Computer-readable storage medium, electronic device, and surgical robot system

Abstract

The present invention relates to a computer-readable storage medium, an electronic device, and a surgical robot system. The computer-readable storage medium stores a program that, when executed, performs the following steps: determining whether a surgical instrument is within the surgical field of view based on surgical field information provided by an image acquisition device; when the surgical instrument is outside the surgical field of view, planning a motion plan and causing an image arm connected to the image acquisition device and / or a tool arm connected to the surgical instrument to execute the motion plan, so that the surgical instrument returns to the surgical field of view; wherein, before or during the execution of the motion plan by the image arm and / or the tool arm, the program further executes safety measures to place the image acquisition device and / or the surgical instrument in a safe state. The present invention can automatically restore the surgical instrument to the surgical field of view, improving surgical safety and controllability.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a computer-readable storage medium, an electronic device, and a surgical robot system. Background Art

[0002] Using robotic surgical systems for minimally invasive surgery reduces patient trauma, infection risk, and postoperative recovery time, while also reducing operator fatigue and difficulty. However, during robotic surgery, the movement of the endoscope or surgical instruments can easily cause the surgical instruments to be out of the operative field of view, creating an invisible blind spot for the surgeon. When the surgical instruments are out of the operative field of view, the surgeon cannot directly control them or the field of view. Directly performing the surgery at this point can easily cause damage to human tissue.

[0003] Some devices that can improve surgical safety have emerged in the prior art. For example, a medical imaging system in the prior art adds directional prompt information and other prompt information to the nurse's display screen to achieve the purpose of prompting the doctor the current position of the surgical instrument. However, it only roughly locates the orientation of the surgical instrument and cannot guarantee the safety of the surgical operation.

[0004] Therefore, designing a surgical robot system and a control method thereof that can automatically return surgical instruments to the surgical field of view to improve the safety and controllability of the surgical robot system during use is an urgent problem to be solved. Summary of the Invention

[0005] An object of the present invention is to provide a computer-readable storage medium, an electronic device, and a surgical robot system, which can improve the safety and controllability of surgical operations.

[0006] To achieve the above object, the present invention provides a computer-readable storage medium having a program stored thereon. When the program is executed, the following steps are performed:

[0007] determining whether the surgical instrument is within the surgical field of view based on the surgical field of view information provided by the image acquisition device;

[0008] When the surgical instrument is outside the surgical field of view, planning a motion plan, and causing an image arm connected to the image acquisition device and / or a tool arm connected to the surgical instrument to execute the motion plan, so that the surgical instrument returns to the surgical field of view;

[0009] Wherein, before or during the execution of the motion plan by the image arm and / or the tool arm, the program further executes safety measures to put the image acquisition device and / or the surgical instrument in a safe state.

[0010] Optionally, before the image arm and / or the tool arm executes the motion plan, the program executes the following steps to implement the safety measures;

[0011] It is determined whether the end of the image acquisition device and / or the end of the surgical instrument is located in the corresponding stamp card. If not, the end of the image acquisition device and / or the end of the surgical instrument is driven to move into the corresponding stamp card.

[0012] Optionally, after the imaging arm and / or the tool arm executes the motion plan, the program further executes the following steps:

[0013] The distal end of the image acquisition device and / or the distal end of the surgical instrument are driven to move and extend from the corresponding puncture card, so that the surgical instrument returns to the surgical field of view.

[0014] Optionally, during the process of the image arm and / or the tool arm executing the motion plan, the program executes the following steps to implement the safety measures:

[0015] determining whether the characteristic values ​​of the image arm and / or the tool arm are within a safety threshold; if not, driving the image acquisition device and / or the surgical instrument to move a predetermined distance in a direction toward the outside of the body;

[0016] The characteristic value includes at least one of a joint torque, a joint position or a joint movement speed of the image arm and / or the tool arm.

[0017] Optionally, during the process of the image arm and / or the tool arm executing the motion plan, the program executes the following steps to implement the safety measures;

[0018] determining whether the characteristic values ​​of the image arm and / or the tool arm are within a safety threshold, and if not, causing the image arm and / or the tool arm to stop executing the motion plan;

[0019] The characteristic value includes at least one of a joint torque, a joint position or a joint movement speed of the image arm and / or the tool arm.

[0020] Optionally, the program performs the following steps to plan the exercise program:

[0021] planning a target position of the surgical instrument within the surgical field of view;

[0022] The motion plan is planned according to the current position of the surgical instrument and the target position.

[0023] Optionally, when the image acquisition device and / or the surgical instrument moves so that the surgical instrument is no longer within the surgical field of view, the target position refers to a position that enables the surgical instrument to be restored to the surgical field of view and corresponds to its position before leaving the surgical field of view.

[0024] Optionally, the program executes the following steps to obtain the target position: obtain the coordinates of the center point C of the surgical field of view, and use the center point C of the surgical field of view as the target position.

[0025] Optionally, the program performs the following steps to obtain the target position: obtaining the coordinates of the center point C of the surgical field of view;

[0026] A spherical surface with the center point C as the center is obtained, and any point inside the sphere and on the spherical surface is used as the target position, wherein the radius of the spherical surface is the length of the end effector of the surgical instrument.

[0027] Optionally, the program performs the following steps to obtain a target position of the surgical instrument outside the surgical field of view:

[0028] Obtaining the coordinates of the center point C of the surgical field of view and the coordinates of the end point T of the surgical instrument located within the surgical field of view;

[0029] The coordinates of the midpoint Z of the line TC connecting the center point C and the end point T of the surgical instrument located within the surgical field of view are calculated, and the midpoint Z is used as the target position of the surgical instrument located outside the surgical field of view.

[0030] Optionally, the program performs the following steps to obtain a target position of the surgical instrument outside the surgical field of view:

[0031] Obtaining the coordinates of the center point C of the surgical field of view and the coordinates of the end point T of the surgical instrument located within the surgical field of view;

[0032] Calculating the coordinates of the midpoint Z of the line TC connecting the center point C and the end point T of the surgical instrument located within the surgical field of view;

[0033] Acquire a spherical surface with the end point T of the surgical instrument located within the surgical field of view as the center, where the radius of the spherical surface is the length of the end effector of the surgical instrument located within the surgical field of view;

[0034] Determine whether the distance from the midpoint Z to the end point T of the surgical instrument located in the surgical field of view is greater than the radius of the sphere. If so, take the midpoint Z as the target position; if not, select point A on the connecting line TC as the target position, where point A is located between the midpoint Z and the center point C, and the distance from point A to the end point T of the surgical instrument located in the surgical field of view is m times the radius of the sphere, where m is greater than 1.

[0035] Optionally, the program performs the following steps to obtain the coordinates of the center point C of the surgical field of view:

[0036] The coordinates of the center point C are obtained based on the coordinates of the end point N and the reference point M of the image acquisition device, as well as the depth of field H of the image acquisition device; wherein the reference point M is a point that is fixed in position during the operation and is located on the axis of the image acquisition device.

[0037] Optionally, the program performs the following steps to obtain the coordinates of the center point C:

[0038] Obtain the coordinates N(x1, y1, z1) of the end point N and the coordinates M(x2, y2, z2) of the reference point M;

[0039] Calculate the direction vector of the axis direction of the image acquisition device as

[0040] The coordinates C(x3, y3, z3) of the center point C of the surgical field of view are calculated as: C(x3, y3, z3) = N(x1, y1, z1) + H×E NM .

[0041] Optionally, the program performs the following steps to plan the exercise program:

[0042] A first motion trajectory equation is obtained according to a first motion trajectory of the surgical instrument planned by a human; the starting point of the first motion trajectory is the current position of the surgical instrument, and the ending point of the first motion trajectory is the target position;

[0043] Selecting a preset motion trajectory equation that matches the first motion trajectory as the second motion trajectory equation;

[0044] performing combined optimization on the first motion trajectory equation and the second motion trajectory equation to obtain a third motion trajectory equation;

[0045] Acquiring the relative positional relationship between the surgical instrument and the surgical field of view;

[0046] The motion plan is determined according to the relative positional relationship between the surgical instrument and the surgical field of view; the motion plan is defined by the first motion trajectory equation, or by the second motion trajectory equation, or by the third motion trajectory equation.

[0047] Optionally, the program performs the following steps to plan the exercise program:

[0048] Obtaining the position of the end point E1 of the image acquisition device and the coordinates of the fixed point R1 of the imaging arm;

[0049] Obtaining the coordinates of the end point T1 of the tool arm;

[0050] Calculate the angle θ1 formed by the straight line E1T1 and the straight line T1R1;

[0051] The motion plan is determined, where the motion plan includes: the image arm rotates by an angle θ1 along a first direction with a fixed point R1 of the image arm as a rotation center.

[0052] Optionally, the program further performs the following steps:

[0053] Obtaining the coordinates of the fixed point R2 of the tool arm;

[0054] The movement scheme also includes: the image arm rotates by an angle θ2 along the second direction with the fixed point R1 of the image arm as the rotation center, and the tool arm rotates by an angle θ2 along the second direction with the fixed point R2 on the tool arm as the rotation center, so that the surgical instrument remains within the surgical field of view.

[0055] Optionally, at least one surgical instrument is located within the surgical field of view, and at least one surgical instrument is located outside the surgical field of view; the tool arm for mounting the surgical instrument located within the surgical field of view is a first tool arm, and the tool arm for mounting the surgical instrument located outside the surgical field of view is a second tool arm;

[0056] The program performs the following steps to plan the exercise program:

[0057] Acquire the position of the end point E1 of the image acquisition device and the position of the fixed point R1 of the imaging arm;

[0058] Acquire the fixed point R3 of the first tool arm and the position of the end point T1 of the surgical instrument outside the surgical field of view;

[0059] Calculate the angle θ1 formed by the straight line E1T1 and the straight line T1R1;

[0060] Determine the motion plan, which includes the image arm rotating by an angle θ1 along a first direction with the fixed point R1 of the image arm as the rotation center, and the first tool arm rotating by an angle θ1 along a first direction with the fixed point R3 on the first tool arm as the rotation center, so that the surgical instrument mounted on the second tool arm returns to the surgical field of view while the surgical instrument mounted on the first tool arm remains in the surgical field of view.

[0061] To achieve the above objectives, the present invention further provides an electronic device, comprising a processor and a computer-readable storage medium as described in any of the preceding items, wherein the processor is configured to execute a program stored on the computer-readable storage medium.

[0062] To achieve the above objectives, the present invention further provides a surgical robot system, comprising:

[0063] An image arm, used for mounting an image acquisition device, wherein the image acquisition device is used to provide a surgical field of view;

[0064] a tool arm, used for mounting surgical instruments, wherein the surgical instruments are used for performing surgical operations within the surgical field of view; and

[0065] A control unit configured to execute a program stored on the computer-readable storage medium as described in any one of the preceding items.

[0066] Optionally, an input device is further included, and the control unit plans the exercise plan according to instructions input by the input device.

[0067] Optionally, the surgical robot system includes the electronic device as described in claim 18, and the control unit includes the processor.

[0068] Compared with the prior art, the computer-readable storage medium, electronic device, and surgical robot system of the present invention have the following advantages:

[0069] First, the aforementioned computer-readable storage medium stores a program that, when executed, performs the following steps: determining whether the surgical instrument is within the surgical field of view based on surgical field information provided by an image acquisition device; when the surgical instrument is outside the surgical field of view, planning a motion plan and causing the image arm connected to the image acquisition device and / or the tool arm connected to the surgical instrument to execute the motion plan, so that the surgical instrument returns to the surgical field of view; wherein, before or during the execution of the motion plan by the image arm and / or the tool arm, the program also executes safety measures to place the image acquisition device and / or the surgical instrument in a safe state. When the computer-readable storage medium is applied to a surgical robot system and the surgical robot system is used to perform a surgical operation, if the surgical instrument is outside the surgical field of view, a corresponding program can be executed to ensure that the surgical instrument returns to the surgical field of view without damaging human tissue, thereby improving the controllability and safety of the surgical operation.

[0070] Second, when the program plans the motion plan and controls the tool arm to execute the motion plan so that the surgical instrument returns to the surgical field of view, it can provide a variety of target position planning methods for surgical instruments to adapt to different surgical scenarios and improve the versatility of the surgical robot system.

[0071] Third, the motion plan may also involve the motion plan of the image arm, and control the motion of the image arm to return the surgical instrument to the surgical field of view. By utilizing the motion of the image arm and / or the tool arm, different adjustment strategies can be combined to ensure redundant selection during the operation and ensure that the surgical instrument returns to the surgical field of view. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0073] Figure 1 is a schematic structural diagram of a surgical robot system provided according to one embodiment of the present invention;

[0074] Figure 2 is a control flow chart of a surgical robot system provided according to one embodiment of the present invention;

[0075] Figure 3 is a schematic diagram of the state of a surgical instrument when a tool arm of a surgical robot system according to an embodiment of the present invention executes a motion plan;

[0076] Figure 4 is a schematic diagram of the state of a surgical instrument when a tool arm of a surgical robot system according to another embodiment of the present invention executes a motion plan;

[0077] Figure 5This is a block diagram of the control principle when the tool arm of the surgical robot system according to one embodiment of the present invention executes a motion plan;

[0078] Figure 6a is a schematic diagram of a surgical instrument of a surgical robot system provided by one embodiment of the present invention within a surgical field of view, wherein one surgical instrument is shown;

[0079] Figure 6b is a schematic diagram of surgical instruments of a surgical robot system provided in accordance with one embodiment of the present invention within a surgical field of view, wherein two surgical instruments are shown;

[0080] Figure 6c 1 is a schematic diagram of surgical instruments of a surgical robot system provided in accordance with one embodiment of the present invention within a surgical field of view, wherein three surgical instruments are shown;

[0081] Figure 7 1 is a schematic diagram of a surgical robot system according to an embodiment of the present invention during surgery, wherein there are two surgical instruments, one of which is within the surgical field of view and the other is outside the surgical field of view;

[0082] Figure 8a 2 is a schematic diagram of a target position of a surgical instrument planned by a control unit in a surgical robot system according to one embodiment of the present invention. The dashed line in the figure indicates a situation where the second surgical instrument is outside the surgical field of view, and the solid line indicates a situation where the second surgical instrument is back within the surgical field of view.

[0083] Figure 8b is a schematic diagram of a control unit in a surgical robot system planning a target position of a surgical instrument according to another embodiment of the present invention;

[0084] Figure 8c is a schematic diagram of a target position of a surgical instrument planned by a control unit in a surgical robot system according to another embodiment of the present invention;

[0085] Figure 9 This is a principle block diagram of a control unit planning a motion plan for a tool arm in a surgical robot system according to one embodiment of the present invention;

[0086] Figure 10a is a relationship diagram between the position of the surgical instrument and time when the control unit of the surgical robot system provided by one embodiment of the present invention plans the motion plan of the tool arm using the T-type trajectory planning method;

[0087] Figure 10b is a graph showing the relationship between the speed of the surgical instrument and time when the control unit of the surgical robot system according to one embodiment of the present invention plans the motion plan of the tool arm using a T-type trajectory planning method;

[0088] Figure 10c is a graph showing the relationship between acceleration and time of a surgical instrument when a control unit of a surgical robot system according to one embodiment of the present invention uses a T-type trajectory planning method to plan a motion plan for a tool arm;

[0089] Figure 11a is a schematic diagram of a control unit of a surgical robot system planning a motion plan for an imaging arm according to an embodiment of the present invention;

[0090] Figure 11b is a schematic diagram of a control unit of a surgical robot system according to an embodiment of the present invention controlling the movement of an endoscope, wherein a second surgical instrument is located within the surgical field of view;

[0091] Figure 11c 2 is a schematic diagram of a control unit of a surgical robot system controlling the movement of an endoscope and a second surgical instrument according to one embodiment of the present invention.

[0092] [Description of reference numerals is as follows]:

[0093] 10-Doctor's console;

[0094] 11-Display;

[0095] 20- Image display device;

[0096] 30-Surgical operating device;

[0097] 31 - image arm, 32 - tool arm, 33 - endoscope, 33' - surgical field of view, 34 - surgical instrument, 34a - first surgical instrument, 34b - second surgical instrument, 35 - stamp card;

[0098] 40-Operating table;

[0099] 50-Tool placement device;

[0100] 61 - trajectory recognition module, 62 - selection module, 63 - storage module, 64 - position calculation unit, 65 - trajectory calculation unit. DETAILED DESCRIPTION

[0101] The following describes the embodiments of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present invention in a schematic manner, and the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components during actual implementation. During actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0102] In addition, each embodiment described below has one or more technical features. However, this does not mean that users of the present invention must implement all technical features in any embodiment at the same time, or that they can only implement some or all technical features in different embodiments separately. In other words, as long as implementation is possible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility of the implementation of the present invention.

[0103] As used in this specification, the singular forms "a", "an", and "the" include plural objects, unless the content clearly indicates otherwise. As used in this specification, the term "or" is generally used in the sense of including "and / or", unless the content clearly indicates otherwise, and the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be internal communication between two elements or an interactive relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0104] The core concept of the present invention is to provide a computer-readable storage medium having a program stored thereon. When the program is executed, it performs the following steps: determining whether a surgical instrument is within the surgical field of view based on surgical field information provided by an image acquisition device; when the surgical instrument is outside the surgical field of view, planning a motion plan and causing an image arm connected to the image acquisition device and / or a tool arm connected to the surgical instrument to execute the motion plan to return the surgical instrument to the surgical field of view; wherein, before or during the execution of the motion plan by the image arm and / or the tool arm, the program further executes safety measures to place the image acquisition device and / or the surgical instrument in a safe state. The computer-readable storage medium is applied to a surgical robot system. During a surgical operation performed by the surgical robot system, if the surgical instrument is outside the surgical field of view, the surgical robot system can execute a corresponding program to return the surgical instrument to the surgical field of view. In other words, in this surgical robot system, when the surgical instrument leaves the surgical field of view, the surgical instrument is returned to the surgical field of view by executing a corresponding operation, thereby preventing the doctor from performing the operation in a blind spot and improving the safety and controllability of the operation.

[0105] Furthermore, an embodiment of the present invention also provides an electronic device including the computer-readable storage medium, and a surgical robot system, wherein the surgical robot system includes a control unit that executes the program stored on the computer-readable storage medium.

[0106] To make the objects, advantages, and features of the present invention more apparent, the present invention is further described below in detail with reference to the accompanying drawings. It should be noted that the drawings are greatly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar components.

[0107] The surgical robot system provided in the embodiments of the present invention can be, for example, a master-slave robot system to be operated, or can be another surgical robot system. The surgical robot system can perform various minimally invasive surgical operations. For ease of description, the following description uses the surgical robot system as a master-slave robot system, and the surgical robot system performs laparoscopic surgery as an example. However, those skilled in the art should be aware that this should not limit the present invention.

[0108] The surgical robot system provided in the embodiments of the present invention can be, for example, a teleoperated master-slave robot system or another type of surgical robot system. The surgical robot system can perform various minimally invasive surgical procedures. In the following description, for ease of understanding, the surgical robot system is described as a master-slave robot system, and laparoscopic surgery is performed by the surgical robot system. However, those skilled in the art should understand that this does not limit the present invention.

[0109] Please refer to Figure 1 The surgical robot system includes a control end and an execution end. The control end includes a doctor's console 10, and the execution end includes an image display device 20, a surgical operation device 30, an operating table 40, and a tool placement device 50. The surgical robot system mainly performs minimally invasive surgical treatment on the patient on the operating table 40.

[0110] Please continue to refer to Figure 1 The surgical operation device 30 includes at least one image arm 31 and at least one tool arm 32. An image acquisition device is mounted on the image arm 31. The image acquisition device is, for example, an endoscope 33 or an ultrasound probe or other device that can enter the patient's body and acquire images of the patient's body. For the convenience of description, the image acquisition device is described as an endoscope 33. The tool arm 31 is used to mount a surgical instrument 34. The endoscope 33 and the surgical instrument 34 enter the patient's body through an incision on the patient's body, specifically through a stamping card ( Figure 1 Afterwards, the endoscope 33 can obtain information about human tissue, surgical instruments 34 in the human body, and surgical environment. That is, the endoscope 33 provides a surgical field of view, and the surgical instruments 34 perform surgical operations within the field of view.

[0111] In this embodiment, the doctor's console 10 includes a master operator (also called a master hand), and the control unit is communicatively connected with the master operator, the image arm 31, the tool arm 32, and the surgical instrument 34, and the master operator forms a master-slave control relationship with the tool arm 32 and the surgical instrument 34. That is, the control unit is configured to control the tool arm 32 to move according to the movement of the master operator during the operation, and to control the surgical instrument 34 to execute the movement instructions related to the master operator. Furthermore, the doctor's console 10 also includes a display 11, which is used to display the situation inside the patient's body and the movement of the surgical instrument 34. Furthermore, when the surgical instrument is not within the surgical field of view, the control unit is configured to disconnect the master-slave control relationship between the master operator and the tool arm 32 and the surgical instrument 34 according to the received recovery reception operation instruction, and then perform a recovery operation to return the surgical instrument 34 to the surgical field of view. In this embodiment, there is no limitation on the triggering method of the instruction. Optionally, the doctor can transmit the instruction to the control unit by triggering an input device in the surgical robot system, such as a switch. The switch can be a virtual button on the interactive interface of the display 11, or a voice-controlled switch, or an electrical hardware switch. The electrical hardware switch can be set on the supporting beam or main control arm of the doctor's console 10, or the instruction can be triggered by different control modes of the existing surgical robot system's foot switch or main hand pinch control.

[0112] When performing the recovery operation, the control unit is configured to: plan a motion plan; and control the image arm 31 and / or the tool arm 32 to execute the motion plan, so that after the image arm 31 and / or the tool arm 32 execute the motion plan and when the distal end of the endoscope 33 and / or the distal end of the surgical instrument 34 are located outside their respective puncture cards, the surgical instrument 34 returns to the surgical field of view. It should be understood that the phrase "the distal end of the endoscope 33 and / or the distal end of the surgical instrument 34 are located outside their respective puncture cards" herein refers to a situation where the endoscope 33 and / or the surgical instrument 34 are inside the patient's body and outside the puncture card.

[0113] Furthermore, the control unit is further configured to execute safety measures before or during the execution of the motion plan by the imaging arm 31 and / or the tool arm 32, so as to place the endoscope 33 and / or the surgical instrument 34 in a safe state. The "safe state" mentioned here means that the endoscope 33 and / or the surgical instrument 34 do not cause damage to non-target human tissue during the surgical procedure.

[0114] Figure 2 The control flow chart of the surgical robot system is shown in Figure 2 , the control process of the surgical robot system is as follows:

[0115] Step S1: The doctor determines whether the surgical instrument is within the surgical field of view. If so, the doctor continues the surgical operation; if not, the doctor executes step S2.

[0116] Step S2: The doctor determines whether it is necessary to adjust the relative position of the surgical instrument and the endoscope so that the surgical instrument returns to the surgical field of view; if not, continue the surgical operation; if so, execute step S3.

[0117] Step S3: The doctor triggers the instruction to cause the control unit to disconnect the master-slave control relationship between the master operator and the tool arm and the surgical instrument.

[0118] Step S4: The control unit plans an exercise plan.

[0119] Step S5: The control unit controls the image arm and / or tool arm to execute the motion plan.

[0120] Step S6: The control unit executes the safety measures to ensure that the image arm and / or the tool arm does not threaten the safety of human tissue during the execution of the movement plan.

[0121] Step S7: The doctor determines whether the surgical instrument has returned to the surgical field of view. If so, the master-slave control relationship between the main operator and the tool arm and the surgical instrument is restored, and the surgical operation is continued; if not, the doctor returns to step S4.

[0122] Step S6 is performed before step S5, or is performed simultaneously with step S5. Furthermore, in step S7, when the distal end of the surgical instrument 34 and the distal end of the endoscope 33 are respectively outside their respective puncture cards, the doctor determines whether the surgical instrument has returned to the surgical field of view.

[0123] In this embodiment, the purpose of the control unit executing the safety measures is to prevent the endoscope and / or the surgical instrument from causing unnecessary damage to human tissue when the image arm and / or the tool arm executes the movement plan.

[0124] Those skilled in the art will appreciate that, for a non-master-slave control surgical robot system, the control unit directly plans the motion plan after receiving the instruction, controls the imaging arm and / or the tool arm to execute the motion plan and the safety measures, and returns the surgical instrument 34 to the surgical field of view. In other words, a non-master-slave control surgical robot system does not need to perform step S3.

[0125] Optionally, in some embodiments, step S6 is performed before step S5, and the safety measure includes driving the endoscope 33 and / or the surgical instrument 34 to move until the distal ends of the endoscope 33 and the surgical instrument 34 are located in the corresponding stamping cards 35. Specifically, if the surgical instrument 34 executes the motion plan alone, in step S6, the distal end of the surgical instrument 34 is moved to the stamping card 35 of the surgical instrument 34 (e.g., Figure 3 Alternatively, if the endoscope 33 executes the motion plan alone, in step S6, the distal end of the endoscope 33 is moved into the poke mark of the endoscope 33. Alternatively, if the surgical instrument 34 and the endoscope 33 execute the motion plan together, in step S6, the distal end of the surgical instrument 34 is moved into the poke mark of the surgical instrument 34, and the distal end of the endoscope 33 is moved into the poke mark of the endoscope 33. In this way, when the imaging arm 31 and / or the tool arm 32 execute the motion plan, the distal end of the endoscope 33 and / or the distal end of the surgical instrument 34 remain within the poke mark, preventing them from contacting human tissue and thus preventing damage to human tissue. After the imaging arm 31 and / or the tool arm 32 execute the motion plan, it is necessary to control the distal end of the endoscope 33 and / or the distal end of the surgical instrument 34 to move out of the corresponding poke mark and into the human body, so as to determine whether the surgical instrument 34 has returned to the surgical field of view 33'. Those skilled in the art will appreciate that the operation of driving the distal end of the endoscope 33 and / or the distal end of the surgical instrument 34 to move and extend from the corresponding puncture card can be automatically performed by a control unit or manually performed by medical personnel, preferably performed by the control unit. Furthermore, before executing the safety measure, if the distance between the distal end of the endoscope 33 and / or the distal end of the surgical instrument 34 and the distal end of the corresponding puncture card is L0, then when executing the safety measure, the control unit controls the endoscope 33 and / or the surgical instrument 34 to move L0 toward the body. After the imaging arm 31 and / or the tool arm 32 executes the movement plan, the endoscope 33 and / or the surgical instrument 34 moves L0 toward the body, causing the distal end of the endoscope 33 or the surgical instrument 34 to extend from the puncture card into the human body, thereby determining whether the surgical instrument 34 has returned to the surgical field of view. The distal end of the puncture card herein refers to the end of the puncture card located within the human body. Correspondingly, the proximal end of the poking card mentioned below refers to the end of the poking card located outside the human body.

[0126] In other embodiments, the step S6 is executed synchronously with the step S5, and the safety measures include: determining whether the characteristic values ​​of the image arm 31 and / or the tool arm 32 are within the safety threshold, and if not, driving the endoscope 33 and / or the surgical instrument 34 to move a predetermined distance toward the outside of the human body. The "direction toward the outside of the human body" refers to the direction from the end of the stamp card to the proximal end of the stamp card. In this way, when the image arm 31 and / or the tool arm 32 execute the movement plan, the end of the endoscope 33 and / or the end of the surgical instrument may be outside the corresponding stamp card 35, but there is no force between them and the human tissue, or even a certain distance between them and the human tissue (such as Figure 4 Here, the “characteristic value” is the joint torque, joint position or joint movement speed of the image arm 31 and / or tool arm 32.

[0127] Please refer to Figure 5 This article takes the control unit controlling the tool arm to execute the motion plan, and the characteristic value is the joint torque of the tool arm, and the safety threshold is the torque threshold as an example to illustrate the specific implementation process of the safety measures.

[0128] Step a: The control unit monitors the joint torque τ1 of the tool arm in real time. The joint torque can be obtained by sensors provided at the joints of the tool arm.

[0129] Step b: The control unit determines whether τ1 is greater than a torque threshold τ0 pre-stored in the control unit. If not, the process returns to step a; if so, the process proceeds to step c.

[0130] Step c: The control unit controls the endoscope and / or the surgical instrument to move in a direction D0 outside the body.

[0131] Repeat steps a to c until the tool arm completes the motion plan.

[0132] After the tool arm executes the motion plan, the control unit further controls the surgical instrument to move in a direction toward the body (p×D0), where p is the number of times step c is performed. The "direction toward the body" herein refers to a direction from the proximal end of the probing card toward the distal end of the probing card.

[0133] Those skilled in the art will appreciate that, if the characteristic value is a joint position, the control unit monitors in real time the deviation between the actual position of the joint and a predetermined position. If the deviation is not within a safety threshold, the control unit controls the endoscope and / or surgical instrument to move a predetermined distance toward the outside of the body. If the characteristic value is a joint movement speed, the control unit monitors in real time the deviation between the actual joint speed and a predetermined speed.

[0134] Alternatively, in an alternative embodiment, the safety measure includes: the control unit determining whether a characteristic value of the imaging arm and / or the tool arm is within a safety threshold; if not, the control unit controlling the imaging arm and / or the tool arm to suspend execution of the motion plan. A medical professional then manually adjusts the endoscope and / or the surgical instrument so that the endoscope and / or the surgical instrument move a predetermined distance toward the outside of the body before resuming execution of the motion plan.

[0135] In this embodiment, the control unit can plan different motion plans and control at least one of the tool arm and the image arm to execute the motion plan. Below, this article will describe in detail the method by which the control unit plans the motion plan.

[0136] like Figures 6a to 6b As shown, the surgical robot system requires at least one endoscope 33 and at least one surgical instrument 34 to complete the surgical operation. Figure 6a FIG. 3 is a schematic diagram showing that the surgical robot system includes an endoscope 33 and a surgical instrument 34. Figure 6b FIG. 1 shows a schematic diagram of the surgical robot system including an endoscope 33 and two surgical instruments 34. Figure 6c The schematic diagram shows a surgical robot system including one endoscope 33 and three surgical instruments 34. Of course, in other embodiments, the surgical robot system may also include more surgical instruments 34 and more than two endoscopes 33. The endoscope 33 described above is any image acquisition device used to acquire image information of tissues in the human body.

[0137] For ease of understanding, this article takes the surgical robot system including one endoscope 33 and two surgical instruments 34 as an example to provide a more detailed description of the manner in which the control unit in the present invention plans the motion scheme. Figure 6b As shown, the two surgical instruments 34 are respectively referred to as a first surgical instrument 34a and a second surgical instrument 34b. Correspondingly, the tool arm for mounting the first surgical instrument 34a is referred to as a first tool arm 32a, and the tool arm for mounting the second surgical instrument 34b is referred to as a second tool arm 32b. Those skilled in the art may modify the following description to adapt it to a situation where the surgical robot system includes more than two endoscopes and more than three surgical instruments.

[0138] Please refer to Figure 6bDuring the operation, when both surgical instruments 34 are located within the surgical field of view 33' provided by the endoscope 33, the doctor can perform normal surgical operations. However, when at least one of the surgical instruments 34, such as the second surgical instrument 34b, is located outside the surgical field of view 33' (e.g., Figure 7 If the doctor confirms that the relative position of the second surgical instrument 34b and the endoscope 33 needs to be further adjusted, the instruction is triggered to cause the control unit to disconnect the master-slave control relationship between the master operator and the tool arm 32 and the surgical instrument 34, and adjust the relative position relationship between the surgical instrument 34 and the endoscope 33 so that the second surgical instrument 34b returns to the surgical field of view 33'.

[0139] In one embodiment, the control unit controls the movement of the second tool arm 32b to return the second surgical instrument 34b to the surgical field of view. In this case, the control unit is configured to first plan the target position of the second surgical instrument 34b within the surgical field of view 33' and then plan the movement plan.

[0140] For different surgical environments, the target position can be planned using different methods. Figure 8a As shown, in one implementation, when the endoscope 33 and / or the second surgical instrument 34b moves, causing the second surgical instrument 34b to be out of the surgical field of view 33', the target position of the second surgical instrument 34b is a position that enables the second surgical instrument 34b to be restored to the surgical field of view 33' and corresponds to the position before it left the surgical field of view 33'. In other words, in this case, with the coordinate system of the surgical field of view 33' as a reference, the position of the second surgical instrument 34b within the surgical field of view 33' at the previous moment is used as the target position. The "previous moment" mentioned here refers to the specified moment before the second surgical instrument 34b left the surgical field of view 33'.

[0141] Specifically, when the surgical field 33' is displaced due to the adjustment of the posture of the endoscope 33, causing the second surgical instrument 34b to leave the surgical field 33', the previous moment is the moment before the endoscope 33 adjusts its posture. At this time, the control unit is configured to record the position of the second surgical instrument 34b before the endoscope 33 adjusts its posture as the target position. The position of the second surgical instrument 34b can be obtained by a robot kinematics method (DH method). Those skilled in the art will understand that in this manner, when the endoscope 33 adjusts its posture, the coordinate system of the surgical field 33' moves synchronously with the endoscope 33, so as to convert the movement of the endoscope 33 into the movement of the coordinate system of the second surgical instrument 34b relative to the surgical field 33'.

[0142] Alternatively, when the second surgical instrument 34b leaves the surgical field of view 33' due to its own movement, the control unit is configured to: record the position of the second surgical instrument 34b in real time; determine the moment when the second surgical instrument 34b leaves the surgical field of view 33', and use the position of the second surgical instrument 34b at the previous moment as the target position. For example, the control unit records the position of the second surgical instrument 34b at predetermined intervals. If, at moment i, the second surgical instrument 34b is within the surgical field of view 33', and at moment (i+1), the control unit determines that the second surgical instrument 34b has left the surgical field of view 33', the position of the second surgical instrument 34b at moment i is used as the target position. The control unit may obtain the position of the second surgical instrument 34b using a robot kinematics method or by monitoring an identifier provided on the second surgical instrument 34b. The identifier may be a developing element or any other directional marker that can indicate the position of the second surgical instrument 34b.

[0143] For example, Figure 8b As shown, in another implementation, the control unit is configured to obtain the position of the center point C of the surgical field of view and use the center point C as the target position. When obtaining the position of the center point C, the control unit is specifically configured as follows:

[0144] In a reference coordinate system, the position N(x1, y1, z1) of the end point N of the endoscope 33 is first obtained using robotic kinematics methods, as well as the position M(x2, y2, z2) of a reference point M. The reference point M is a point whose position remains unchanged during the surgical procedure and is located on the axis of the endoscope 33. Typically, in laparoscopic surgery, the reference point M is the point where the endoscope 33 is located at the patient's abdominal incision (commonly known as the belly point), or it may be a point on a stamp card. The reference coordinate system is a manually established coordinate system, such as a geodetic coordinate system.

[0145] Then, according to the direction vector calculation method, the direction vector in the axis direction of the endoscope 33 is calculated as

[0146] Finally, the coordinates C(x3, y3, z3) of the center point C of the surgical field of view are calculated as: C(x3, y3, z3)=N(x1, y1, z1)+H×E NM , H is the depth of field of the endoscope. Those skilled in the art will understand that in endoscopic surgery, the field of view will be clear only when the depth of field of the endoscope is within a reasonable range.

[0147] For further information, please refer to Figure 6b In this implementation, the target position can be not only the center point C, but also other points inside and on a sphere with the center point C as the center. In this way, the control unit is further configured to: obtain a spherical surface with the center point C as the center, and use any point inside and on the sphere as the target position. The radius of the sphere can be the length of the end effector of the second surgical instrument 34b, or the radius of the sphere is determined by the doctor according to the size of the human tissue, which is a reasonable setting for those skilled in the art. In this way, when the target position is on the spherical surface, the coordinates D (x4, y4, z4) of the target position and the coordinates of the center point C and the radius of the sphere satisfy the following relationship:

[0148] r 3 =(x3-x4) 2 +(y3-y4) 2 +(z3-z4) 2

[0149] For example, in another implementation, Figure 8c As shown, the target position is determined by using the first surgical instrument 34a and the center point C of the surgical field of view 33'. In detail, the control unit is configured as follows:

[0150] First, the position C(x3, y3, z3) of the center point C of the surgical field of view is obtained in a reference coordinate system using the aforementioned method, and the position T(x5, y5, z5) of the end point T(x5, y5, z5) of the first surgical instrument 34a is obtained using a robot kinematics method.

[0151] Next, an averaging algorithm is used to calculate the position of the midpoint Z of the line connecting the center point C and the end point T of the first surgical instrument 34 a .

[0152] In this implementation, if the possible interference between the first surgical instrument 34a and the second surgical instrument 34b is not considered, the midpoint Z can be directly used as the target position. If the second surgical instrument 34b is considered to have possible interference with the first surgical instrument 34a when returning to the surgical field of view 33', such as Figure 8c As shown, the control unit is further configured to:

[0153] A spherical surface with the end point T of the first surgical instrument 34 a as the center is obtained, and the radius r of the spherical surface is the length of the end effector of the first surgical instrument 34 a.

[0154] Determine whether the distance from the midpoint Z to the end point T of the first surgical instrument 34a is greater than the radius r of the sphere. If so, use the midpoint Z as the target position. If not, select point A (not marked in the figure) on the connecting line TC as the target position. Point A is located between the midpoint Z and the center point C, and the distance from point A to the end point T of the first surgical instrument is m times the radius r of the sphere, where m is greater than 1. Thus, the coordinates A(x6, y6, z6) of point A can be calculated using the following formula:

[0155]

[0156] in, is the direction vector of the TC line.

[0157] The control unit has multiple target position planning methods, so that the doctor can choose the most appropriate method to determine the target position of the second surgical instrument 34b according to the actual situation of the operation, thereby improving the adaptability and versatility of the surgical robot system.

[0158] Next, the control unit plans the exercise plan.

[0159] In an optional implementation, Figure 9As shown, the control unit may include a trajectory recognition module 61, a selection module 62, a storage module 63, a position calculation unit 64, and a trajectory calculation unit 65. The storage module 63 stores a preset motion trajectory equation. The display device 11 of the surgical robot system also has a touchscreen handwriting function. The display 11 is also used to display the motion trajectory of the second tool arm 32b manually planned by the medical staff (that is, the motion trajectory of the second tool arm when the second surgical instrument moves from the current position to the target position) as the first motion trajectory. In other words, the medical staff can manually draw the first motion trajectory of the second surgical instrument 34b on the display device 11 based on the condition inside the patient's body displayed on the display device. At the same time, the trajectory recognition module 61 recognizes the first motion trajectory and generates a first motion equation. Next, the selection module 62 selects a preset motion trajectory equation from the storage module 63 that matches the first motion trajectory equation as the second motion trajectory equation. It should be noted that the "preset trajectory equation that matches the first motion trajectory equation" here refers to a preset trajectory equation that is closest to the first motion trajectory equation. And, the trajectory calculation unit 65 combines and re-optimizes the first motion trajectory equation and the second motion trajectory equation to obtain a third motion trajectory equation. Then, the position calculation unit 64 is used to calculate the relative position relationship between the second surgical instrument 34b and the surgical field of view 33'. Finally, the trajectory calculation unit 65 is used to determine the motion plan based on the relative position relationship between the second surgical instrument 34b and the surgical field of view 33'. According to actual conditions, the motion plan can be defined by the first motion trajectory equation, or by the second motion trajectory equation, or by the third motion trajectory equation. Here, the motion plan can be defined by the first motion trajectory equation or the second motion trajectory equation or the third motion trajectory equation, which means that the motion of the second surgical instrument 34b defined by the corresponding motion trajectory equation is solved as the motion of the joint of the second tool arm 32b through the robot inverse kinematics algorithm, thereby obtaining a master motion plan. In this embodiment, a preliminary motion plan is performed through an artificially planned first motion trajectory (that is, the motion plan defined by the first motion trajectory equation and the motion plan defined by the second motion trajectory equation are approximate motion plans, not necessarily the final motion plans), and then the trajectory calculation unit is used to obtain the optimal motion plan to ensure that the second surgical instrument 34b can move smoothly and steadily when executing the motion plan.

[0160] Optionally, the control unit includes a first control unit and a second control unit, wherein the first control unit may be provided on the image display device 20 or the doctor's console 10, and includes the trajectory recognition module 61, the selection module 62, and the storage module 63. The second control unit may include the microneedle calculation unit 64 and the trajectory calculation unit 65, and the second control unit may be provided on the doctor's console 10 or on the surgical operation device 30. In other implementations, the first control unit and the second control unit may also be integrated into one. That is, this embodiment does not specifically limit how the control unit is provided.

[0161] Furthermore, those skilled in the art will appreciate that, in alternative implementations, obtaining the first and second motion trajectory equations is not essential. In other words, the control unit may directly use the position calculation unit to calculate the positional relationship between the second surgical instrument 34b and the surgical field of view 33', and then the trajectory calculation unit may plan the motion plan for the second tool arm 32b based on the positional relationship between the second surgical instrument 34b and the surgical field of view 33'.

[0162] In this embodiment, the control unit (specifically, the trajectory calculation unit) can use conventional polynomial trajectory design, such as an n-order polynomial spline interpolation method (n ≥ 5), an S-shaped trajectory design, or a T-shaped trajectory design to determine the motion plan. The following description uses the T-shaped trajectory design method as an example in which the control unit determines the motion plan of the second tool arm 32b.

[0163] In the motion scheme designed using the T-type trajectory design method, the motion scheme of the second tool arm 32b includes: a uniform acceleration motion stage, a uniform speed motion stage, and a uniform deceleration motion stage. During the execution of the motion scheme, the relationship between the position, speed, and acceleration of the second surgical instrument 34b over time is shown in FIG. Figure 10a 、 Figure 10b and Figure 10c Furthermore, when executing the motion plan, when the second surgical instrument 34b is in the uniform acceleration motion stage, the position of the second surgical instrument 34b can be calculated by the following formula:

[0164]

[0165] The speed of the second surgical instrument 34b can be calculated by the following formula:

[0166]

[0167] The acceleration of the second surgical instrument 34b is:

[0168]

[0169] When the second surgical instrument 34b is in the uniform motion stage, the position of the second surgical instrument 34b can be calculated by the following formula:

[0170]

[0171] The speed of the second surgical instrument 34b is:

[0172]

[0173] The acceleration of the second surgical instrument 34b is:

[0174]

[0175] When the second surgical instrument 34b is in the uniform deceleration motion stage, the position of the second surgical instrument 34b can be calculated by the following formula:

[0176]

[0177] The speed of the second surgical instrument 34b is calculated by the following formula:

[0178]

[0179] The acceleration of the second surgical instrument 34b is:

[0180]

[0181] Where q0 is the initial position of the second surgical instrument 34b, The second hand speed device 34b is at t c The location at the moment, The second surgical instrument 34b is j Position at the moment t c is the moment when the second surgical instrument 34b reaches its maximum speed, t j is the moment when the second surgical instrument 34b starts to decelerate, t f This is the moment when the speed of the second surgical instrument 34b is zero.

[0182] In another embodiment, the control unit can also control the movement of the image arm 31 and / or the tool arm 32 to return the second surgical instrument 34b to the surgical field of view. Figure 11a When the second surgical instrument 34b is outside the surgical field of view 33', the control unit is configured to:

[0183] According to the robot kinematics method, the position of the end point E1 of the image arm 31 and the position of a fixed point R1 on the image arm 31 are obtained. The fixed point R1 is located on the axis of the endoscope 33. The fixed point R1 can be a point on the puncture card of the endoscope 33 corresponding to the patient's abdominal wound (commonly known as the belly point), or a point on the image arm 31 corresponding to the belly point.

[0184] The position of the end point T1 of the second tool arm 32b and the position of a fixed point R2 on the second tool arm 32b are obtained using a robot kinematics method. Those skilled in the art are familiar with how to locate the fixed point R2 on the second tool arm 32b. Specifically, the fixed point R2 on the second tool arm 32b is clear to those skilled in the art.

[0185] The angle θ1 formed by the straight line E1T1 and the straight line T1R1 is calculated as:

[0186]

[0187] In this way, Figure 11b As shown, the motion plan determined by the control unit may include: the endoscope 33 rotates along a first direction by an angle θ1 with the fixed point R1 on the image arm 31 as the rotation center.

[0188] Since the robotic surgery system further includes a first surgical instrument ( Figure 11a and Figure 11b (not shown), to ensure that the first surgical instrument does not leave the surgical field of view, the motion scheme further includes: the first surgical instrument with the fixed point R3 ( Figure 11a and Figure 11b (shown in the figure) is the rotation center and is rotated by an angle θ1 along the first direction. In this way, both the first surgical instrument and the second surgical instrument 34b are located within the surgical field of view 33'. Of course, if only the endoscope 33 is rotated by an angle θ1 along the first direction and the first surgical instrument remains within the surgical field of view 33', the first surgical instrument may not be rotated.

[0189] Alternatively, the motion scheme determined by the control unit includes: the endoscope 33 first rotates along a first direction by an angle θ1 with the fixed point R1 on the image arm 31 as the rotation center; then, as shown in FIG. Figure 11cAs shown, the endoscope 33 rotates by an angle θ2 along the second direction with the fixed point R1 on the image arm 31 as the rotation center, and the second surgical instrument 34b rotates by an angle θ2 along the second direction with the fixed point R2 on the tool arm 32 of the second surgical instrument 34b as the rotation center, so that the second surgical instrument 34b remains within the surgical field of view 33'. In the case where the first surgical instrument 34a is present, in order to ensure that both the first surgical instrument 34a and the second surgical instrument 34b are within the surgical field of view 33', the second direction is opposite to the first direction, so that Figures 11a to 11c As an example, the first direction is clockwise. Figure 11a As indicated by the arrow in the middle, the second direction is counterclockwise. Figure 11c Indicated by the arrow in the middle. After this operation, both the first surgical instrument 34a and the second surgical instrument 34b are within the surgical field of view 33'. If the surgical field of view 33' needs to be fully returned to its original position, θ2 equals θ1. If the surgical field of view 33' does not need to be fully returned to its original position, θ2 may not equal θ1. However, it should be noted that if the first surgical instrument 34a is not present, the second direction may also be the same as the first direction.

[0190] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium on which a program is stored. When the program is executed, the program performs the corresponding operations performed by the control unit as described above.

[0191] Furthermore, the present invention also provides an electronic device, comprising a processor and the computer-readable storage medium, wherein the processor is configured to execute a program stored on the computer-readable storage medium.

[0192] While the present invention is disclosed above, it is not limited thereto. Those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to encompass such modifications and variations as long as they fall within the scope of the claims and their equivalents.

Claims

1. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed, the following steps are performed: determining whether the surgical instrument is within the surgical field of view based on the surgical field of view information provided by the image acquisition device; When the surgical instrument is outside the surgical field of view, planning a motion plan, and causing an image arm connected to the image acquisition device and / or a tool arm connected to the surgical instrument to execute the motion plan, so that the surgical instrument returns to the surgical field of view; Wherein, before the image arm and / or the tool arm executes the motion plan, the program further executes safety measures to put the image acquisition device and / or the surgical instrument into a safe state; the program executes the following steps to execute the safety measures; It is determined whether the end of the image acquisition device and / or the end of the surgical instrument is located in the corresponding stamp card. If not, the end of the image acquisition device and / or the end of the surgical instrument is driven to move into the corresponding stamp card.

2. The computer-readable storage medium according to claim 1, wherein After the image arm and / or the tool arm executes the motion plan, the program further performs the following steps: The distal end of the image acquisition device and / or the distal end of the surgical instrument are driven to move and extend from the corresponding puncture card, so that the surgical instrument returns to the surgical field of view.

3. The computer-readable storage medium according to claim 1, wherein The program performs the following steps to plan the exercise program: planning a target position of the surgical instrument within the surgical field of view; The motion plan is planned according to the current position of the surgical instrument and the target position.

4. The computer-readable storage medium according to claim 3, wherein: When the image acquisition device and / or the surgical instrument moves so that the surgical instrument is no longer within the surgical field of view, the target position refers to a position that enables the surgical instrument to be restored to the surgical field of view and corresponds to its position before leaving the surgical field of view.

5. The computer-readable storage medium according to claim 3, wherein The program executes the following steps to obtain the target position: obtaining the coordinates of the center point C of the surgical field of view, and taking the center point C of the surgical field of view as the target position.

6. The computer-readable storage medium according to claim 3, wherein: The program performs the following steps to obtain the target location: Obtaining the coordinates of the center point C of the surgical field of view; A spherical surface with the center point C as the center is obtained, and any point inside the sphere and on the spherical surface is used as the target position, wherein the radius of the spherical surface is the length of the end effector of the surgical instrument.

7. The computer-readable storage medium according to claim 3, wherein: The program performs the following steps to obtain a target position of the surgical instrument outside the surgical field of view: Obtaining the coordinates of the center point C of the surgical field of view and the coordinates of the end point T of the surgical instrument located within the surgical field of view; The coordinates of the midpoint Z of the line TC connecting the center point C and the end point T of the surgical instrument located within the surgical field of view are calculated, and the midpoint Z is used as the target position of the surgical instrument located outside the surgical field of view.

8. The computer-readable storage medium according to claim 3, wherein: The program performs the following steps to obtain a target position of the surgical instrument outside the surgical field of view: Obtaining the coordinates of the center point C of the surgical field of view and the coordinates of the end point T of the surgical instrument located within the surgical field of view; Calculating the coordinates of the midpoint Z of the line TC connecting the center point C and the end point T of the surgical instrument located within the surgical field of view; Acquire a spherical surface with the end point T of the surgical instrument located within the surgical field of view as the center, where the radius of the spherical surface is the length of the end effector of the surgical instrument located within the surgical field of view; Determine whether the distance from the midpoint Z to the end point T of the surgical instrument located in the surgical field of view is greater than the radius of the sphere. If so, take the midpoint Z as the target position; if not, select point A on the connecting line TC as the target position, where point A is located between the midpoint Z and the center point C, and the distance from point A to the end point T of the surgical instrument located in the surgical field of view is m times the radius of the sphere, where m is greater than 1.

9. The computer-readable storage medium according to any one of claims 5 to 8, wherein: The program performs the following steps to obtain the coordinates of the center point C of the surgical field of view: The coordinates of the center point C are obtained based on the coordinates of the end point N and the reference point M of the image acquisition device, as well as the depth of field H of the image acquisition device; wherein the reference point M is a point that is fixed in position during the operation and is located on the axis of the image acquisition device.

10. The computer-readable storage medium according to claim 9, wherein The program performs the following steps to obtain the coordinates of the center point C: Obtain the coordinates N(x1, y1, z1) of the end point N and the coordinates M(x2, y2, z2) of the reference point M; Calculate the direction vector of the axis direction of the image acquisition device as The coordinates C(x3, y3, z3) of the center point C of the surgical field of view are calculated as: C(x3, y3, z3) = N(x1, y1, z1) + H×E NM .

11. The computer-readable storage medium according to claim 3, wherein The program performs the following steps to plan the exercise program: A first motion trajectory equation is obtained according to a first motion trajectory of the surgical instrument planned by a human; the starting point of the first motion trajectory is the current position of the surgical instrument, and the ending point of the first motion trajectory is the target position; Selecting a preset motion trajectory equation that matches the first motion trajectory as the second motion trajectory equation; performing combined optimization on the first motion trajectory equation and the second motion trajectory equation to obtain a third motion trajectory equation; Acquiring the relative positional relationship between the surgical instrument and the surgical field of view; The motion plan is determined according to the relative positional relationship between the surgical instrument and the surgical field of view; the motion plan is defined by the first motion trajectory equation, or by the second motion trajectory equation, or by the third motion trajectory equation.

12. The computer-readable storage medium according to claim 1, wherein The program performs the following steps to plan the exercise program: Obtaining the position of the end point E1 of the image acquisition device and the coordinates of the fixed point R1 of the imaging arm; Obtaining the coordinates of the end point T1 of the tool arm; Calculate the angle θ1 formed by the straight line E1T1 and the straight line T1R1; The motion plan is determined, where the motion plan includes: the image arm rotates by an angle θ1 along a first direction with a fixed point R1 of the image arm as a rotation center.

13. The computer-readable storage medium according to claim 12, wherein: The program also performs the following steps: Obtaining the coordinates of the fixed point R2 of the tool arm; The movement scheme also includes: the image arm rotates by an angle θ2 along the second direction with the fixed point R1 of the image arm as the rotation center, and the tool arm rotates by an angle θ2 along the second direction with the fixed point R2 on the tool arm as the rotation center, so that the surgical instrument remains within the surgical field of view.

14. The computer-readable storage medium according to claim 1, wherein At least one of the surgical instruments is located within the surgical field of view, and at least one of the surgical instruments is located outside the surgical field of view; The tool arm used for mounting the surgical instrument located within the surgical field of view is the first tool arm, and the tool arm used for mounting the surgical instrument located outside the surgical field of view is the second tool arm; The program performs the following steps to plan the exercise program: Acquire the position of the end point E1 of the image acquisition device and the position of the fixed point R1 of the imaging arm; Acquire the fixed point R3 of the first tool arm and the position of the end point T1 of the surgical instrument outside the surgical field of view; Calculate the angle θ1 formed by the straight line E1T1 and the straight line T1R1; Determine the motion plan, which includes the image arm rotating by an angle θ1 along a first direction with the fixed point R1 of the image arm as the rotation center, and the first tool arm rotating by an angle θ1 along a first direction with the fixed point R3 on the first tool arm as the rotation center, so that the surgical instrument mounted on the second tool arm returns to the surgical field of view while the surgical instrument mounted on the first tool arm remains in the surgical field of view.

15. An electronic device, characterized in that: The system comprises a processor and a computer-readable storage medium according to any one of claims 1 to 13, wherein the processor is configured to execute a program stored on the computer-readable storage medium.

16. A surgical robot system, characterized in that: include: An image arm, used for mounting an image acquisition device, wherein the image acquisition device is used to provide a surgical field of view; A tool arm, used for mounting surgical instruments, wherein the surgical instruments are used for performing surgical operations within the surgical field of view; as well as, A control unit configured to execute a program stored on the computer-readable storage medium according to any one of claims 1 to 14.

17. The surgical robot system according to claim 16, wherein: An input device is also included, and the control unit plans the exercise plan according to instructions input by the input device.

18. The surgical robot system according to claim 16, wherein: The surgical robot system includes the electronic device according to claim 15, and the control unit includes the processor.

Images