A method and device for collision detection of laparoscopic surgical robot based on procedure simulation

Abstract

The present invention provides a method and device for laparoscopic surgical robot collision detection based on procedure simulation, wherein the method for laparoscopic surgical robot collision detection based on procedure simulation includes: obtaining the poke card layout and surgical area of ​​laparoscopic surgery; determining the motion trajectory data and initial insertion posture of the surgical instrument held by the surgical robot's mechanical arm according to the poke card layout and the surgical area; determining the preoperative position of the mechanical arm according to the initial insertion posture; determining the intraoperative movement of the mechanical arm according to the motion trajectory data and the preoperative position; and detecting the collision between the mechanical arms during the intraoperative movement. The present invention is used to reproduce the operation of the surgical robot in laparoscopic surgery, and it uses robot motion simulation software, which can simulate the operation of the surgical robot in laparoscopic surgery in the form of three-dimensional graphics, so as to clearly and intuitively reflect the mechanical arm movements of the surgical robot and the collision between the mechanical arms.

Description

Technical Field

[0001] The present invention relates to the technical field of laparoscopic surgical robots, and in particular to a collision detection method and device for a laparoscopic surgical robot based on procedure simulation. Background Art

[0002] Laparoscopic surgery requires a relatively small external operating space, and the robotic arms of laparoscopic surgical robots can collide during laparoscopic surgery. Collisions between robotic arms and interference with other equipment can cause issues such as field of view blur and micro-instrument tip jitter, significantly impacting minimally invasive surgery. To overcome this issue, current approaches often employ passive prevention through preoperative planning or integrate sensors into the robotic arms to predict collisions and interference. However, these methods lack a clear and intuitive understanding of the robotic arm's movements, hindering adjustments and improvements to the robot. Summary of the Invention

[0003] The problem solved by the present invention is: how to simulate the operation of a surgical robot to detect collisions between robotic arms.

[0004] To solve the above problems, the present invention provides a collision detection method for a laparoscopic surgical robot based on procedure simulation, comprising:

[0005] Obtain the stamp card layout and surgical area for laparoscopic surgery;

[0006] Determining the motion trajectory data and initial insertion posture of the surgical instrument held by the surgical robot arm according to the stamp card layout and the surgical area;

[0007] Determining a preoperative position of the robotic arm according to the initial insertion posture;

[0008] Determining intraoperative movement of the robotic arm according to the motion trajectory data and the preoperative positioning;

[0009] Detecting collisions between the robotic arms during the intraoperative movement.

[0010] Optionally, obtaining the puncture card layout and surgical area of ​​the laparoscopic surgery includes:

[0011] Obtain information on literature, books, and clinical experience regarding the laparoscopic surgery;

[0012] The stamp card layout and the surgical area are extracted based on the literature, the books, and the clinical experience information.

[0013] Optionally, determining the preoperative position of the robotic arm according to the initial insertion posture includes:

[0014] According to the initial insertion posture, the preoperative position of the robotic arm is inversely solved by robot kinematics;

[0015] Determining the intraoperative movement of the robotic arm according to the motion trajectory data and the preoperative positioning includes:

[0016] According to the motion trajectory data and the preoperative positioning, the intraoperative motion of the robotic arm is inversely solved through robot kinematics.

[0017] Optionally, determining the motion trajectory data and initial insertion posture of the surgical instrument held by the surgical robot arm according to the stamp card layout and the surgical area includes:

[0018] When the endoscope is a 0° endoscope, the initial insertion posture of the endoscope is a line connecting the corresponding stamp of the endoscope and the center of the surgical area;

[0019] When the endoscope is an endoscope with an inclination angle, the angle between the line connecting the endoscope corresponding puncture card and the center of the surgical area and the initial insertion posture of the endoscope is greater than 0°.

[0020] Optionally, detecting a collision between the robotic arms during the intraoperative movement includes:

[0021] When a collision occurs between the robotic arms during the intraoperative movement, the robotic arms that collided, their postures, and interference distances are determined.

[0022] Optionally, when a collision occurs between the robotic arms during the intraoperative movement, after determining the robotic arms that collided and their postures and interference distances, detecting the collision between the robotic arms during the intraoperative movement further includes:

[0023] A collision rate of the robotic arm in a surgical space is determined.

[0024] Optionally, when a collision occurs between the robotic arms during the intraoperative movement, before determining the robotic arms that collided and their postures and interference distances, detecting the collision between the robotic arms during the intraoperative movement further includes:

[0025] Establishing an envelope model on the robotic arm;

[0026] Performing kinematic modeling on the envelope model;

[0027] Whether a collision occurs between different robotic arms is determined according to the distance between the robotic arms.

[0028] To solve the above problems, the present invention further provides a laparoscopic surgical robot collision detection device based on procedure simulation, comprising:

[0029] An acquisition unit, used to acquire the stamp card layout and surgical area for laparoscopic surgery;

[0030] A computing and identifying unit is configured to determine, based on the stamp card layout and the surgical area, the motion trajectory data and initial insertion posture of the surgical instrument held by the robotic arm of the surgical robot; to determine, based on the initial insertion posture, the preoperative position of the robotic arm; to determine, based on the motion trajectory data and the preoperative position, the intraoperative movement of the robotic arm; and to detect collisions between the robotic arms during the intraoperative movement.

[0031] To solve the above problems, the present invention also provides a laparoscopic surgical robot collision detection device based on surgical procedure simulation, comprising a computer-readable storage medium storing a computer program and a processor. When the computer program is read and run by the processor, the laparoscopic surgical robot collision detection method based on surgical procedure simulation as described in any one of claims 1 to 7 is implemented.

[0032] To solve the above problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is read and executed by a processor, the laparoscopic surgical robot collision detection method based on surgical procedure simulation as described above is implemented.

[0033] Compared with the prior art, the present invention has the following beneficial effects: a laparoscopic surgical robot collision detection method based on procedure simulation is used to reproduce the operation of the surgical robot during laparoscopic surgery. It uses robot motion simulation software to simulate the operation (motion) of the surgical robot during laparoscopic surgery in the form of three-dimensional graphics, and realizes the visualization of the simulation to clearly and intuitively reflect the movement of the surgical robot's robotic arms and the collision between the robotic arms, so as to facilitate the analysis of the collision state of the surgical robot's robotic arms during the corresponding laparoscopic surgery (for example, analyzing the robotic arm collision state that is prone to occur when the surgical robot performs different laparoscopic surgeries), thereby facilitating the discovery of surgical robot structural design problems and providing a strong and reliable basis and direction for the improvement of the surgical robot. Among them, the present method introduces the distribution of stamps and the range of surgical operations of laparoscopic surgical procedures, so that the effect of the surgical robot's operation simulation is closer to the actual clinical effect of the surgical robot, thereby improving the accuracy and reliability of the motion simulation of the present method; and the present method is suitable for motion simulation of different laparoscopic surgical procedures and different instrument insertion postures, so as to facilitate the analysis and obtain the optimal instrument insertion posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Flowchart of a collision detection method for a laparoscopic surgical robot based on procedure simulation in an embodiment of the present invention;

[0035] Figure 2Flowchart of step 100 in an embodiment of the present invention;

[0036] Figure 3 Flowchart of step 500 in an embodiment of the present invention;

[0037] Figure 4 Schematic diagram of the structure of an endoscope with an inclination angle in an initial insertion posture according to an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the structure of a laparoscopic surgical robot collision detection device based on procedure simulation in an embodiment of the present invention.

[0039] Description of reference numerals:

[0040] 10-acquisition unit; 20-calculation and recognition unit. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be practiced in an order other than that illustrated or described herein.

[0043] Combine Figure 1 As shown, an embodiment of the present invention provides a laparoscopic surgical robot collision detection method based on procedure simulation, comprising the following steps:

[0044] Step 100: Obtain the puncture card layout and surgical area for laparoscopic surgery.

[0045] Specifically, based on literature, books, doctors' clinical experience information, surgical records, etc., the trocar layout and corresponding surgical area of ​​all laparoscopic surgeries are obtained, where the trocar layout refers to the layout position of the trocar on the human body, and the surgical area refers to the operating area of ​​the surgical instruments around the lesion.

[0046] Step 200: Determine the motion trajectory data and initial insertion posture of the surgical instrument held by the surgical robot arm according to the stamping card layout and the surgical area.

[0047] Specifically, by establishing a coordinate system within the surgical area or by gridding the surgical area, for example, by dividing the surgical area into multiple cube grids with equal side lengths, the coordinate system or grid can be combined to determine the trajectory data of surgical instruments (such as scalpels, forceps, endoscopes, etc.) within the surgical area (for example, the trajectory of the surgical instrument is reflected by the grids and grid nodes that the surgical instrument passes through). The center of the surgical area (also the center of the lesion) is used as the "target point", and the line connecting the placement of the card on the human body and the "target point" is the initial insertion posture of the surgical instrument.

[0048] Step 300: Determine the preoperative position of the robotic arm based on the initial insertion posture.

[0049] Specifically, according to the initial insertion posture of the surgical instrument, the robot kinematics is reversed to solve the various joint variables of the robotic arm (such as instrument arm, lens arm, etc.) of the laparoscopic surgical robot (hereinafter referred to as the surgical robot) holding the corresponding surgical instrument, so as to realize the preoperative positioning of the robotic arm. Among them, the robotic arm of the surgical robot is generally divided into a passive part and an active part. The difference between the passive part and the active part lies in whether the joint moves during the operation; if the joint moves, it is called the active part; if the joint does not move, it is called the passive part. The preoperative positioning of the robotic arm is to define the initial joint angles of the passive part and the active part of the robotic arm when the robotic arm is connected before the operation, so that the surgical instrument connected to the robotic arm remains in the initial insertion posture.

[0050] Step 400: Determine the intraoperative movement of the robotic arm based on the motion trajectory data and preoperative positioning.

[0051] Specifically, based on the motion trajectory data and initial insertion posture of the surgical instrument and the preoperative positioning of the robotic arm, the kinematic inverse solution of the surgical instrument's motion trajectory data is performed to obtain the joint variables of the surgical robot arm. Motion simulation of the surgical instrument and the active parts of the surgical robot arm is then performed to determine the intraoperative motion of the surgical robot arm during laparoscopic surgery. The motion simulation of the surgical robot arm can be performed using robot motion simulation software.

[0052] Step 500: Detect collisions between robotic arms during intraoperative movement.

[0053] Specifically, based on the simulated intraoperative movement of the surgical robot's manipulator arms, the collision between the manipulator arms during the intraoperative movement is detected; when a collision occurs between the manipulator arms during the intraoperative movement, the information such as the collided manipulator arms and their postures is determined, so as to analyze the collision status of the surgical robot's manipulator arms in the corresponding laparoscopic surgery, thereby discovering the structural design problems of the surgical robot, and providing a strong and reliable basis for the improvement of the surgical robot.

[0054] In this way, the laparoscopic surgical robot collision detection method based on procedure simulation is used to reproduce the operation of the surgical robot in laparoscopic surgery. It uses robot motion simulation software to simulate the operation (motion) of the surgical robot in laparoscopic surgery in the form of three-dimensional graphics, and realizes the visualization of the simulation to clearly and intuitively reflect the movement of the surgical robot's robotic arms and the collision between the robotic arms, so as to facilitate the analysis of the collision state of the surgical robot's robotic arms in the corresponding laparoscopic surgery (for example, analyzing the robotic arm collision state that is prone to occur when the surgical robot performs different laparoscopic surgeries), thereby facilitating the discovery of surgical robot structural design problems and providing a strong and reliable basis and direction for the improvement of the surgical robot. Among them, this method introduces the distribution of stamps and the range of surgical operations of laparoscopic surgical procedures, so that the effect of the surgical robot's operation simulation is closer to the actual clinical effect of the surgical robot, and improves the accuracy and reliability of the motion simulation of this method; and this method is suitable for motion simulation of different laparoscopic surgical procedures and different instrument insertion postures, so as to facilitate the analysis and obtain the optimal instrument insertion posture.

[0055] Optionally, after detecting and improving structural design problems of a surgical robot using this method, the improved surgical robot can be used to simulate surgical procedures (i.e., implement this method) to further identify problems. This cycle can be used to continuously improve the equipment.

[0056] Optionally, combined Figure 1 、 Figure 2 As shown, step 100 includes:

[0057] Step 110: Obtain literature, books, and clinical experience information on laparoscopic surgery;

[0058] Step 120: Extract the stamp card layout and surgical area based on literature, books, and clinical experience information.

[0059] Specifically, we first obtain literature, books, doctors' clinical experience information, surgical records, etc., and then organize and summarize (inductively and filter) the literature, books, doctors' clinical experience information, surgical records, etc., and extract the poke card layout (i.e., the layout position of the poke card on the human body) and the corresponding surgical area (i.e., the operating area of ​​the surgical instrument around the lesion) of all laparoscopic surgeries, so that the effect of the surgical robot's operation simulation is closer to the actual clinical effect of the surgical robot, thereby improving the accuracy and reliability of the motion simulation of this method.

[0060] Optionally, step 300 includes:

[0061] Based on the initial insertion posture, the preoperative positioning of the robotic arm is inversely solved through robot kinematics;

[0062] Step 400 includes:

[0063] According to the motion trajectory data and preoperative positioning, the intraoperative motion of the robotic arm is inversely solved through robot kinematics.

[0064] Specifically, in step 300, after determining the initial insertion posture of the surgical instrument, the joint variables of the robotic arm of the laparoscopic surgical robot holding the corresponding surgical instrument are inversely solved by robot kinematics to achieve preoperative positioning of the robotic arm. In step 400, after determining the motion trajectory of the surgical instrument, the initial insertion posture, and the preoperative positioning of the robotic arm, the kinematic inverse solution of the motion trajectory data of the surgical instrument is performed to obtain the corresponding joint variables of the robotic arm holding the corresponding surgical instrument. Then, motion simulation of the surgical instrument, the active part of the surgical robot arm, etc. is performed using robot motion simulation software to determine the intraoperative motion of the surgical robot arm during laparoscopic surgery.

[0065] Optionally, step 200 includes:

[0066] When the endoscope is a 0° endoscope, the initial insertion posture of the endoscope is the line connecting the corresponding stamp of the endoscope and the center of the surgical area;

[0067] When the endoscope is an endoscope with an inclination angle, the angle between the line connecting the endoscope corresponding to the puncture card and the center of the surgical area and the initial insertion posture of the endoscope is greater than 0°.

[0068] Specifically, when the endoscope is a 0° endoscope, the initial insertion posture of the endoscope is similar to the initial insertion posture of other surgical instruments, which is the line connecting the corresponding card to the center of the surgical area. Figure 4 As shown, when the endoscope is an endoscope with an inclination angle α, the angle between the line connecting the endoscope corresponding to the stamp and the center of the surgical area and the initial insertion posture of the endoscope can be calculated based on the center position of the surgical area, the distance between the endoscope lens and the center of the surgical area, the position of the endoscope corresponding to the stamp, and the inclination angle of the endoscope. Specifically, there needs to be a certain distance a between the endoscope lens and the center of the surgical area, and the distance from the center of the surgical area to the endoscope corresponding to the stamp is b (which can be calculated based on the coordinates of the surgical area center relative to the stamp), and the angle between the lens axis and the optical axis (which is aligned with the center of the surgical area) is α. In this way, the position of the endoscope lens can be calculated based on the geometric relationship of α, a, and b in combination with the corresponding coordinate system. At this time, the line connecting the endoscope corresponding to the stamp and the endoscope lens is used as the initial insertion posture of the endoscope, and the size of the angle greater than 0° between the initial insertion posture of the endoscope and the line connecting the endoscope corresponding to the stamp and the center of the surgical area can be calculated.

[0069] Optionally, combined Figure 1 、 Figure 3 As shown, step 500 includes the following steps:

[0070] Step 540: When a collision occurs between robotic arms during intraoperative movement, the robotic arms that collided, their postures, and interference distances are determined.

[0071] Specifically, during intraoperative movement, when a collision occurs between robotic arms, the robotic arms that collided, the postures of the robotic arms that collided, and the interference distance between the robotic arms that collided are determined. In this way, the collision information of the robotic arms of the surgical robot is comprehensively collected, which facilitates the analysis of the collision status of the robotic arms of the surgical robot during the corresponding laparoscopic surgery, thereby discovering problems in the structural design of the surgical robot and providing a strong and reliable basis for the improvement of the surgical robot. Among them, the postures of the robotic arms that collided include information such as the position and joint angle of the corresponding robotic arms (for example, obtained by calculating the motor encoder values ​​at the corresponding joints of the robotic arms that collided), and the interference distance between the robotic arms that collided includes information such as the spacing between the robotic arms that collided and the collision depth (described later).

[0072] Optionally, combined Figure 1 、 Figure 3 As shown, after step 540, step 500 further includes the following steps:

[0073] Step 550: Determine the collision rate of the robotic arm in the surgical space.

[0074] Specifically, the surgical space is the combination of the motion spaces of the surgical instruments held by all the robotic arms of the surgical robot during the corresponding laparoscopic surgery; by dividing the surgical space into grids, for example, dividing the surgical space into multiple cube grids with equal sides, so that the surgical space is composed of multiple cube grids with equal sides. By calculating the number I1 of all the grid nodes in the surgical space (such as the vertices of the cube grid, where a vertex shared by multiple cubes is recorded as a node), and calculating the number I2 of the grid nodes passed by all the surgical instruments when a collision occurs between the robotic arms, the collision rate I of the robotic arms in the surgical space can be obtained. c =I2 / I1. By calculating the collision rate I c , to directly reflect the collision probability of the surgical robot's robotic arm in the corresponding laparoscopic surgery.

[0075] Optionally, combined Figure 1 、 Figure 3 As shown, before step 540, step 510 further includes the following steps:

[0076] Step 510: Establish an envelope model on the robotic arm;

[0077] Step 520: Perform kinematic modeling on the envelope model;

[0078] Step 530: Determine whether a collision occurs between different robotic arms based on the distance between the robotic arms.

[0079] Specifically, an envelope model is created for each link on different robotic arms that could collide, ensuring that the envelope model encompasses the entire link or the potentially colliding structural portion. Kinematic modeling is then performed on the envelope model to complete the collision detection model. The real-time spatial position of each envelope model is determined by calculating the motor encoder value at the corresponding joint. Based on the real-time spatial position of the envelope model, the link spacing—the distance between two different envelope models—can be easily calculated. Subsequently, the shortest distance between the links can be used to determine whether two robotic arms have collided.

[0080] In this embodiment, since the connecting rod structure of the robotic arm is relatively complex and it is not easy to analyze the spatial position of the connecting rod of the robotic arm, the connecting rods of different robotic arms are abstracted into an envelope model to facilitate analysis. The method of establishing an envelope model includes: determining the position of the characteristic points on the connecting rod of the robotic arm, and establishing the envelope model through the characteristic points, the radius of the preset envelope model and the length of the preset envelope model; wherein the length of the envelope model is the distance between the two characteristic points. For example: the capsule envelopes of the connecting rods of two different robotic arms are simplified into line segments AB and CD respectively, and the coordinates of point A are (x1, y1, z1), the coordinates of point B are (x2, y2, z2), the coordinates of point C are (x3, y3, z3), and the coordinates of point D are (x4, y4, z4).

[0081] Let P be a point on line AB. The coordinates (X, Y, Z) of point P can be expressed as

[0082]

[0083] When the parameter 0≤s≤1, P is a point on the line segment AB; when the parameter s<0, P is a point on the extension line BA; when the parameter s>1, P is a point on the extension line AB.

[0084] Let Q be a point on line CD. The coordinates (U, V, W) of point Q can be expressed as

[0085]

[0086] When the parameter 0≤t≤1, Q is a point on the line segment CD; when the parameter t<0, Q is a point on the extension line of DC; when the parameter t>1, Q is a point on the extension line of CD.

[0087] The distance between points P and Q is:

[0088]

[0089] Finding the shortest distance between the two links is essentially finding the shortest distance between line segments AB and CD, or the distance between points P and Q with respect to variables s and t. Taking the partial derivatives of the distance formula between points P and Q with respect to variables s and t, respectively, and calculating the values ​​of s and t when the partial derivatives are zero, we obtain the shortest distance between the two robot links. If the values ​​of s and t are greater than 0 and less than 1, it means that points P and Q are on the link. The shortest distance between the two links is then:

[0090]

[0091] Conversely, if the values ​​of s and t do not satisfy the condition of being greater than 0 and less than 1, it means that points P and Q are not on the connecting rod. The shortest distance between the two connecting rods is the minimum of the shortest distance from point A to line segment CD, the shortest distance from point B to line segment CD, the shortest distance from point C to line segment AB, and the shortest distance from point D to line segment AB.

[0092] In this way, when the shortest distance between the two links is greater than the sum of the radii of the envelope models of the two links, the two links do not collide; when the shortest distance between the two links is less than or equal to the sum of the radii of the envelope models of the two links, the two links collide, and the difference between the sum of the radii of the envelope models of the two links and the shortest distance between the two links is the collision depth of the two links.

[0093] By using robot motion simulation software to simulate the collision of the surgical robot's manipulator arms, this method can be executed efficiently and quickly; and by using an envelope model to simulate the collision between different manipulator arms, the speed and efficiency of the execution of this method are further improved.

[0094] Combine Figure 5 As shown, another embodiment of the present invention provides a laparoscopic surgical robot collision detection device based on procedure simulation, comprising:

[0095] An acquisition unit 10 is used to acquire the puncture card layout and surgical area of ​​laparoscopic surgery;

[0096] The computing and recognition unit 20 is used to determine the motion trajectory data and initial insertion posture of the surgical instrument held by the surgical robot's robotic arm based on the stamp card layout and the surgical area; to determine the preoperative position of the robotic arm based on the initial insertion posture; to determine the intraoperative movement of the robotic arm based on the motion trajectory data and the preoperative position; and to detect collisions between the robotic arms during intraoperative movement.

[0097] In this embodiment, the laparoscopic surgical robot collision detection device based on procedure simulation implements the above-mentioned laparoscopic surgical robot collision detection method based on procedure simulation through the cooperation of structures such as the acquisition unit 10 and the calculation and recognition unit 20, which is used to reproduce the operation of the surgical robot in laparoscopic surgery. It adopts robot motion simulation software, which can simulate the operation (motion) of the surgical robot in laparoscopic surgery in the form of three-dimensional graphics, and realize the visualization of the simulation, so as to clearly and intuitively reflect the robotic arm movement of the surgical robot and the collision between the robotic arms, so as to facilitate the analysis of the collision status of the surgical robot robotic arm in the corresponding laparoscopic surgery, thereby facilitating the discovery of structural design problems of the surgical robot, and providing a strong and reliable basis and direction for the improvement of the surgical robot.

[0098] Another embodiment of the present invention provides a laparoscopic surgical robot collision detection device based on procedure simulation, including a computer-readable storage medium storing a computer program and a processor. When the computer program is read and executed by the processor, the above-mentioned laparoscopic surgical robot collision detection method based on procedure simulation is implemented.

[0099] In this embodiment, the above-mentioned laparoscopic surgical robot collision detection method based on surgical procedure simulation is executed through the cooperation of the processor, computer-readable storage medium and other structures of the laparoscopic surgical robot collision detection device based on surgical procedure simulation to reproduce the operation of the surgical robot in laparoscopic surgery. It adopts robot motion simulation software, which can simulate the operation (motion) of the surgical robot in laparoscopic surgery in the form of three-dimensional graphics, and realize the visualization of the simulation to clearly and intuitively reflect the robotic arm movement of the surgical robot and the collision between the robotic arms, so as to facilitate the analysis of the collision status of the surgical robot robotic arm in the corresponding laparoscopic surgery, thereby facilitating the discovery of structural design problems of the surgical robot, and providing a strong and reliable basis and direction for the improvement of the surgical robot.

[0100] Yet another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is read and executed by a processor, the above-mentioned laparoscopic surgical robot collision detection method based on procedure simulation is implemented.

[0101] The technical solution of the embodiments of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes instructions for causing a computer device (such as a personal computer, server, or network device) or a processor to execute all or part of the steps of the method of the embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, ROM, RAM, a magnetic disk, or an optical disk.

[0102] By storing the corresponding computer program of the laparoscopic surgical robot collision detection method based on procedure simulation on a computer-readable storage medium, it is possible to ensure the stability of the computer program of the laparoscopic surgical robot collision detection method based on procedure simulation when it is read and run by the corresponding processor. The laparoscopic surgical robot collision detection method based on procedure simulation is executed in this way to reproduce the operation of the surgical robot in laparoscopic surgery. It adopts robot motion simulation software, which can simulate the operation (motion) of the surgical robot in laparoscopic surgery in the form of three-dimensional graphics and realize the visualization of the simulation to clearly and intuitively reflect the movement of the surgical robot's robotic arms and the collision between the robotic arms, so as to facilitate the analysis of the collision status of the surgical robot's robotic arms in the corresponding laparoscopic surgery, thereby facilitating the discovery of structural design problems of the surgical robot, and providing a strong and reliable basis and direction for the improvement of the surgical robot.

[0103] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A laparoscopic surgical robot collision detection method based on procedure simulation, characterized in that: include: Obtain the stamp card layout and surgical area for laparoscopic surgery; Determining the motion trajectory data and initial insertion posture of the surgical instrument held by the surgical robot mechanical arm according to the poking card layout and the surgical area; Determining the preoperative position of the robotic arm according to the initial insertion posture; Determining the intraoperative movement of the robotic arm according to the motion trajectory data and the preoperative positioning; Detecting collision between the robotic arms during the intraoperative movement; Wherein, determining the preoperative position of the robotic arm according to the initial insertion posture includes: According to the initial insertion posture, inversely solving the preoperative position of the robotic arm through robot kinematics; Determining the intraoperative movement of the robotic arm according to the motion trajectory data and the preoperative positioning includes: According to the motion trajectory data and the preoperative positioning, the intraoperative motion of the robotic arm is inversely solved through robot kinematics.

2. The laparoscopic surgical robot collision detection method based on procedure simulation as claimed in claim 1, characterized in that: The acquisition of the laparoscopic surgery stamp card layout and the surgical area includes: Obtain information on literature, books and clinical experience regarding the laparoscopic surgery; The stamp card layout and the surgical area are extracted based on the literature, the books and the clinical experience information.

3. The laparoscopic surgical robot collision detection method based on procedure simulation as claimed in claim 1, characterized in that: Determining the motion trajectory data and initial insertion posture of the surgical instrument held by the surgical robot mechanical arm according to the punch card layout and the surgical area includes: When the endoscope is a 0° endoscope, the initial insertion posture of the endoscope is a line connecting the corresponding stamp of the endoscope and the center of the surgical area; When the endoscope is an endoscope with an inclination angle, the angle between the line connecting the endoscope corresponding to the puncture card and the center of the surgical area and the initial insertion posture of the endoscope is greater than 0°.

4. The laparoscopic surgical robot collision detection method based on procedure simulation according to any one of claims 1 to 3, characterized in that: The detecting of the collision between the robotic arms during the intraoperative movement comprises: When the robotic arms collide with each other during the intraoperative movement, the robotic arms that collided and their postures and interference distances are determined.

5. The laparoscopic surgical robot collision detection method based on procedure simulation as claimed in claim 4, characterized in that: When the robot arms collide with each other during the intraoperative movement, after determining the robot arms that collided and their postures and interference distances, the detecting of the collision between the robot arms during the intraoperative movement further includes: A collision rate of the robotic arm in the surgical space is determined.

6. The laparoscopic surgical robot collision detection method based on procedure simulation as claimed in claim 4, characterized in that: When the robot arms collide with each other during the intraoperative movement, before determining the robot arms that collided and their postures and interference distances, the detecting of the collision between the robot arms during the intraoperative movement further includes: Establishing an envelope model on the robotic arm; Performing kinematic modeling on the envelope model; Whether collision occurs between different robotic arms is determined according to the distance between the robotic arms.

7. A laparoscopic surgical robot collision detection device based on procedure simulation, characterized in that: include: An acquisition unit (10) is used to acquire the card layout and surgical area of ​​laparoscopic surgery; A calculation and recognition unit (20) is used to determine the motion trajectory data and initial insertion posture of the surgical instrument held by the mechanical arm of the surgical robot according to the stamp card layout and the surgical area; Used to determine the preoperative position of the robotic arm according to the initial insertion posture; used to determine the intraoperative movement of the robotic arm according to the motion trajectory data and the preoperative position; and for detecting collisions between the robotic arms during the intraoperative movement; Wherein, determining the preoperative position of the robotic arm according to the initial insertion posture includes: According to the initial insertion posture, inversely solving the preoperative position of the robotic arm through robot kinematics; Determining the intraoperative movement of the robotic arm according to the motion trajectory data and the preoperative positioning includes: According to the motion trajectory data and the preoperative positioning, the intraoperative motion of the robotic arm is inversely solved through robot kinematics.

8. A laparoscopic surgical robot collision detection device based on procedure simulation, characterized in that: It comprises a computer-readable storage medium storing a computer program and a processor. When the computer program is read and executed by the processor, the laparoscopic surgical robot collision detection method based on procedure simulation as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is read and executed by a processor, the laparoscopic surgical robot collision detection method based on procedure simulation as described in any one of claims 1 to 6 is implemented.

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