Surgical robot and method of guiding movement of a surgical arm, control device

Abstract

The present application relates to a surgical robot and a method for guiding movement of a surgical arm and a control device. The surgical robot has a plurality of operation arms, the operation arms including a camera arm having an image end instrument and a surgical arm having an operation end instrument, and the method includes the steps of: acquiring a target position to which the operation end instrument is desired to reach; adjusting a field of view of the image end instrument to move toward the target position, and ensuring that the operation end instrument is always located within the field of view of the image end instrument. The surgical robot of the present application can reduce or even avoid the problem that the operation end instrument of the surgical arm moves beyond the field of view provided by the image end instrument of the camera arm, and thus can ensure surgical safety.

Description

[0001] This application is a divisional application filed on January 6, 2021, with application number CN202110011217.2 and titled "Surgical robot and method and control device for guiding the movement of surgical arm thereto," the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of medical devices, and in particular to a surgical robot and a method and control device for guiding the movement of the surgical arm. Background Technology

[0003] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0004] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. A surgical robot includes a master control panel and slave control devices. The slave control devices include multiple manipulator arms, including camera arms with imaging end-effectors and surgical arms with manipulator end-effectors. The master control panel includes a monitor and a handgrip. The surgeon controls the movement of the camera arm or surgical arm by operating the handgrip, guided by the view provided by the camera arm displayed on the monitor.

[0005] Generally, the movement of the camera arm itself and the movement of the surgical arm within the camera arm's field of view are considered safe. However, in some procedures, it is unavoidable that the surgical arm may move outside the camera arm's field of view, such as when inserting or withdrawing the surgical arm into or from the patient's abdominal cavity. For example, when inserting or withdrawing the surgical arm, it is usually done blindly based on the surgeon's experience. Due to differences in surgeon experience and patient physical conditions, such experience-based operations can easily lead to unexpected situations and are therefore unsafe. It is desirable to minimize or even avoid the movement of the surgical arm outside the camera arm's field of view. Summary of the Invention

[0006] Therefore, it is necessary to provide a surgical robot and a method and control device for guiding the movement of the surgical arm, which can reduce or even avoid the problem of the surgical arm's end-effector moving outside the field of view provided by the camera arm's image end-effector, thereby ensuring surgical safety.

[0007] On one hand, the present invention provides a method for guiding the movement of a surgical arm in a surgical robot, the surgical robot having multiple manipulators, the manipulators including a camera arm with an image end effector and a surgical arm with an operating end effector, the method comprising the following steps: obtaining a target position to which the operating end effector is desired to reach; adjusting the field of view of the image end effector to move toward the target position, and ensuring that the operating end effector is always within the field of view of the image end effector.

[0008] The method further includes, prior to the step of adjusting the field of view of the image-end device to move towards the target position and ensuring that the operating end device is always within the field of view of the image-end device, the step of adjusting the field of view of the image-end device to move the operating end device towards the target position and ensuring that the operating end device is always within the field of view of the image-end device, before the step of adjusting the field of view of the image-end device to move towards the target position and ensuring that the operating end device is always within the field of view of the image-end device.

[0009] The step of determining whether the operating end device is within the field of view of the image end device includes: acquiring an operating image within the field of view of the image end device; and determining whether the operating end device is within the field of view of the image end device by image recognition.

[0010] The step of determining whether the operating end device is within the field of view of the image end device includes: obtaining the current position of the operating end device; converting the field of view of the image end device into a position range; and determining whether the operating end device is within the field of view of the image end device by determining whether the current position is within the position range.

[0011] The step of adjusting the field of view of the image-end device to place the operating end device within the field of view of the image-end device includes: obtaining the current position of the operating end device; and adjusting the field of view of the image-end device by changing the camera parameters of the image-end device according to the current position of the operating end device, wherein the camera parameters include the field of view and / or depth of field.

[0012] The step of adjusting the field of view of the image end device to place the operating end device within the field of view of the image end device includes: obtaining the current position of the operating end device; adjusting the field of view of the image end device by changing the pose of the image end device according to the current position of the operating end device to place the operating end device within the field of view of the image end device, wherein the pose includes position and / or posture.

[0013] The step of adjusting the field of view of the image end device to move towards the target position includes: obtaining the current position of the operating end device; determining the adjustment direction of the field of view of the image end device based on the current position and the target position of the operating end device; and adjusting the field of view of the image end device to move towards the target position of the operating end device in an incremental manner according to the adjustment direction.

[0014] The step of adjusting the field of view of the image end device to move toward the target position of the operating end device in an incremental manner according to the adjustment direction is as follows: adjusting the field of view of the image end device to move toward the target position of the operating end device by gradually adjusting the field of view and / or depth of field of the image end device according to the adjustment direction.

[0015] The step of adjusting the field of view of the image end device to move toward the target position of the operating end device in an incremental manner according to the adjustment direction is as follows: adjusting the field of view of the image end device to move toward the target position of the operating end device in a manner that gradually adjusts the position and / or attitude of the image end device according to the adjustment direction.

[0016] The step of obtaining the desired target position of the end effector includes: obtaining an input operation mode, the operation mode including a first operation mode and a second operation mode, the first operation mode being used to guide the end effector to be inserted into the target position, and the second operation mode being used to guide the end effector to be withdrawn to the target position; and determining the desired target position of the end effector based on the obtained operation mode.

[0017] When the acquired operation mode is the first operation mode, the step of determining the target position that the end effector is expected to reach based on the acquired operation mode includes: acquiring the target field of view of the end effector; and determining the target position that the end effector is expected to reach based on the target field of view.

[0018] Wherein, two or more of the operation end devices configured to perform the first operation mode have different target positions.

[0019] Wherein, two or more of the operating end devices configured to perform the first operating mode have different target positions, and there is a safe distance between the different target positions.

[0020] The surgical robot includes a trocar, the proximal end of which is connected to the distal end of the surgical robot. The distal end is used for insertion and fixation at the incision site. The trocar is used to guide the surgical arm through the incision into the human body. When the obtained operating mode is the second operating mode, the step of determining the target position to which the end-effector is expected to reach based on the obtained operating mode is: obtaining the position of the associated point associated with the trocar as the target position.

[0021] The associated point of the target location, which is related to the puncture device, is located on the puncture device or on the extension line of the axis of the puncture device and on the distal side of the puncture device.

[0022] The image-end device is at a safe distance from the target location.

[0023] The method includes: obtaining the current position of the end effector; and when the end effector has moved substantially from the current position to the target position, adjusting the field of view of the end effector to restore it to the initial field of view, wherein the initial field of view refers to the field of view of the end effector before it was initially adjusted toward the target position.

[0024] The step of adjusting the field of view of the image-end device to move towards the target position includes: recording in real time the changes in camera parameters and pose at corresponding moments during the movement of the field of view of the image-end device towards the target position; the step of adjusting the field of view of the image-end device to restore the initial field of view includes: gradually adjusting the field of view of the image-end device to restore the initial field of view according to the field of view adjustment method, wherein the field of view adjustment method is the adjustment method of adjusting the camera parameters and pose of the next moment to the camera parameters and pose of the adjacent previous moment.

[0025] The step of adjusting the field of view of the image-end device to move towards the target position includes: acquiring and recording the camera parameters and pose corresponding to the current field of view of the image-end device; and then, in the step of adjusting the field of view of the image-end device to restore the initial field of view, the field of view of the image-end device is directly restored to the initial field of view based on the recorded camera parameters and pose corresponding to the current field of view of the image-end device.

[0026] The method includes: prohibiting the operation end device from moving when the operation end device is not within the field of view of the image end device.

[0027] The method further includes: detecting whether a start command has been obtained; and when the start command is obtained, determining whether the operating end device is within the field of view of the image end device.

[0028] The surgical robot includes a power mechanism for mounting and driving the operating arm, and the start command is triggered when the surgical arm is mounted to the power mechanism.

[0029] The method includes: obtaining the reachable range of the field of view of the image-end device, wherein the reachable range of the field of view refers to the spatial set of all fields of view; obtaining the current position of the operating end device; determining whether the current position of the operating end device is within the reachable range of the field of view of the image-end device; and when the current position of the operating end device is within the reachable range of the field of view of the image-end device, proceeding to the step of adjusting the field of view of the image-end device to move towards the target position.

[0030] Wherein, provided that the operating end device is always within the field of view of the image end device, the image end device moves synchronously with the movement of the operating end device.

[0031] Wherein, under the condition that the operating end device is always within the field of view of the image end device, the image end device moves with a lag as the operating end device moves.

[0032] Specifically, the field of view of the image end device at each adjacent time point is designated as a first field of view and a second field of view, with an overlapping area between the first field of view and the second field of view, thereby limiting the operation end device to move towards the target position by passing through the overlapping area.

[0033] The method includes: when the end-effector moves, controlling the end-effector to move substantially in a straight line from its current position toward the target position.

[0034] The method includes: calculating the deviation angle between the moving direction of the end effector and the line connecting the current position and the target position of the end effector; and generating at least a resistance that prevents the end effector from moving in the deviation direction when the deviation angle reaches a deviation threshold.

[0035] The magnitude of the resistance is positively correlated with the magnitude of the deviation angle.

[0036] On the other hand, the present invention provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and executed to implement the steps of the method as described in any of the above embodiments.

[0037] On the other hand, the present invention provides a control device for a surgical robot, comprising: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured to be loaded by the processor and execute the steps of the method as described in any of the above embodiments.

[0038] On the other hand, the present invention provides a surgical robot comprising: an operating arm, a camera arm having an image end-effector and a surgical arm having an operating end-effector; and a controller coupled to the operating arm and configured to perform the steps of the control method as described in any of the above embodiments.

[0039] The surgical robot of the present invention, as well as the method and control device for guiding the movement of the surgical arm, have the following beneficial effects:

[0040] When the operating end-effector is within the field of view of the imaging end-effector, by adjusting the field of view of the imaging end-effector to move towards the target position and ensuring that the operating end-effector is always within the field of view of the imaging end-effector, the operating end-effector can be gradually guided to move towards the target position using the field of view of the imaging end-effector moving towards the target position. This ensures that the operating end-effector of the surgical arm is always observable, thereby guaranteeing the safety and reliability of the surgery. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of an embodiment of the surgical robot of the present invention;

[0042] Figure 2 for Figure 1 A partial schematic diagram of one embodiment of the surgical robot shown;

[0043] Figure 3 A flowchart illustrating an embodiment of a control method for a surgical robot;

[0044] Figure 4 This is a schematic diagram of the manipulator and power unit in a surgical robot.

[0045] Figure 5 A flowchart illustrating a method for guiding the movement of the surgical arm in a surgical robot;

[0046] Figure 6 A schematic diagram illustrating the principle of an embodiment of a method for guiding the movement of a surgical arm in a surgical robot;

[0047] Figures 7-10 A flowchart illustrating an embodiment of a method for guiding the movement of a surgical arm in a surgical robot;

[0048] Figures 11-20These are schematic diagrams illustrating an embodiment of the guiding state of the end-effector in a surgical arm;

[0049] Figures 21-25 A flowchart illustrating an embodiment of a method for guiding the movement of a surgical arm in a surgical robot;

[0050] Figure 26 This is a schematic diagram of the control device for a surgical robot according to an embodiment of the present invention. Detailed Implementation

[0051] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0052] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this invention are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used in this invention are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during surgery, and "proximal" refers to the end closer to the operator during surgery. The terms "first / second," etc., used in this invention refer to a component or two or more components with common characteristics.

[0053] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this invention includes any and all combinations of one or more of the associated listed items. The term "each" as used in this invention includes one or more.

[0054] like Figures 1 to 2 The figures shown are schematic diagrams of an embodiment of the surgical robot of the present invention, and partial schematic diagrams thereof.

[0055] The surgical robot includes a main control panel 2 and slave operating devices 3 controlled by the main control panel 2. The main control panel 2 has a motion input device 21 and a display 22. The surgeon sends control commands to the slave operating devices 3 through the motion input device 21, so that the slave operating devices 3 can perform corresponding operations according to the control commands of the surgeon through the motion input device 21, and observe the surgical area through the display 22. The slave operating devices 3 have a drive arm, which has a robotic arm 30 and one or more manipulator arms 31 detachably mounted at the distal end of the robotic arm 30. The robotic arm 30 includes a base and a connecting assembly connected in sequence, and the connecting assembly has multiple joint components. The manipulator arm 31 includes a link 32, a connecting assembly 33, and an end effector 34 connected in sequence. The connecting assembly 33 has multiple joint components, and the posture of the end effector 34 can be adjusted by adjusting the joint components of the manipulator arm 31. The end effector 34 has an image end effector 34A and a manipulator end effector 34B. The image end effector 34A is used to acquire images within the field of view, and the display 22 is used to display the images. The end effector 34B is used to perform surgical procedures such as cutting and suturing. In this paper, the operating arm with the image end effector 34A is referred to as camera arm 31A, and the operating arm with the end effector 34B is referred to as surgical arm 31B.

[0056] Figure 1 The surgical robot shown is a single-port surgical robot, with each manipulator 31 inserted into the patient's body via a single trocar 4 mounted at the distal end of the robotic arm 30. In a single-port surgical robot, the surgeon typically only controls the manipulator 31 to complete basic surgical procedures. Therefore, the manipulator 31 of the single-port surgical robot should simultaneously possess positional degrees of freedom (i.e., positioning degrees of freedom) and orientation degrees of freedom (i.e., orientation degrees of freedom) to achieve changes in position and orientation within a certain range. For example, the manipulator 31 has horizontal translational degrees of freedom x, vertical translational degrees of freedom y, rotational degrees of freedom α, pitch degrees of freedom β, and yaw degrees of freedom γ. The manipulator 31 can also achieve forward and backward translational degrees of freedom z (i.e., feed degrees of freedom) driven by the distal joint assembly, i.e., the power mechanism 301, of the robotic arm 30. Furthermore, in some embodiments, redundant degrees of freedom can be provided for the manipulator 31 to enable more functions; for example, in addition to the aforementioned six degrees of freedom, one, two, or even more additional degrees of freedom can be added. For example, the power mechanism 301 has a guide rail and a power unit slidably disposed on the guide rail. The operating arm 31 is detachably mounted on the power unit. On the one hand, the sliding of the power unit on the guide rail provides the operating arm 31 with a forward and backward movement degree z. On the other hand, the power unit provides power to the joint assembly of the operating arm 31 to realize the remaining 5 degrees of freedom (i.e. [x,y,α,β,γ]).

[0057] The surgical robot also includes a controller. The controller can be integrated into the main control panel 2 or the slave control device 3. Alternatively, the controller can operate independently of the main control panel 2 and the slave control device 3; for example, it can be deployed locally, or it can be deployed in the cloud. The controller can consist of more than one processor.

[0058] The surgical robot also includes an input unit. The input unit can be integrated into the main control panel 2. It can also be integrated into the slave operating device 3. Alternatively, the input unit can be independent of the main control panel 2 and the slave operating device 3. This input unit can be, for example, a mouse, keyboard, voice input device, or touchscreen. In one embodiment, a touchscreen is used as the input unit, and the touchscreen can be, for example, mounted on the armrest of the main control panel 2.

[0059] The manipulator 31 also includes sensors for sensing joint variables of the joint assembly. These sensors include angle sensors for sensing rotational motion of the joint assembly and displacement sensors for sensing linear motion of the joint assembly, and the specific sensors can be configured according to the type of joint assembly.

[0060] The controller is coupled to these sensors and to the input section and display 22.

[0061] For example, such as Figure 3 As shown, a storage unit 311 is mounted on the contact surface of the drive box 310 of the manipulator 31 abutting against the power unit 302 of the power mechanism 301. Correspondingly, a reading unit 303, matching the storage unit 311, is mounted on the contact surface of the power unit 302 abutting against the drive box 310. The reading unit 303 is coupled to the controller. When the manipulator 31 is mounted on the power unit 302, the reading unit 303 communicates with the storage unit 311 and reads relevant information from the storage unit 311. The storage unit 311 may be, for example, a memory or an electronic tag. The storage unit may store, for example, the type of manipulator, the part of the manipulator that can be configured as a target location, and the kinematic model of the manipulator. For example, the storage unit 311 of the camera arm 31A also additionally stores camera parameters.

[0062] like Figure 4 As shown, it is a structural schematic diagram of an embodiment of the surgical robot of the present invention. More specifically, Figure 4 The diagram shown is a structural schematic of one embodiment of a multi-port surgical robot. Figure 4 The multi-hole surgical robot shown Figure 1 The main difference between the single-port surgical robots shown lies in the difference between their operating devices. Figure 4The illustrated multi-port surgical robot comprises a robotic arm 110, an adjusting arm 120, a manipulator 130, and an operating arm 150 connected sequentially from the drive arm of the operating device. The number of adjusting arms 120, manipulators 130, and operating arms 150 is equal, and there are two or more of each, for example, four. The distal end of the robotic arm 110 has a directional platform, the proximal ends of the adjusting arms 120 are all connected to the directional platform, and the proximal end of the manipulator 130 is connected to the distal end of the adjusting arm 120. The manipulator 130 is used for detachably connecting the operating arm 150, and the manipulator 130 has multiple joint assemblies. Each manipulator 130 has a power mechanism, on which the operating arm 150 is mounted and further driven. In multi-port surgical robots, different manipulator arms 150 are inserted into the patient's body through different trocars. Compared to the manipulator arm 31 of a single-port surgical robot, the manipulator arm 150 of a multi-port surgical robot generally has fewer degrees of freedom. Typically, the manipulator arm 150 only has orientational degrees of freedom. Although changes in its orientation generally affect its position, the impact is small and can be ignored in some scenarios. Changes in the position of the manipulator arm 150 can usually be assisted by a manipulator 130. Since the manipulator 130 and the manipulator arm 150 work together to achieve changes in position, they can be considered as manipulator components, equivalent to the manipulator arm 31 in a single-port surgical robot.

[0063] According to the configuration, the motion input device 21 can input pose commands, including position commands and attitude commands, to control the pose changes of the first distal end of the drive arm. The first distal end typically refers to the end effector; in addition, the first distal end can also refer to a joint assembly connected to the end effector, and the pose changes of the end effector are usually consistent with the pose changes of the joint assembly.

[0064] exist Figure 1 In the surgical robot shown, the drive arm includes a robotic arm and a manipulator arm. The proximal end of the manipulator arm is mounted at the distal end of the robotic arm, and the end effector is mounted at the distal end of the manipulator arm. Depending on the configuration, the first part can be configured as the manipulator arm; or, the first part can be configured as an integral part of the robotic arm and the manipulator arm.

[0065] And correspondingly Figure 4 In the surgical robot shown, the drive arm includes a robotic arm, an adjusting arm, a manipulator, and a manipulator arm. The proximal end of the adjusting arm is mounted on the distal end of the robotic arm, the proximal end of the manipulator is mounted on the distal end of the adjusting arm, the proximal end of the manipulator arm is mounted on the distal end of the manipulator, and the end effector is mounted on the distal end of the manipulator arm. Depending on the configuration, the first part can be configured as the manipulator arm; or, the first part can be configured as an integral part of the manipulator and the manipulator arm; or, the first part can be configured as an integral part of the robotic arm, the adjusting arm, the manipulator, and the manipulator arm.

[0066] Understandable, whether Figure 1 The single-port surgical robot shown is still Figure 4 The multi-hole surgical robot shown typically uses a robotic arm for wide-range adjustment of the end effector's pose, while a manipulator arm is used for fine-tuning the end effector's pose. For example, the robotic arm is used for positioning before surgery, and the manipulator arm is mainly used to perform the surgery during the operation. Of course, in some embodiments, the robotic arm and manipulator arm, along with their corresponding arm structures, can work together to achieve specific functions. Depending on the configuration, one or more end effectors can be configured as controlled end effectors to be controlled by motion input devices.

[0067] In one embodiment, the present invention provides a method for guiding the movement of a surgical arm in a surgical robot. This method can be executed by a controller and is applicable to various types of surgical robots. Figure 5 As shown, the method includes the following steps:

[0068] Step S11: Obtain the target position that the end effector is expected to reach.

[0069] The positions and orientations of the different objects involved in this invention are all described based on the same reference coordinate system. These different objects include, but are not limited to, the image-end effect instruments of a camera arm and the operational end effect instruments of a surgical arm. The reference coordinate system here includes, but is not limited to, the base coordinate system of the surgical robot. For example, it can also be other coordinate systems that can be used as references, such as the coordinate system of the main control panel, which can be converted from the base coordinate system.

[0070] The target location can be either currently within the field of view of the imaging end-effector or not currently within the field of view of the imaging end-effector; the specific location can be determined based on the needs of the surgical procedure.

[0071] Step S12: Adjust the field of view of the image end effector to move towards the target position, and ensure that the operating end effector is always within the field of view of the image end effector.

[0072] The prerequisite for performing step S12 is that the operating end device is within the field of view of the image end device. That is, when the operating end device is within the field of view of the image end device, the field of view of the image end device is adjusted to move towards the target position, and the operating end device is ensured to always be within the field of view of the image end device.

[0073] In step S12, adjusting the field of view of the image-end device towards the target position can be performed in response to the operation of the end device moving towards the target position. Preferably, adjusting the field of view of the image-end device towards the target position is performed in response to the movement of the operation of the end device within the field of view of the image-end device towards the target position. The operation of the end device always being within the field of view of the image-end device can be, for example, that one or more points on a portion of the operation of the end device, such as its tip, middle, or tail end, are always within the field of view of the image-end device, or that the entire operation of the end device is always within the field of view of the image-end device.

[0074] For example, such as Figure 6 As shown, when the field of view of the image-guided device moves from its current position to the target position, it is assumed to have passed through field of view 0, field of view 1, field of view 2... field of view n-1, field of view n. The movement position of the end-effector has passed through positions P0, P1, P2... Pn-1, Pn. Specifically, P0 and P1 are located in field of view 0, P1 and P2 are located in field of view 1... Pn-1, and Pn are located in field of view n. It is evident that the end-effector always moves within the field of view of the image-guided device. Throughout this process, on the one hand, the field of view of the image-guided device continuously approaches the target position; on the other hand, the end-effector also continuously approaches the target position until the field of view of the image-guided device reaches the target position and the end-effector is guided to the target position.

[0075] Through the above steps S11 to S12, that is, when the operating end instrument is within the field of view of the image end instrument, by adjusting the field of view of the image end instrument to move towards the target position and ensuring that the operating end instrument is always within the field of view of the image end instrument, the operating end instrument can be gradually guided to move towards the target position by the field of view of the image end instrument moving towards the target position, so as to ensure that the operating end instrument of the surgical arm is always in an observable state, thereby ensuring the safety and reliability of the surgery.

[0076] Before proceeding to step S12, please refer to [the relevant documentation]. Figure 5 Specifically, before the step of adjusting the field of view of the image-end instrument to move towards the target position, it may include:

[0077] Step S13: Determine whether the operating end device is within the field of view of the image end device.

[0078] If the operating end device is within the field of view of the image end device, proceed to step S12; otherwise, if the operating end device is not within the field of view of the image end device, proceed to step S14. Step S14 involves adjusting the field of view of the image end device to bring the operating end device within its field of view.

[0079] There are multiple methods for determining whether the operating end device is within the field of view of the image end device in step S13. This invention provides two methods to implement step S13.

[0080] In one embodiment, such as Figure 7 As shown, step S13 may include:

[0081] Step S131: Obtain the operation image within the field of view of the end-effector.

[0082] Step S132: Determine whether the operating end device is within the field of view of the image end device by recognizing whether the operating end device is within the operating image.

[0083] In step S132, if the end-effector is identified as existing within the operation image, it is determined that the end-effector is located within the field of view of the image end-effector; if the end-effector is identified as not existing within the operation image, it is determined that the end-effector is not located within the field of view of the image end-effector.

[0084] To improve image recognition, neural networks can be trained. For example, the trained neural network could be a convolutional neural network.

[0085] In another embodiment, such as Figure 8 As shown, step S13 may also include:

[0086] Step S131': Obtain the current position of the end effector.

[0087] The current position of the end effector can be obtained using forward kinematics calculations, combining the kinematic model of the surgical arm and the joint variables of each joint component within the surgical arm. These joint variables can be detected by sensors at the corresponding joint components. In other embodiments, when the image-based end effector is, for example, a stereo vision-based end effector, the current position of the end effector can be determined by first scanning and identifying the stereo vision-based end effector, for example, by identifying the position of the end effector relative to the image-based end effector, and then determining the current position of the end effector in the reference coordinate system through coordinate system transformation.

[0088] Step S132': Convert the field of view of the image end-effector to a position range.

[0089] The field of view is an area that actually has boundaries, and therefore can be converted into, for example, the position range of a reference coordinate system.

[0090] Step S133': Determine whether the operating end device is within the field of view of the image end device by judging whether the current position is within the position range.

[0091] In step S133', if the current position of the operating end device is within the position range corresponding to the field of view of the image end device, it is determined that the operating end device is within the field of view of the image end device; if the current position of the operating end device is not within the position range corresponding to the field of view of the image end device, it is determined that the operating end device is not within the field of view of the image end device.

[0092] In some embodiments, these two methods can be combined to mutually verify whether the end-effector is within the field of view of the image-based end-effector. For example, when the result determined by image recognition and the result determined by position detection are inconsistent, for safety reasons, adjustment of the image-based end-effector's field of view can be stopped first, and adjustment can only continue after obtaining confirmation from the doctor. This process can also be used to calibrate the neural network of image recognition to improve its accuracy.

[0093] The above step S132, namely adjusting the field of view of the image end device so that the operating end device is within the field of view of the image end device, can also be achieved in a variety of ways.

[0094] In one embodiment, such as Figure 9 As shown, step S132 may include:

[0095] Step S1321: Obtain the current position of the end effector.

[0096] Step S1322: Based on the current position of the operating end device, adjust the field of view of the image end device by changing the camera parameters of the image end device so that the operating end device is within the field of view of the image end device.

[0097] The camera parameters include the field of view and / or depth of field. This method can be used if it is pre-calculated that adjusting only the camera parameters can simultaneously cover the current position and the target position of the end effector, thus maintaining the pose of the end effector in the image.

[0098] In another embodiment, such as Figure 10 As shown, step S132 may further include:

[0099] Step S1321': Obtain the current position of the end effector.

[0100] Step S1322': Based on the current position of the operating end device, adjust the field of view of the image end device by changing the pose of the image end device so that the operating end device is within the field of view of the image end device.

[0101] Pose here includes position and / or orientation. If it is pre-calculated that adjusting only the pose of the image end effector can cover the area between the current position and the target position of the operating end effector, this method can be used to maintain the camera parameters of the image end effector.

[0102] For an example of a multi-port surgical robot, please refer to [link / reference]. Figures 11 to 13 Assuming... Figure 11 As shown, the current position of the image-end effector of the camera arm is B0, and the current position of the surgical end effector of the surgical arm is A0. The field of view of B0 is the target field of view, and A0 is located outside the target field of view. In one embodiment, it can be as follows: Figure 12 As shown, keeping the current position B0 of the image-end device unchanged, the field of view is adjusted by adjusting the camera parameters of the image-end device, such as the field of view angle, so that A0 falls within the adjusted field of view. In one embodiment, it can be done as follows: Figure 13 As shown, keeping the camera parameters of the image end effector unchanged, the field of view is adjusted by changing the pose of the image end effector, such as setting the position to B1, so that A0 falls within the adjusted field of view.

[0103] Of course, this also applies to single-port surgical robots; please refer to [link / reference]. Figures 14 to 16 Assuming... Figure 14 As shown, the current position of the image-end effector of the camera arm is B0, and the current position of the surgical end effector of the surgical arm is A0. The field of view of B0 is the target field of view, and A0 is located outside the target field of view. In one embodiment, as... Figure 15 As shown, keeping the camera parameters of the image end effector unchanged, the field of view is adjusted by changing the pose of the image end effector, such as setting its position to B1, so that A0 falls within the adjusted field of view; as... Figure 16 As shown, keeping the camera parameters of the image end effector unchanged, the field of view is adjusted by setting the pose of the image end effector to B1, so that A0 falls within the adjusted field of view. Of course, in some cases, the current position B0 of the image end effector can also be kept unchanged, and the field of view can be adjusted by adjusting the camera parameters of the image end effector, such as the field of view angle, so that A0 falls within the adjusted field of view, as not shown in the figure.

[0104] like Figure 12 and Figure 13 As shown, when the field of view of the image-based end effector includes both the current position and the target position of the end effector, the field of view of the image-based end effector can be kept unchanged, and the end effector can be directly guided to move from the current position to the target position based on the field of view.

[0105] like Figure 15 As shown, when the field of view of the end effector does not include the target location for operating the end effector, it can be done as follows: Figure 17As shown, keeping the field of view of the end effector unchanged, guide the end effector from A0 to A1 based on this field of view, and then proceed as follows. Figure 18 As shown, maintain the position of the end effector, move the image end effector to the target position (move to position B2) by adjusting the position of the end effector and ensuring that the end effector is within its field of view, and then adjust the field of view to move to the target position. Then guide the end effector to move according to the field of view, and perform the operation periodically until the end effector reaches the target position.

[0106] Or such as Figure 16 As shown, when the field of view of the end effector does not include the target location for operating the end effector, it can be done as follows: Figure 19 As shown, keeping the field of view of the end effector unchanged, guide the end effector from A0 to A1 based on this field of view, and then proceed as follows. Figure 20 As shown, maintain the position of the end effector, move it towards the target position (move to pose B2) by adjusting the position and orientation of the end effector, and ensure that the end effector is within its field of view while adjusting the field of view to move towards the target position. Then, guide the end effector to move according to the field of view, and perform the operation periodically until the end effector reaches the target position.

[0107] Figures 11 to 20 An example of surgical arm insertion is illustrated. Of course, these methods or principles are also applicable to surgical arm withdrawal operations.

[0108] In some embodiments, these two methods can also be combined to jointly adjust the field of view of the imaging end-effector to better move it towards the current and / or target position of the operating end-effector so that the current and / or target position falls within the field of view of the imaging end-effector. For example, the pose of the imaging end-effector can be adjusted first; or, for example, the camera parameters of the imaging end-effector can be adjusted first. The objects to be adjusted first (i.e., the pose of the imaging end-effector and the camera parameters) can be configured according to the instructions input by the doctor. For example, when the pose of the imaging end-effector is the object to be adjusted first, the pose of the imaging end-effector will be adjusted as much as possible to move its field of view towards the current and / or target position of the operating end-effector. If the field of view of the imaging end-effector still does not cover the current and / or target position of the operating end-effector when the movement reaches its limit, the camera parameters of the imaging end-effector will be adjusted to make the field of view of the imaging end-effector cover the current and / or target position of the operating end-effector. When the priority adjustment target is the camera parameters of the image-end device, the camera parameters of the image-end device will be adjusted as much as possible to move its field of view toward the current position and / or target position of the operating end device. If the field of view of the image-end device still does not cover the current position and / or target position of the operating end device when the movement reaches its limit, the pose of the image-end device will be adjusted to make the field of view of the image-end device cover the current position and / or target position of the operating end device.

[0109] In some embodiments, even when only the pose of the end-effector is being adjusted, a priority can be assigned. For example, the pose can be adjusted first; or the position can be adjusted first. Similarly, even when only the camera parameters of the end-effector are being adjusted, a priority can be assigned. For example, the field of view can be adjusted first; or the depth of field can be adjusted first. The objects to be adjusted first (i.e., the pose and position in the pose, and / or the field of view and depth of field in the camera parameters) can also be configured according to the instructions input by the physician.

[0110] In some embodiments, multiple levels of priority can be configured to adjust the field of view of the image-based end effector (APE), and the corresponding parameters of the APE can be adjusted step by step according to the configured priority to adjust the field of view until the field of view can cover the current position and / or target position of the APE. For example, the first level of priority is to adjust the pose of the APE, the second level of priority is to adjust the orientation of the APE, and the third level of priority is to adjust the field of view angle of the camera parameters of the APE. Assuming that the combined adjustment of the pose and camera parameters of the APE can achieve the current position and / or target position of the APE, the entire working process is roughly as follows:

[0111] First, adjust the posture of the image-end instrument to reach the limit of the field of view;

[0112] If the field of view can cover the current position and / or target position of the end effector at this time, the adjustment is complete; if the field of view cannot cover the current position and / or target position of the end effector at this time, adjust the position of the end effector in the image to the limit of the field of view.

[0113] If the field of view can cover the current position and / or target position of the end effector at this time, the adjustment is complete; if it still cannot cover the current position and / or target position of the end effector, further adjust the field of view of the end effector to the limit of the field of view.

[0114] If the field of view can cover the current position and / or target position of the end effector, the adjustment is complete; if the field of view cannot cover the current position and / or target position of the end effector, adjust the depth of field of the end effector to the limit of the field of view. At this point, the field of view should be able to cover the current position and / or target position of the end effector.

[0115] In one embodiment, such as Figure 21 As shown, step S12 above, namely the step of adjusting the field of view of the image-end instrument to move towards the target position, includes:

[0116] Step S121: Obtain the current position of the end effector.

[0117] Step S122: Determine the adjustment direction of the field of view of the image end effector based on the current position and target position of the end effector.

[0118] The adjustment direction is always tangent to the path points planned based on the current and target positions of the end effector. For example, if the planned path is a straight line connecting the current and target positions, the adjustment direction is the extension direction of the straight line, more specifically, the direction from the current position to the target position.

[0119] Step S123: Adjust the field of view of the image end effector to move toward the target position of the operating end effector in an incremental manner according to the adjustment direction.

[0120] In step S123, the movement of the field of view of the image-end device can be constrained. For example, a certain path point can be constrained to be located at a certain position within the field of view of the image-end device, such as the center of the field of view or a point with a specific positional relationship to the field of view. Alternatively, other constraints can be imposed on the movement of the field of view of the image-end device. For example, a point with a specific positional relationship to the field of view after the field of view of the image-end device has moved can be constrained to maintain a specific distance in a specific direction from the current position of the real-time updated operating end device.

[0121] In one embodiment, the field of view of the end device at each adjacent time point can be designated as a first field of view and a second field of view, and an overlapping area is constrained between the first field of view and the second field of view. This limits the end device to move toward the target position by passing through the overlapping area, thus ensuring that the end device is always within the field of view.

[0122] In step S123, the field of view of the image-end device can be adjusted to move towards the target position of the operating end device by gradually adjusting the field of view and / or depth of field of the image-end device according to the adjustment direction. Furthermore, step S123 can also adjust the field of view of the image-end device to move towards the target position of the operating end device by gradually adjusting the position and / or orientation of the image-end device according to the adjustment direction. Of course, both methods can be used in combination. For specific details, please refer to the embodiment described above regarding adjusting the field of view of the image-end device to place the operating end device within the field of view of the image-end device; these will not be repeated here.

[0123] Typically, different operational requirements correspond to different target positions for the end effector. In one embodiment, such as... Figure 22 As shown, step S11 above, namely the step of obtaining the target position to which the desired end effector will reach, includes:

[0124] Step S111: Obtain the input operation mode.

[0125] The operating modes include, but are not limited to, a first operating mode and a second operating mode. For example, the first operating mode is used to guide the end-effector to be inserted into the target position, and its applicable scenarios include, but are not limited to, inserting the surgical arm from outside the patient's body before surgery; the second operating mode is used to guide the end-effector to be withdrawn to the target position, and its applicable scenarios include, but are not limited to, changing the surgical arm during surgery and withdrawing the surgical arm at the end of surgery.

[0126] Step S112: Determine the target location to which the desired end effector should reach based on the obtained operation mode.

[0127] In one embodiment, when the obtained operating mode is the first operating mode, such as Figure 23 As shown, step S112 above, namely the step of determining the target position to be reached by the desired end-effector based on the acquired operating mode, includes:

[0128] Step S1121: Obtain the target field of view of the image end-effector.

[0129] The target field of view can be determined by the doctor's confirmation of the field of view at a certain moment, and the surgery is usually performed within this target field of view. For example, before surgery, the doctor usually inserts a camera arm into the patient's body and uses the imaging end effector of the camera arm to observe and determine the field of view suitable for the surgery. After receiving a confirmation command triggered by the doctor, the field of view corresponding to the moment the confirmation command was generated is taken as the aforementioned target field of view.

[0130] Step S1122: Determine the target location to which the end effector is expected to reach based on the target field of view.

[0131] The target location is a point with a specific positional relationship to the target field of view. Examples of this target location include, but are not limited to, the center of the target field of view, or a point off-center from the center of the target field of view that intersects with the extension direction of the surgical arm's linkage. For example, the target location is... Figure 11 and Figure 14 Let M be a point in the target's field of view, where... Figure 11 The example shows that point M is not the center of the target's field of view. Figure 14 The diagram illustrates point M as the center of the target's field of vision.

[0132] In one embodiment, two or more end devices configured to perform a first operating mode have different target locations. Furthermore, the different target locations are typically spaced at a safe distance to avoid collisions between the end devices. For example, one of these target locations may be the center point of the target field of view, while the others may be specific points outside the center of the target field of view.

[0133] In one embodiment, when there are two or more end devices that need to be guided to the target location, they can usually be guided one by one. That is, after guiding one end device to the target location, another end device is guided to the target location until all end devices are guided to the target location.

[0134] The surgical robot includes a trocar, the proximal end of which is detachably connected to the distal end of the surgical robot. The distal end is inserted into and fixed at the incision site. The trocar is used to guide the surgical arm through the incision and into the human body. In one embodiment, when the obtained operating mode is the second operating mode, the above-mentioned step S112, i.e., the step of determining the target position to which the desired end-effector is to be reached based on the obtained operating mode, can be: obtaining the position of a point associated with the trocar as the target position. The point associated with the trocar as the target position can be located on the trocar, or it can be located on the extension line of the trocar's axis and on the distal side of the trocar. The trocar typically has a cylindrical insertion portion, and the axis here usually refers to the central axis of the insertion portion.

[0135] In the above embodiments, a safe distance is maintained between the image end-effector and the target location to prevent collisions between the image end-effector and the operating end-effector.

[0136] In some embodiments, such as Figure 24 As shown, the method of the present invention may further include:

[0137] Step S141: Obtain the current position of the end effector.

[0138] Step S142: When the end-effector moves from its current position to the target position, adjust the field of view of the end-effector to restore it to the initial field of view.

[0139] The determination of whether the end effector has essentially moved from its current position to the target position can be made automatically by the system or by the doctor. For example, in the case of automatic system determination, if the deviation between the current position (updated in real time) and the target position is less than a deviation threshold, the system can determine that the current position has essentially reached the target position. Furthermore, the doctor's determination should generally be conditional. For instance, only when the deviation between the current position and the target position is less than a deviation threshold is the doctor's confirmation command, associated with the current position essentially reaching the target position, considered valid; or, the system may only allow the doctor to input the aforementioned confirmation command when the deviation between the current position and the target position is less than a deviation threshold. This design serves as a pre-judgment mechanism.

[0140] The initial field of view refers to the field of view at the moment before the image-end instrument is first adjusted. For example, for an end instrument performing the first operating mode, the initial field of view is the target field of view confirmed by the physician. For an end instrument performing the second operating mode, the initial field of view can also be the target field of view confirmed by the physician.

[0141] In step S142 above, the purpose of adjusting the end-effector of the image to restore the initial field of view can be achieved in a variety of ways.

[0142] In one embodiment, step S12, namely, adjusting the field of view of the image-end device to move towards the target position, includes: real-time recording of the changes in camera parameters and pose of the image-end device at corresponding moments during the movement of the field of view of the image-end device towards the target position. Furthermore, in step S142, namely, adjusting the field of view of the image-end device to restore it to its initial field of view, the field of view of the image-end device is gradually restored to its initial field of view in reverse order based on the recorded camera parameters and pose of the image-end device at the corresponding moments.

[0143] Assuming the command parameters for adjusting the field of view of the image-end instrument from time T0 to time Tn are shown in the table below:

[0144] time T0 T1 T2 T3 … Tn Command parameters C0 C1 C2 C3 … Cn

[0145] Where T0 is the moment before the field of view of the image-end device begins to move towards the target position, Tn is the moment when the field of view of the image-end device reaches the target position, the time between T0 and Tn is the intermediate time, and C0 to Cn are the command parameters corresponding to the times T0 to Tn. The command parameters include one or more of camera parameters and pose, specifically determined according to the method of adjusting the field of view of the image-end device. The initial field of view can be obtained through the command parameter C0.

[0146] In one embodiment, the field of view of the image-end device can be gradually adjusted to restore the initial field of view according to the field of view adjustment method. The field of view adjustment method is to adjust the camera parameters and pose of the later time step to the camera parameters and pose of the adjacent previous time step. Here, "adjacent" can be consecutive or intermittently adjacent. For example, all instruction parameters Cn to C0 corresponding to time steps Tn to T0 can be executed in reverse to restore the field of view of the image-end device to the initial field of view. Another example is that instruction parameters corresponding to some time steps Tn to T0 can be executed in reverse to restore the field of view of the image-end device to the initial field of view. For example, executing instruction parameters Cn, C3, and C0 corresponding to time steps Tn, T3, and T0 can restore the field of view of the image-end device to the initial field of view. This method is simple and fast.

[0147] In another embodiment, step S12, which involves adjusting the field of view of the image-end device to move towards the target position, includes acquiring and recording the camera parameters and pose corresponding to the current field of view of the image-end device. Then, in step S142, which involves restoring the field of view of the image-end device to its initial field of view, the field of view of the image-end device is directly restored to its initial field of view based on the recorded camera parameters and pose corresponding to the current field of view. That is, referring to the command parameters corresponding to each time point in the table above, the field of view of the image-end device can be restored to its initial field of view simply by executing the command parameter C0 corresponding to time T0. This method is simpler and faster.

[0148] In some embodiments, such as Figure 25 As shown, the method of the present invention may further include:

[0149] Step S151: Determine whether the operating end device is within the field of view of the image end device.

[0150] Step S152: When the operating end device is not within the field of view of the image end device, movement of the operating end device is prohibited.

[0151] By using the above steps S151 to S155, the operation end device can be prevented from going outside the image end device, thus further ensuring safety.

[0152] In one embodiment, before step S151 above, that is, before the step of determining whether the operating end device is within the field of view of the image end device, the method further includes:

[0153] Step S150: Check whether a startup command has been obtained.

[0154] When the start command is obtained in step S150, the process proceeds to step S151, which is the step of determining whether the operating end device is within the field of view of the image end device.

[0155] The activation command includes, but is not limited to, being triggered when the surgical arm is installed onto the power mechanism, and being triggered by a confirmation command input by the doctor after the surgical arm is installed onto the power mechanism. For example, the power mechanism is equipped with a sensor, such as a distance sensor. When the surgical arm is installed onto the power mechanism, the sensor detects the distance between the surgical arm and the power mechanism. When the controller determines that the distance is less than or equal to a preset value, it triggers the generation of the activation command.

[0156] In some embodiments, the method of the present invention may further include: acquiring the reachable range of the field of view of the image-end instrument, wherein the reachable range of the field of view refers to the spatial set of all fields of view; acquiring the current position of the operating end instrument; determining whether the current position of the operating end instrument is within the reachable range of the field of view of the image-end instrument; and, if the current position of the operating end instrument is within the reachable range of the field of view of the image-end instrument, proceeding to the step of adjusting the field of view of the image-end instrument to move towards the target position. When the current position of the operating end instrument is within the reachable range of the field of view of the image-end instrument, it can be ensured that the corresponding operation can be completed within the field of view. The problem of the current position of the operating end instrument not being within the reachable range of the field of view of the image-end instrument often occurs in multi-hole surgical robots. Therefore, the surgeon can be prompted to adjust the distal fixed point of the surgical arm so that subsequent adjustments to this distal fixed point satisfy the condition that the current position of the operating end instrument is within the reachable range of the field of view of the image-end instrument.

[0157] In some embodiments, while ensuring that the operating end-effector remains within the field of view of the image end-effector, the image end-effector moves synchronously with the operating end-effector, meaning that both move simultaneously. (Not illustrated in the figure.)

[0158] In some embodiments, the image-end device moves with a lag as the operating end device moves, provided that the operating end device remains within the field of view of the image-end device. For example... Figure 15 , Figure 17 and Figure 18 As shown, or as Figure 15 , Figure 19 and Figure 20 As shown.

[0159] In some embodiments, the method of the present invention may further include: controlling, or constraining, the end-effector to move substantially linearly along its current position toward a target position as it moves. This limitation is particularly applicable to the insertion of the surgical arm during surgical preparation, as it more closely approximates existing operating methods.

[0160] In some embodiments, the method of the present invention may further include: calculating the deviation angle between the direction of movement of the end effector and the line connecting the current position and the target position of the end effector; and generating at least a resistance that hinders the movement of the end effector in the deviation direction when the deviation angle reaches a deviation threshold. The connecting line is, for example, a straight line between the current position and the target position.

[0161] In one embodiment, the magnitude of the resistance is positively correlated with the magnitude of the deviation angle, for example, a linear positive correlation or a stepwise positive correlation.

[0162] In one embodiment, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program configured to be loaded by a processor and executed to perform the following steps: obtaining a target position that the operating end device is expected to reach; when the operating end device is within the field of view of the image end device, adjusting the field of view of the image end device to move toward the target position, and ensuring that the operating end device is always within the field of view of the image end device.

[0163] In one embodiment, a control device for a surgical robot is provided. For example... Figure 26 As shown, the control device may include: a processor 501, a communications interface 502, a memory 503, and a communications bus 504.

[0164] The processor 501, communication interface 502, and memory 503 communicate with each other through the communication bus 504.

[0165] The communication interface 502 is used to communicate with other network elements such as various sensors, motors, solenoid valves, or other clients or servers.

[0166] The processor 501 is used to execute program 505, which can specifically perform the relevant steps in the above method embodiments.

[0167] Specifically, program 505 may include program code that includes computer operation instructions.

[0168] The processor 505 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), one or more integrated circuits configured to implement embodiments of the present invention, or a graphics processing unit (GPU). The control device includes one or more processors, which may be processors of the same type, such as one or more CPUs or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0169] Memory 503 is used to store program 505. Memory 503 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0170] Specifically, program 505 can be used to cause processor 501 to perform the following operations: obtain the target position that the end effector is expected to reach; when the end effector is within the field of view of the image end effector, adjust the field of view of the image end effector to move toward the target position, and ensure that the end effector is always within the field of view of the image end effector.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A surgical robot, characterized by, The surgical robot has a plurality of operation arms including a camera arm having an image end instrument and a surgical arm having an operation end instrument, and a controller coupled with the operation arms and configured to perform the following steps: acquiring a target position to which the operation end instrument is expected to reach; in response to the operation end instrument moving towards the target position, adjusting a field of view of the image end instrument to move towards the target position until the field of view of the image end instrument reaches the target position and the operation end instrument reaches the target position, to ensure that the operation end instrument is always within the field of view of the image end instrument; when the operation end instrument reaches the target position, adjusting the field of view of the image end instrument to return to an initial field of view; when the operation end instrument moves, restricting the operation end instrument to move linearly substantially along a direction from its current position to its target position; calculating an angle of deviation of the moving direction of the operation end instrument from a connecting line between the current position and the target position of the operation end instrument; when the angle of deviation reaches a deviation threshold, generating at least a resistance to hinder the operation end instrument from moving in the direction of deviation.

2. The surgical robot of claim 1, wherein, The controller is further configured to perform the following steps: recording in real time changes in camera parameters and poses corresponding to time points during movement of the initial field of view of the image end instrument towards the target position; The step of adjusting the field of view of the image end instrument to return to the initial field of view includes gradually adjusting the field of view of the image end instrument to return to the initial field of view according to a field of view adjustment manner, and the field of view adjustment manner includes an adjustment manner of adjusting camera parameters and poses of a later time point to camera parameters and poses of an adjacent previous time point.

3. The surgical robot of claim 1, wherein, The controller is further configured to perform the following steps: recording camera parameters and poses corresponding to the initial field of view of the image end instrument; The step of adjusting the field of view of the image end instrument to return to the initial field of view includes directly returning the field of view of the image end instrument to the initial field of view according to the recorded camera parameters and poses corresponding to the initial field of view of the image end instrument.

4. The surgical robot of claim 1, wherein, The controller is further configured to perform the following steps: when a first operation mode is acquired, acquiring a target field of view of the image end instrument, and determining the target position according to the target field of view, the first operation mode being used to guide the operation end instrument to be inserted to a target position.

5. The surgical robot of claim 1, wherein, The surgical robot further includes a puncture device used to guide the surgical arm to be inserted through an incision into a human body, and the controller is further configured to perform the following steps: when a second operation mode is acquired, acquiring a target position associated with the puncture device, the second operation mode being used to guide the operation end instrument to be withdrawn to a target position.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured in a surgical robot having an image end instrument and an operation end instrument, and the computer readable storage medium stores a computer program configured to be loaded and executed by a processor to implement the following steps: acquiring a target position to which the operation end instrument is expected to reach; adjusting the field of view of the image end-effector to move towards the target position until the field of view of the image end-effector reaches the target position and the operation end-effector reaches the target position to ensure that the operation end-effector is always within the field of view of the image end-effector; adjusting the field of view of the image end-effector to return to the initial field of view when the operation end-effector reaches the target position; restricting the operation end-effector to move linearly substantially along a direction from its current position to its target position when the operation end-effector moves; calculating an angle of deviation between a moving direction of the operation end-effector and a connecting line between the current position and the target position of the operation end-effector; generating at least a resistance to movement of the operation end-effector in the deviated direction when the angle of deviation reaches a deviation threshold.

7. A control device of a surgical robot characterized by comprising: The surgical robot has an image end-effector and an operation end-effector, and the control device comprises: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured to be loaded and executed by the processor to implement the following steps: obtaining a target position to which the operation end-effector is expected to reach; adjusting the field of view of the image end-effector to move towards the target position until the field of view of the image end-effector reaches the target position and the operation end-effector reaches the target position to ensure that the operation end-effector is always within the field of view of the image end-effector; adjusting the field of view of the image end-effector to return to the initial field of view when the operation end-effector reaches the target position; restricting the operation end-effector to move linearly substantially along a direction from its current position to its target position when the operation end-effector moves; calculating an angle of deviation between a moving direction of the operation end-effector and a connecting line between the current position and the target position of the operation end-effector; generating at least a resistance to movement of the operation end-effector in the deviated direction when the angle of deviation reaches a deviation threshold.

Images