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, returning the surgical instrument to the surgical field of view; and controlling the image arm and / or the tool arm to execute the motion plan. When this computer-readable storage program is applied to a surgical robot, surgical safety and controllability can be improved.

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 on 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, a motion plan is planned, and the image arm connected to the image acquisition device and / or the tool arm connected to the surgical instrument executes the motion plan, so that the surgical instrument returns to the surgical field of view.

[0009] Optionally, the program performs the following steps to plan the exercise program:

[0010] planning a target position of the surgical instrument within the surgical field of view;

[0011] The motion plan is planned according to the current position of the surgical instrument and the target position.

[0012] Optionally, when the image acquisition device moves and / or the surgical instrument moves, causing the surgical instrument to be out of 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.

[0013] Optionally, the program further performs the following steps: obtaining the coordinates of the center point C of the surgical field of view, and using the center point C of the surgical field of view as the target position.

[0014] Optionally, the program performs the following steps to obtain the target position:

[0015] Obtaining the coordinates of the center point C of the surgical field of view;

[0016] A spherical surface with the center point C as the sphere center is obtained, and any point inside or on the sphere is used as the target position; wherein the radius of the spherical surface is the length of the end effector of the surgical instrument.

[0017] Optionally, the program performs the following steps to obtain a target position of the surgical instrument outside the surgical field of view:

[0018] 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;

[0019] The coordinates of the midpoint Z of the line 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.

[0020] Optionally, the program performs the following steps to obtain a target position of the surgical instrument outside the surgical field of view:

[0021] 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;

[0022] 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;

[0023] 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;

[0024] 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.

[0025] Optionally, the program performs the following steps:

[0026] 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.

[0027] Optionally, the program performs the following steps to obtain the coordinates of the center point C:

[0028] Obtain the coordinates N(x1, y1, z1) of the end point N and the coordinates M(x2, y2, z2) of the reference point M;

[0029] Calculate the direction vector of the axis direction of the image acquisition device as

[0030] 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 .

[0031] Optionally, the program performs the following steps to plan the exercise program:

[0032] 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;

[0033] Selecting a preset motion trajectory equation that matches the first motion trajectory as the second motion trajectory equation;

[0034] performing combined optimization on the first motion trajectory equation and the second motion trajectory equation to obtain a third motion trajectory equation;

[0035] Acquiring the relative positional relationship between the surgical instrument and the surgical field of view;

[0036] 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.

[0037] Optionally, when there is target tissue between the current position of the surgical instrument and the target position, after obtaining the relative position relationship and before determining the motion plan, the program further performs the following steps to plan a safe area:

[0038] Planning a safety area, wherein the safety area surrounds the target tissue;

[0039] A movement area is planned, the boundary of which is outside the safety area, so that when the tool arm executes the movement plan, any point on the movement trajectory formed by the surgical instrument is on the boundary of the movement area or outside the movement area.

[0040] Optionally, when there is target tissue between the current position of the surgical instrument and the target position, the program performs the following steps before planning the movement plan:

[0041] Acquiring the relative positional relationship between the surgical instrument and the surgical field of view;

[0042] Planning a safety area, wherein the safety area surrounds the target tissue;

[0043] Planning a movement area, wherein a boundary of the movement area is outside the safety area;

[0044] When the tool arm executes the motion plan, any point on the motion trajectory formed by the surgical instrument is on the boundary of the movement area or outside the movement area.

[0045] Optionally, the moving area is a spherical area, and the motion trajectory formed by the surgical instrument includes a plurality of linear trajectories connected in sequence, and each of the linear trajectories is tangent to the moving area.

[0046] Optionally, the program performs the following operations to plan the exercise program:

[0047] Acquire the position of the end point E1 of the image acquisition device and the position of the fixed point R1 on the image arm;

[0048] Obtaining the position of the end point T1 of the surgical instrument;

[0049] Calculate the angle θ1 formed by the straight line E1T1 and the straight line T1R1;

[0050] The motion plan is determined, where the motion plan includes rotating the image acquisition device by an angle θ1 along a first direction with the fixed point R1 of the image arm as the rotation center.

[0051] Optionally, the program further performs the following steps:

[0052] Obtaining the position of the fixed point R2 on the tool arm;

[0053] The motion plan also includes the image arm rotating an angle θ2 along the second direction with the fixed point R1 of the image arm as the rotation center, and the tool arm rotating an angle θ2 along the second direction with the fixed point R2 of the tool arm as the rotation center, so that the surgical instrument remains within the surgical field of view.

[0054] 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;

[0055] The program performs the following steps to plan the exercise program:

[0056] 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;

[0057] 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;

[0058] Calculate the angle θ1 formed by the straight line E1T1 and the straight line T1R1;

[0059] Determine the motion plan, which includes the image arm rotating by an angle θ1 along a first direction with a fixed point R1 on the image arm as the rotation center, and the first tool arm rotating by an angle θ1 along a first direction with a 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.

[0060] 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.

[0061] To achieve the above objectives, the present invention further provides a surgical robot system, comprising:

[0062] An image arm, used for mounting an image acquisition device, wherein the image acquisition device is used to provide a surgical field of view;

[0063] 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

[0064] A control unit configured to execute a program stored on the computer-readable storage medium as described in any one of the preceding items.

[0065] Optionally, an input device is further included, and the control unit plans the exercise plan according to instructions input by the input device.

[0066] Optionally, the surgical robot system includes the electronic device as described above, and the control unit includes the processor.

[0067] Compared with the prior art, the computer-readable storage medium, electronic device, and surgical robot system of the present invention have the following advantages:

[0068] First, the aforementioned 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; and, if 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 can be brought back into the surgical field of view. When applied to a surgical robot system, this computer-readable storage medium can ensure that surgical instruments located outside the surgical field of view can be brought back into the surgical field of view, improving the controllability and safety of surgical operations.

[0069] Second, the computer-readable storage medium provides a variety of planning methods for the target positions of surgical instruments outside the surgical field of view, which can be applied to different surgical scenarios and improve the versatility of the surgical robot system.

[0070] Third, a movement plan for the surgical instrument is designed for the situation where there is human tissue between the current position and the target position of the surgical instrument, so as to avoid damage to human tissue during movement of the surgical instrument and further improve the safety of the operation.

[0071] Fourth, when planning the movement plan of the surgical instrument, the optimal movement plan is adopted to ensure the safe, stable and reliable movement of the surgical instrument.

[0072] Fifth, the control unit can also design a movement plan for the image acquisition device and control the movement of the image arm to drive the image acquisition device to move and return the surgical instrument to the surgical field of view. The tool arm movement and / or the image arm movement are combined to form different adjustment strategies 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

[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 3a 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;

[0076] Figure 3b 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;

[0077] Figure 3c 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;

[0078] Figure 4 is a schematic diagram of a surgical robot system according to one embodiment of the present invention during surgery, wherein two surgical instruments are shown, and both surgical instruments are within the surgical field of view;

[0079] Figure 5 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;

[0080] Figure 6a 2 is a schematic diagram of target positions of surgical instruments 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 field of view, and the solid line indicates a situation where the second surgical instrument is back within the field of view.

[0081] Figure 6b 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;

[0082] Figure 6cis 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;

[0083] Figure 7 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;

[0084] Figure 8a is a schematic diagram of a surgical instrument in a surgical robot system provided according to an embodiment of the present invention being located outside the surgical field of view, wherein human tissue is located between the current position of the surgical instrument and the target position;

[0085] Figure 8b This is a schematic diagram of the path of a surgical instrument of a surgical robot system provided by an embodiment of the present invention when returning from outside the surgical field of view to within the surgical field of view, wherein human tissue is located between the current position of the surgical instrument and the target position;

[0086] Figure 9a A diagram showing the relationship between the position of a surgical instrument and time in a motion plan of a tool arm planned by a control unit of a surgical robot system provided by an embodiment of the present invention using a T-type trajectory planning method;

[0087] Figure 9b is a graph showing the relationship between the movement speed of a surgical instrument and time in a motion scheme of a tool arm planned by a control unit of a surgical robot system provided by one embodiment of the present invention using a T-type trajectory planning method;

[0088] Figure 9c is a graph showing the relationship between acceleration and time of a surgical instrument in a motion plan of a tool arm planned by a control unit of a surgical robot system using a T-type trajectory planning method according to one embodiment of the present invention;

[0089] Figure 10a is a schematic diagram of a control unit of a surgical robot system planning a motion plan for an endoscope according to one embodiment of the present invention;

[0090] Figure 10b 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 within the surgical field of view;

[0091] Figure 10c 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] In the attached figure:

[0093] 10-Doctor's console;

[0094] 11- Display device;

[0095] 20- Image display device;

[0096] 30-Surgical operating device;

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

[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, and the plural form "a plurality" includes more than two objects, unless the content clearly indicates otherwise. As used in this specification, the term "or" is generally used in a sense 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, and it can be a connection between the internal parts of two elements or an interaction 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 main purpose of the present invention is to provide a computer-readable storage medium having a program stored thereon, which, 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 can return to the surgical field of view. When the computer-readable storage medium is applied to a surgical robot system, if the surgical instrument leaves the surgical field of view, the surgical robot system can automatically return the surgical instrument to the surgical field of view by executing corresponding operations, thereby preventing the doctor from performing surgical operations in blind spots of the field of view and improving the safety and controllability of the operation.

[0105] Another object of the present invention is to provide an electronic device, comprising a processor and the aforementioned computer-readable storage medium, wherein the processor is configured to execute a program stored on the computer-readable storage medium.

[0106] Another object of the present invention is to provide a surgical robot system, which includes an image arm, a tool arm and a control unit, wherein the image arm is used to mount the image acquisition device, the tool arm is used to mount the surgical instrument, and the control unit is used to execute the program stored on the computer-readable storage medium.

[0107] 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.

[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 operating device 30 includes at least one imaging arm 31 and at least one tool arm 32. An image acquisition device is mounted on the imaging 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 ease of description, the image acquisition device is described below using the endoscope 33 as an example. The tool arm 32 is used to mount a surgical instrument 34. The endoscope 33 and the surgical instrument 34 enter the patient's body through an incision in the patient's body. The endoscope 33 can then acquire information about human tissue, the surgical instrument 34 within the human body, and the surgical environment. That is, the endoscope 33 provides a surgical field of view, and the surgical instrument 34 performs the surgical operation 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 in communication with the master operator, the image arm 31, the tool arm 32, and the surgical instrument 34. 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 device 11, which is used to display the condition inside the patient's body and the movement of the surgical instrument 34.

[0112] In this embodiment, when the surgical instrument is not within the surgical field of view, the control unit of the surgical robot system is configured to disconnect the master-slave control relationship between the main operator and the tool arm 32 and the surgical instrument 34 according to the received recovery operation instructions, and then perform a recovery operation to return the surgical instrument to the surgical field of view.

[0113] In this embodiment, there is no limitation on the triggering method of the recovery operation instruction. Optionally, the doctor can transmit the instruction to the control unit by triggering the input device in the surgical robot system. The input device can be a virtual button on the exchange interface of the display device, 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, etc.

[0114] When performing the recovery operation, the control unit is configured to: plan the movement plan of the robotic arm; control the robotic arm, such as the image arm 31 and / or the tool arm 32 to execute the movement plan so that the surgical instrument 34 returns to the surgical field of view.

[0115] 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:

[0116] Step S1: The doctor determines whether the surgical instrument is within the surgical field of view based on the surgical field of view information provided by the endoscope. If so, the doctor continues the surgical operation; if not, the doctor executes step S2.

[0117] Step S2: The doctor determines whether it is necessary to adjust the relative positions of the surgical instrument and the endoscope so that the surgical instrument returns to the surgical field of view. If so, step S3 is executed; if not, the surgical operation is continued.

[0118] Step S3: The doctor triggers the input device to input a recovery operation instruction, so that the control unit disconnects the master-slave control relationship between the master operator and the tool arm and the surgical instrument.

[0119] Step S4: the control unit plans a motion plan for the robotic arm;

[0120] Step S5: the control unit controls the robotic arm, such as the imaging arm and / or the tool arm, to execute the motion plan;

[0121] Step S6: The doctor determines whether the surgical instrument has returned to the surgical field of view. If so, the input device is triggered again to restore the master-slave control relationship between the main operator and the tool arm and the surgical instrument, and perform the surgical operation; if not, return to execute step S4.

[0122] In other words, when the surgical instrument leaves the surgical field of view, the surgical robot system disconnects the master-slave control relationship between the main operator and the tool arm and the surgical instrument, and moves the surgical instrument relative to the endoscope, so as to achieve the purpose of returning the surgical instrument to the surgical field of view.

[0123] like Figures 3a to 3c As shown, the surgical robot system in this embodiment requires at least one endoscope 33 and at least one surgical instrument 34 to complete the surgical operation. Figure 3a FIG. 3 is a schematic diagram showing that the surgical robot system includes an endoscope 33 and a surgical instrument 34. Figure 3b FIG. 3 shows a schematic diagram of the surgical robot system including an endoscope 33 and two surgical instruments 34. Figure 3c The schematic diagram shows that the surgical robot includes one endoscope 33 and three surgical instruments 34. Of course, in other embodiments, the surgical robot may also include more surgical instruments 34 and more than two endoscopes.

[0124] Next, this article takes the surgical robot system including one endoscope 33 and two surgical instruments 34 as an example to explain the present invention in more detail. For ease of description, Figure 4 As shown, the two surgical instruments 34 are respectively referred to as a first surgical instrument 34a and a second surgical instrument 34b. Accordingly, the tool arm 32 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 apply it to situations where the surgical robot system includes more than two image acquisition devices, such as multiple endoscopes and / or other types of image acquisition devices such as ultrasonic endoscopes, and more than three surgical instruments.

[0125] Please refer to Figure 4 During the operation, when both surgical instruments 34 are located within the surgical field of view 33' provided by the endoscope, the doctor can perform the operation. 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 5As shown), it is not conducive to surgical operation. When the doctor confirms that the position of the second surgical instrument 34b and the endoscope 33 needs to be adjusted, the recovery operation instruction is triggered to make the control unit disconnect the master-slave control relationship between the main operator and the tool arm 32 and the surgical instrument 34, and adjust the 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'. The following text will be introduced as an example in which the second surgical instrument 34b is outside the surgical field of view and the first surgical instrument 34a is inside the surgical field of view before the recovery operation instruction is triggered. It should be noted that, in order to distinguish, the end point of the surgical instrument located in the surgical field of view, that is, the first surgical instrument 34a, is recorded as T, and the end point of the surgical instrument located outside the surgical field of view, that is, the second surgical instrument 34b, is recorded as T1.

[0126] 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 33'. At this point, the control unit is configured to first plan a target position for the second surgical instrument 34b within the surgical field of view 33', and then plan a movement plan for the second tool arm based on the current and target positions of the second surgical instrument 34b.

[0127] For different surgical environments, the target position can be planned using different methods. Figure 6a As shown, in one embodiment, with the coordinate system of the surgical field 33' as a reference, the position of the second surgical instrument 34b in the surgical field 33' at the previous moment is used as the target position, and the "previous moment" mentioned here refers to a specified moment before the second surgical instrument 34b leaves the surgical field 33'.

[0128] Specifically, when the surgical field of view 33' is displaced due to the adjustment of the posture of the endoscope 33, resulting in the second surgical instrument 34b leaving the surgical field of view 33', the previous moment is a specified moment before the endoscope 33 moves. At this time, the control unit is configured to obtain the position of the second surgical instrument 34b in the surgical field of view 33' before the endoscope 33 moves, and use this as the target position. It can be understood that the position of the second surgical instrument 34b at any time can be obtained by the robot kinematics method (DH method). Those skilled in the art can understand that in this method, when the endoscope 33 moves, the coordinate system of the surgical field of view moves synchronously with the endoscope 33, so as to convert the movement of the endoscope 33 into the movement of the second surgical instrument 34b relative to the coordinate system of the surgical field of view.

[0129] 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 within the surgical field of view 33' 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 within the surgical field of view at the previous moment is used as the target position. Those skilled in the art will appreciate that the control unit can obtain the position of the second surgical instrument 34b at any moment using robot kinematics methods, or by monitoring an identifier provided on the second surgical instrument 34b. The identifier can be a developing element or any other directional marker that can indicate the second surgical instrument 34b.

[0130] For example, Figure 6b As shown, in another embodiment, 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 to: Figure 3a The coordinates of the center point C are obtained by using the reference point M (identified by the endoscope 33) and the depth of field H of the endoscope 33. The reference point M is a point that 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 the reference point M can also be a point on a puncture card.

[0131] Specifically, in a reference coordinate system, the position N(x1, y1, z1) of the end point N of the endoscope 33 is first obtained according to a robot kinematics method, and the position M(x2, y2, z2) of a reference point M is obtained. The reference coordinate system is an artificially established coordinate system, such as a geodetic coordinate system.

[0132] Then, according to the direction vector calculation method, the direction vector in the axis direction of the endoscope 33 is calculated as

[0133] 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×ENM , 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.

[0134] For further information, please refer to Figure 6b Alternatively, the target position may be another point in a sphere with the center point C as the center (including a point on the spherical surface), so that the control unit is further configured to: obtain a sphere with the center point C as the center, and use any point in the sphere or on the spherical surface as the target position. The radius r of the sphere may be the length of the end effector of the second surgical instrument 34b, or the radius of the sphere may be determined by the doctor according to the size of the human tissue, which is a reasonable setting for those skilled in the art. At this time, when the target position is on the sphere, 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:

[0135] r 3 =(x3-x4) 2 +(y3-y4) 2 +(z3-z4) 2

[0136] For example, in yet another embodiment, Figure 6c 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:

[0137] First, in a reference coordinate system, the coordinates C(x3, y3, z3) of the center point C of the surgical field of view are obtained using the aforementioned method, and the end point T(x5, y5, z5) of the first surgical instrument 34a is obtained using a robot kinematic method.

[0138] Next, an averaging algorithm is used to calculate the coordinates of the midpoint Z of the line TC connecting the center point C and the end point T of the first surgical instrument 34 a .

[0139] In this embodiment, when the possible interference problem between the second surgical instrument 34b and the first surgical instrument 34a is not considered, the midpoint Z can be directly used as the target position. Figure 6c As shown, the control unit is further configured as follows:

[0140] 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 sphere is the length of the end effector of the first surgical instrument 34 a.

[0141] Determine whether the distance from the midpoint Z to the end point T of the first surgical instrument 34a is greater than the radius of the sphere. If so, use the midpoint Z as the target location. If not, select point A on the connecting line TC as the target location. 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:

[0142]

[0143] in, is the direction vector of the TC line.

[0144] In view of the above introduction, in this embodiment, 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.

[0145] Next, the control unit plans the exercise plan.

[0146] In an optional implementation, the display device 11 of the robot system also has a touch screen handwriting function. Figure 7As 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 is also used to display the motion trajectory of the second surgical instrument 34b manually planned by the operator as a first motion trajectory. The starting point of the first motion trajectory is the current position of the second surgical instrument 34b, and the end point of the first motion trajectory is the target position of the second surgical instrument, i.e., when the second surgical instrument moves along the motion trajectory, it can return to the surgical field of view. In other words, after the control unit plans / determines the target position, the medical staff can manually draw a first motion trajectory of the second surgical instrument 34b on the display device based on the patient's internal condition displayed by the display device 11. Simultaneously, the trajectory recognition module 61 recognizes the first motion trajectory and generates the first motion trajectory 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 motion trajectory equation that matches the first motion trajectory equation" mentioned here refers to a preset motion 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. Next, 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. 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. According to actual conditions, the motion plan can be defined by the first motion trajectory equation, the second motion trajectory equation, or the third motion trajectory equation. Here, the motion plan can be defined by the first motion trajectory equation, 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 the motion plan. In this embodiment, the motion plan is preliminarily planned through the 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 tool arm 32b can move smoothly and safely when executing the motion plan.

[0147] Optionally, the control unit includes a first control unit and a second control unit, wherein the first control unit can be set on the image display device 20 or the doctor's console 10, and includes the trajectory recognition module, the storage module, and the selection module. The second control unit includes the position calculation unit and the trajectory calculation unit, and the second control unit can be set 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 can also be integrated into one, and there is no particular limitation on how the control units are specifically set.

[0148] Furthermore, those skilled in the art will appreciate that, in alternative implementations, the process of obtaining the first and second motion trajectory equations is not essential. Specifically, 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 based on the positional relationship between the second surgical instrument 34b and the surgical field of view 33'.

[0149] Furthermore, if Figure 8a As shown, when there is human tissue between the second surgical instrument 34b and the surgical field of view 33', in order to prevent the second surgical instrument 34b from causing damage to the human tissue during the movement of the second tool arm, the control unit is also configured to plan a reasonable movement plan based on the human tissue located by image recognition, so as to ensure that the image arm and / or the tool arm move safely and smoothly.

[0150] Specifically, after the position calculation unit obtains the positional relationship between the second surgical instrument 34b and the surgical field of view 33', the control unit is further configured to: plan a safe area S1 and a moving area S2, wherein the safe area S1 surrounds the outside of the human tissue, and the boundary of the moving area S2 is outside the safe area S1. Thereafter, the control unit determines the motion plan, and when the second tool arm executes the motion plan, any point on the motion trajectory formed by the second surgical instrument 34b is on the boundary of the moving area S2, or outside the moving area S2 (such as Figure 8b As shown). In this way, the second surgical instrument 34b will not cause any damage to human tissue.

[0151] Please continue to refer to Figure 8bIn this embodiment, the safety area S1 is preferably a spherical area with the center of the human body tissue as the center of the sphere, and the moving area S2 is a spherical area concentric with the safety area S1. The motion trajectory of the second surgical instrument 34b includes a plurality of linear trajectories connected in sequence, and each of the linear trajectories is a tangent to the moving area S2. Specifically, as Figure 8b As shown, the current position of the second surgical instrument 34b is a1, which is outside the surgical field of view 33'. The target position of the second surgical instrument 34b is d, and human tissue exists between a1 and d. The control unit plans a safety area S1 with a radius of r1 to surround the human tissue. At the same time, the control unit also plans a moving area S2 with a radius of r2, where r2>r1, and the moving area S2 can pass through a1. The control unit then sets point a4 on the outline of the moving area S2, and sets points a2 and a3 outside the moving area S2. The lines connecting points a1 and a2, a2 ​​and a3, and a3 and a4 are all tangent to the moving area S2. In this way, the lines connecting points a1, a2, a3, a4, and d constitute the motion trajectory of the second surgical instrument 34b.

[0152] In this embodiment, the control unit (specifically, the trajectory calculation unit) can use any of conventional polynomial trajectory design methods, such as the n-order polynomial spline interpolation method (n ≥ 5), S-shaped trajectory design, or T-shaped trajectory design to determine the final motion plan. The following description uses the T-shaped trajectory design method to design the motion plan of the second surgical instrument 34 b as an example.

[0153] The motion scheme designed using the T-type trajectory design method 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 and time is shown in FIG. Figure 9a 、 Figure 9b and Figure 9c 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:

[0154]

[0155] The speed of the second surgical instrument 34b can be calculated by the following formula:

[0156]

[0157] The acceleration of the second surgical instrument 34b is:

[0158]

[0159] 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:

[0160]

[0161] The speed of the second surgical instrument 34b is:

[0162]

[0163] The acceleration of the second surgical instrument 34b is:

[0164]

[0165] 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:

[0166]

[0167] The speed of the second surgical instrument 34b is calculated by the following formula:

[0168]

[0169] The acceleration of the second surgical instrument 34b is:

[0170]

[0171] 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.

[0172] In another embodiment, the control unit can also control the movement of the image arm to return the second surgical instrument 34b to the surgical field of view. Figure 10a When the second surgical instrument 34b is outside the surgical field of view 33', the control unit is configured to:

[0173] 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 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.

[0174] The position of the end point T1 of the second surgical instrument 34b 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 the fixed point R2 on the second tool arm 32b. The fixed point R2 on the second tool arm 32b is clear to those skilled in the art.

[0175] The angle θ1 formed by the straight line E1T1 and the straight line T1R1 is calculated as:

[0176]

[0177] In this way, Figure 10b As shown, the motion scheme determined by the control unit may include: the image arm 31 rotates along a first direction by an angle θ1 with the fixed point R1 on the image arm 31 as the rotation center.

[0178] Since the first tool arm ( Figure 10a and Figure 10b A first surgical instrument ( Figure 10a and Figure 10b (not shown), and as previously described, the first surgical instrument is located within the surgical field of view. To prevent the first surgical instrument from leaving the surgical field of view due to the image arm driving the endoscope to move, the motion scheme further includes: the first tool arm moves with the fixed point R3 ( Figure 10a and Figure 10b The imaging arm 31 is rotated along the first direction by an angle θ1 (not shown) as the rotation center, thereby rotating the first surgical instrument so that both the first surgical instrument 34a and the second surgical instrument 34b are located within the surgical field of view 33'. Of course, if the first surgical instrument 34a remains within the surgical field of view 33' after the imaging arm 31 is rotated along the first direction by an angle θ1, the first tool arm may not rotate.

[0179] Alternatively, the motion scheme determined by the control unit includes: the image arm 31 first rotates an angle θ1 along a first direction with the fixed point R1 on the image arm 31 as the rotation center; then, as shown in FIG. Figure 10cAs shown, the image arm 31 is then rotated 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 is rotated by an angle θ2 along the second direction with the fixed point R2 on the tool arm 32 of the second surgical instrument 34b (i.e., the second tool arm 32b) 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 10a to 10c As an example, the first direction is clockwise. Figure 10a As indicated by the arrow in the middle, the second direction is counterclockwise. Figure 10c Indicated by the arrow in the middle. After this operation, both the first surgical instrument 34b 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.

[0180] Furthermore, the present invention also provides a computer-readable storage medium having a program stored thereon. When the program is executed, the program performs the corresponding operations performed by the control unit as described above.

[0181] 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.

[0182] 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; 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; 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.

2. The computer-readable storage medium according to claim 1, wherein When the image acquisition device and / or the surgical instrument move 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.

3. The computer-readable storage medium according to claim 1, wherein The program further executes the following steps: obtaining the coordinates of the center point C of the surgical field of view, and using the center point C of the surgical field of view as the target position.

4. The computer-readable storage medium according to claim 1, 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 sphere center is obtained, and any point inside or on the sphere is used as the target position; wherein the radius of the spherical surface is the length of the end effector of the surgical instrument.

5. The computer-readable storage medium according to claim 1, 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 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.

6. The computer-readable storage medium according to claim 1, 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.

7. The computer-readable storage medium according to any one of claims 3 to 6, wherein: The program performs the following steps: 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.

8. The computer-readable storage medium according to claim 7, 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 .

9. The computer-readable storage medium according to claim 1, wherein When there is target tissue between the current position of the surgical instrument and the target position, after obtaining the relative position relationship and before determining the motion plan, the program further performs the following steps to plan a safe area: Planning a safety area, wherein the safety area surrounds the target tissue; A movement area is planned, the boundary of which is outside the safety area, so that when the tool arm executes the movement plan, any point on the movement trajectory formed by the surgical instrument is on the boundary of the movement area or outside the movement area.

10. The computer-readable storage medium according to claim 9, wherein The moving area is a spherical area, and the motion trajectory formed by the surgical instrument includes a plurality of linear trajectories connected in sequence, and each of the linear trajectories is tangent to the moving area.

11. The computer-readable storage medium according to claim 1, wherein The program performs the following operations 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 on the image arm; Obtaining the position of the end point T1 of the surgical instrument; 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 rotating the image acquisition device by an angle θ1 along a first direction with the fixed point R1 of the image arm as the rotation center.

12. The computer-readable storage medium according to claim 11, wherein The program also performs the following steps: Obtaining the position of the fixed point R2 on the tool arm; The motion plan also includes the image arm rotating an angle θ2 along the second direction with the fixed point R1 of the image arm as the rotation center, and the tool arm rotating an angle θ2 along the second direction with the fixed point R2 of the tool arm as the rotation center, so that the surgical instrument remains within the surgical field of view.

13. 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 a fixed point R1 on the image arm as the rotation center, and the first tool arm rotating by an angle θ1 along a first direction with a 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.

14. An electronic device, characterized in that: The system comprises a processor and the 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.

15. 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 13.

16. The surgical robot system according to claim 15, characterized in that: An input device is also included, and the control unit plans the exercise plan according to instructions input by the input device.

17. The surgical robot system according to claim 15, wherein: The surgical robot system includes the electronic device according to claim 14, and the control unit includes the processor.

Images