, enable the motion arms to reach the target position accurately, quickly and safely in a specific planning manner, thereby achieving efficient and safe preoperative preparation for surgery.

[0075] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A control method for a robot system, wherein the robot system includes a plurality of motion arms, wherein the plurality of motion arms include a first motion arm and a second motion arm, the control method comprising: Acquiring a current position and posture of the first end of the first motion arm; Determining a target posture of the second end based on the current posture of the first end and the relative posture relationship between the second end of the second motion arm and the first end, the target posture including a target position and a target posture; determining a motion path of the second motion arm based on a target posture of the second end; as well as Based on the motion path, controlling the second end of the second motion arm to move to the target posture, so that the second end forms the relative posture relationship with the first end; Determining the motion path of the second motion arm based on the target posture of the second end includes: Acquiring an initial position of the second motion arm; determining a target pose of the second motion arm based on the target pose of the second end and an inverse kinematics model of the second motion arm; and determining a motion path of the second motion arm based on the initial position and the target position of the second motion arm; Determining the target pose of the second motion arm based on the target pose of the second end and the inverse kinematics model of the second motion arm includes: selecting one of the plurality of joints of the second motion arm as a feature joint; Setting the recommended target joint value of the feature joint; and determining other target joint values ​​of other joints of the second motion arm based on the target pose of the second end, the recommended target joint values, and the inverse kinematics model; The characteristic joint is a joint among the multiple joints of the second motion arm that is likely to collide with other motion arms of the multiple motion arms.

2. The control method according to claim 1, characterized in that: Also includes: Determining whether the other target joint values ​​are within the joint motion range of the corresponding joint; In response to at least one of the other target joint values ​​being outside the joint motion range of the corresponding joint, the recommended target joint value is incremented or decremented by a preset adjustment value to adjust the recommended target joint value.

3. The control method according to claim 2, characterized in that: Also includes: In response to the other target joint values ​​being within the joint motion range of the corresponding joint, a target posture of the second motion arm is determined based on the recommended target joint value and the other target joint values.

4. The control method according to claim 3, characterized in that: Also includes: In response to the adjusted recommended target joint value being not within the joint motion range of the characteristic joint, the current posture of the first end is adjusted according to the instruction.

5. The control method according to claim 1, characterized in that: Also includes: determining whether an interference relationship is formed between the second moving arm and other moving arms of the plurality of moving arms; as well as In response to an interference relationship being formed between the second motion arm and other motion arms of the plurality of motion arms, the recommended target joint value is incremented or decremented by a preset adjustment value to adjust the recommended target joint value.

6. The control method according to claim 1, characterized in that: Determining the motion path of the second motion arm based on the target posture of the second end further includes: Based on an interpolation method, the motion path of the second motion arm from the initial posture to the target posture is determined.

7. The control method according to any one of claims 1 to 6, characterized in that: determining whether an interference relationship is formed between the second moving arm and other moving arms of the plurality of moving arms; and In response to an interference relationship being formed between the second moving arm and other moving arms, an alarm message is issued.

8. The control method according to any one of claims 1 to 6, characterized in that: Also includes: Determine a relative position relationship between the second end of the second motion arm and the first end.

9. A robotic system comprising: a plurality of motion arms, the plurality of motion arms including a first motion arm and a second motion arm; A control device, wherein the control device is configured to execute the control method according to any one of claims 1 to 8.

10. The robot system according to claim 9, characterized in that The robotic system also includes an auxiliary connecting device, which includes at least a first sheath connected to the first end and a second sheath connected to the second end. The control device is configured to determine the relative posture relationship between the first end and the second end based on the shapes of the first sheath and the second sheath and their relative position relationship.

11. The robot system according to claim 10, wherein: The first sheath tube is provided with a first auxiliary connecting portion, and the second sheath tube is provided with a second auxiliary connecting portion; The first end is provided with a first arm connecting part, the second end is provided with a second arm connecting part, the first sheath can be connected to the first arm connecting part through the first auxiliary connecting part, and the second sheath is connected to the second arm connecting part through the second auxiliary connecting part. 12 . A computer-readable storage medium comprising one or more instructions, wherein the instructions are executed by a processor to configure the processor to execute the control method according to claim 1 .

13. A computer system comprising: a memory for storing at least one instruction; as well as A processor is configured to execute the at least one instruction to perform the control method according to any one of claims 1 to 8.

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