Surgical field tracking and adjustment methods and surgical robot systems

Abstract

This invention provides a surgical field tracking and adjustment method and a surgical robot system. The surgical field tracking and adjustment method includes the following steps: acquiring preliminary information based on CT images of the surgical area; identifying tissue in the surgical field of the endoscope using machine vision; and acquiring the coordinates of the lesion tissue and the end effector of the surgical instrument in a reference coordinate system. A motion vector is determined; inverse kinematics calculations are performed based on the motion vector; and a control signal is output to drive the first robotic arm to move, thereby causing a preset object to appear at a preset position in the surgical field; wherein the preset object includes the lesion tissue and / or the end effector of the surgical instrument. This configuration, through automatic adjustment of the surgical field using an algorithm, reduces the requirements for operators and improves surgical efficiency, solving the problems of high barriers to entry, low efficiency, and long time associated with manual intervention in surgical field adjustment in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical field tracking and adjustment method and a surgical robot system. Background Technology

[0002] During the surgery, the endoscope needs to be constantly adjusted to ensure a good surgical field, thus facilitating the procedure.

[0003] The existing technology uses the following method to adjust the surgical field.

[0004] Before the operation, medical staff manually adjust the preoperative field of view of the endoscope based on their experience and work together to bring the surgical instruments into the field of view.

[0005] During the procedure, medical staff or doctors manually remotely operate the main control arm of the surgical robot to control the movement of the robotic arm holding the endoscope, thereby adjusting the endoscope's position and obtaining changes in the endoscopic field of view.

[0006] Post-operatively, medical staff can manually adjust the post-operative field of view of the endoscope based on their experience to obtain the field of view for the removal of surgical instruments; or they can manually remotely operate the main control arm of the surgical robot to control the movement of the robotic arm holding the endoscope to adjust the position of the endoscope, obtain the post-operative field of view of the endoscope, and assist in the removal of surgical instruments.

[0007] The above method has the following drawbacks.

[0008] Before the operation, medical staff need to manually adjust the endoscopic field of view to insert surgical instruments. The optimal field of view cannot be automatically adjusted before the operation, which requires a high level of experience from medical staff and a long time for preoperative field preparation.

[0009] During the procedure, medical staff need to frequently adjust the endoscopic field of view manually, as it cannot be automatically adjusted, which reduces surgical efficiency and results in a longer surgical time.

[0010] Postoperatively, medical staff need to manually adjust the endoscopic field of view and remove surgical instruments. The field of view cannot be automatically adjusted after the procedure, which requires a high level of experience from the medical staff and involves a long time for the field of view to be removed.

[0011] In summary, in existing technologies, the adjustment of the surgical field requires manual intervention, which on the one hand requires a high level of experience from the adjuster, and on the other hand increases the adjustment time and prolongs the operation time. Summary of the Invention

[0012] The purpose of this invention is to provide a surgical field tracking and adjustment method and a surgical robot system to solve the problems in the prior art where surgical field adjustment requires manual intervention and thus has high barriers to entry, low efficiency, and long time.

[0013] To address the aforementioned technical problems, this invention provides a surgical field tracking and adjustment method, comprising the following steps: S10 Acquiring preliminary information based on CT images of the surgical area, the preliminary information including model information and location information of characteristic tissues in the surgical area, and model information and location information of lesion tissues. S20 Identifying a preset object and / or acquiring the location information of the preset object based on the application scenario, wherein the preset object includes at least one of the lesion tissue, the characteristic tissue, and the end of a surgical instrument. S60 Determining the motion vector of the shooting point based on the execution result of step S20 and the application scenario; wherein the shooting point is set on the line of sight of the camera and coincides with the target being photographed, the camera is subordinate to the endoscope, and the camera is set at the front end of the endoscope. S70 Performing inverse kinematics calculation based on the motion vector to obtain the basic signal. Furthermore, S80 outputs a control signal corresponding to the application scenario to drive the first robotic arm to move, thereby causing the lesion tissue and / or the end of the surgical instrument to appear at a preset position in the surgical field; wherein, the endoscope is fixed to the first robotic arm and moves under the drive of the first robotic arm, and the control signal includes the basic signal.

[0014] Optionally, step S10 includes: performing tissue identification based on the CT image to obtain identification results, wherein the identification results include model information and location information of the tissue to be distinguished, and the tissue to be distinguished includes the feature tissue, the lesion tissue, and the tissue to be removed. The identification results are then overlaid and displayed on the CT image. Identification information is obtained, wherein the identification information includes information distinguishing the feature tissue, the lesion tissue, and the tissue to be removed, or the identification information includes information distinguishing the feature tissue, the lesion tissue, and the tissue to be removed, information for correcting the feature tissue, and information for correcting the lesion tissue. And, preliminary information is determined based on the identification information.

[0015] Optionally, step S20 specifically involves: based on the application scenario, executing at least a portion of steps S30, S40, and S50. Specifically, step S30 includes: identifying tissue in the surgical field of the endoscope using machine vision and matching it with the characteristic tissue or the lesion tissue. Step S40 includes: obtaining the coordinates of the lesion tissue in a reference coordinate system based on machine vision and kinematic calculations. Step S50 includes: obtaining the coordinates of the end effector of the surgical instrument in the reference coordinate system based on kinematic calculations; wherein the surgical instrument is fixed to a second robotic arm and moves under the drive of the second robotic arm.

[0016] Optionally, the method further includes the following steps: establishing a base coordinate system, wherein the base coordinate system includes a surgical robot base coordinate system fixed to the robot base, a first robotic arm proximal base coordinate system fixed to the proximal end of the first robotic arm, a first robotic arm distal base coordinate system fixed to the distal end of the first robotic arm, a second robotic arm proximal base coordinate system fixed to the proximal end of the second robotic arm, a second robotic arm distal base coordinate system fixed to the distal end of the second robotic arm, an endoscope base coordinate system fixed to the endoscope, and a camera base coordinate system fixed to the camera. The surgical robot base coordinate system is set as the reference coordinate system. Acquiring sensor information, wherein the sensor information includes joint position information of the first robotic arm and joint position information of the second robotic arm. And establishing a transformation relationship from coordinates in one of the reference coordinate systems to coordinates in the other of the reference coordinate systems, wherein the transformation relationship has a functional relationship with the sensor information. Step S40 includes: acquiring the coordinates of the lesion tissue in the camera base coordinate system based on machine vision, and converting them to coordinates in the reference coordinate system based on the transformation relationship. Step S50 includes: acquiring the coordinates of the end of the surgical instrument in the distal base coordinate system of the second robotic arm, and converting them to coordinates in the reference coordinate system based on the transformation relationship.

[0017] Optionally, the application scenarios include at least one of the following scenarios: preoperative positioning, preoperative instrument insertion positioning, intraoperative tracking positioning, and postoperative instrument withdrawal positioning.

[0018] Optionally, the application scenario includes the preoperative localization; the preparatory information also includes the direction vector of the feature tissue pointing to the lesion tissue, and the distance between the feature tissue and the lesion tissue.

[0019] Optionally, step S20 includes: when the application scenario is preoperative localization, executing step S30. Step S60 includes: when the application scenario is preoperative localization, if the matching result is the lesion tissue, the motion vector is 0; if the matching result is the feature tissue, constructing the motion vector based on the direction vector of the feature tissue pointing to the lesion tissue and the distance between the feature tissue and the lesion tissue. Step S80 includes: when the application scenario is preoperative localization, outputting the basic signal to drive the first robotic arm to move.

[0020] Optionally, the application scenario includes preoperative instrument placement after entry. Step S20 includes: when the application scenario is preoperative instrument placement after entry, step S30 is executed. Step S60 includes: when the application scenario is preoperative instrument placement after entry, the distance between the center of the surgical field and the lesion tissue is calculated; if the distance is greater than a first distance threshold, the motion vector of the surgical field moving to align with the lesion tissue is calculated; otherwise, the motion vector is 0. Step S80 includes: when the application scenario is preoperative instrument placement after entry, the basic signal is output to drive the first robotic arm to move, and then a control command is output to drive the endoscope away from the lesion tissue to its extreme position.

[0021] Optionally, the application scenario includes intraoperative tracking and positioning. Step S20 includes: when the application scenario is intraoperative tracking and positioning, executing steps S30, S40, and S50. Step S60 includes: when the application scenario is intraoperative tracking and positioning, calculating an envelope circle, wherein the lesion tissue and the end of the surgical instrument are both located inside or around the envelope circle. Calculating a surgical field circle based on the envelope circle, wherein the surgical field circle is concentric with the envelope circle, and the diameter of the surgical field circle is greater than the diameter of the envelope circle by a surgical field threshold. And calculating the motion vector that moves the surgical field to coincide with the surgical field circle. Step S80 includes: when the application scenario is intraoperative tracking and positioning, outputting the basic signal to drive the first robotic arm to move.

[0022] Optionally, the step of calculating the envelope circle is as follows: the circumcircle of the lesion tissue and at least a portion of the surgical instrument's ends is set as the envelope circle, and the circumcircle also encloses the remaining surgical instrument ends. The lesion tissue is the center of the circle, and the smallest circle enclosing all the surgical instrument ends is set as the envelope circle. Alternatively, the centroid of at least a portion of the surgical instrument ends is the center of the circle, and the smallest circle enclosing all the surgical instrument ends and the lesion tissue is set as the envelope circle.

[0023] Optionally, the application scenario includes postoperative instrument withdrawal positioning. Step S20 includes: when the application scenario is postoperative instrument withdrawal positioning, steps S30, S40, and S50 are executed. Step S60 includes: when the application scenario is postoperative instrument withdrawal positioning, an envelope circle is calculated, wherein the lesion tissue and the end of the surgical instrument are both located inside or around the envelope circle. The distance between the center of the surgical field and the center of the envelope circle is calculated. And, if the distance is greater than a second distance threshold, the motion vector of the surgical field moving to align with the envelope circle is calculated; otherwise, the motion vector is 0. Step S80 includes: when the application scenario is postoperative instrument withdrawal positioning, the basic signal is output to drive the first robotic arm to move, and then a control command is output to drive the endoscope away from the envelope circle to its limit position.

[0024] Optionally, the method further includes the following steps: indicating the current application scenario through status lights and / or a buzzer, and / or indicating that the application scenario is being switched.

[0025] Optionally, the method further includes the following steps: calculating an envelope circle, wherein the lesion tissue and the tip of the surgical instrument are both located inside or around the envelope circle; and displaying a surgical field suitability rate, wherein the surgical field suitability rate is the ratio of the current diameter of the surgical field to the desired diameter, wherein the desired diameter is the diameter of the envelope circle plus a surgical field threshold.

[0026] To address the aforementioned technical problems, the present invention also provides a surgical robot system, characterized in that the surgical robot system includes a robot module, an endoscope module, and an adaptive adjustment module; the robot module includes a first robotic arm for holding the endoscope and a second robotic arm for holding surgical instruments; the endoscope module includes the endoscope; and the adaptive adjustment module is used to output control commands to drive the first robotic arm to move based on the surgical field tracking and adjustment method according to any one of claims 1 to 12.

[0027] Optionally, the surgical robot system further includes at least one of the following features: the robot module further includes a main control arm, which is used to collect the manipulation actions of medical personnel and convert them into control commands for the first robotic arm or the second robotic arm. The endoscope module further includes a cold light source, an image processor, and a display; the cold light source is used to provide illumination for the surgical field environment, and the image processor is used to process surgical field image information and send it to the display for display. Additionally, the adaptive adjustment module includes a CT reconstruction and diagnosis unit, a tissue identification unit, a calculation unit, and a storage unit; the tissue identification unit is used for surgical field optimization and calculation; the calculation unit is used for identification of patient tissue; and the storage unit is used to store threshold information.

[0028] Compared with existing technologies, this application provides a surgical field tracking and adjustment method and surgical robot system. The surgical field tracking and adjustment method includes the following steps: acquiring preparatory information based on CT images of the surgical area; identifying tissues in the surgical field of the endoscope based on machine vision and matching them with the characteristic tissues or the lesion tissues; acquiring the coordinates of the lesion tissues and the ends of the surgical instruments in a reference coordinate system; determining motion vectors; performing inverse kinematics calculations based on the motion vectors; and outputting control signals corresponding to the application scenario to drive the first robotic arm to move, thereby driving a preset object to appear at a preset position in the surgical field; wherein the preset object includes the lesion tissues and / or the ends of the surgical instruments. This configuration, through automatic adjustment of the surgical field using algorithms, reduces the requirements for operators and improves surgical efficiency, solving the problems of high barriers to entry, low efficiency, and long time associated with manual intervention in surgical field adjustment in existing technologies. Attached Figure Description

[0029] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0030] Figure 1 This is a schematic diagram illustrating an application scenario of a surgical robot system according to an embodiment of the present invention;

[0031] Figure 2 This is a flowchart illustrating a surgical field tracking and adjustment method according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the shooting point according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of a surgical robot system according to an embodiment of the present invention;

[0034] Figure 5 This is a flowchart illustrating step S10 of an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the base coordinate system according to an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the direction vector of the feature tissue pointing to the lesion tissue according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram illustrating an application scenario of preoperative localization according to an embodiment of the present invention;

[0038] Figure 9 This is a flowchart illustrating the application scenario of preoperative positioning according to an embodiment of the present invention;

[0039] Figure 10 This is a flowchart illustrating the application scenario of preoperative instrument positioning according to an embodiment of the present invention.

[0040] Figure 11 This is a schematic diagram of a first calculation method for the envelope circle and surgical field circle according to an embodiment of the present invention;

[0041] Figure 12 This is a schematic diagram of a second calculation method for the envelope circle and surgical field circle according to an embodiment of the present invention;

[0042] Figure 13 This is a schematic diagram of a third calculation method for the envelope circle and surgical field circle according to an embodiment of the present invention;

[0043] Figure 14 This is a flowchart illustrating the application scenario of postoperative instrument withdrawal and positioning according to an embodiment of the present invention;

[0044] Figure 15 This is a schematic diagram of the panel content of a display according to an embodiment of the present invention.

[0045] In the attached image:

[0046] 1-Robot module; 2-Endoscope module 2; 3-Adaptive adjustment module 3.

[0047] 11-First robotic arm; 12-Second robotic arm; 13-Robot doctor's end; 14-Robot patient's end; 15-Main control arm; 16-Robot controller; 17-Robot base; 21-Endoscope; 22-Display; 23-Image processor; 24-Cold light source; 25-Camera; 26-Camera's line of sight; 27-Shooting point; 28-Target being photographed; 41-Lesion tissue; 42-Featured tissue; 43-Direction vector; 44-End of surgical instrument; 51-Initial insertion state; 52-Adjusted state; 61-Envelope circle; 62-Surgical field circle; 63-Surgical field; 71-Status light; 72-Surgical field suitability rate.

[0048] E1 - Surgical robot base coordinate system; E2 - First robotic arm proximal base coordinate system; E3 - First robotic arm distal base coordinate system; E4 - Second robotic arm proximal base coordinate system; E5 - Second robotic arm distal base coordinate system; E6 - Endoscope base coordinate system; E7 - Camera base coordinate system. Detailed Implementation

[0049] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0050] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; the term “at least two” is generally used to mean “two or more”; furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," and "third" may explicitly or implicitly include one or at least two of those features. The term "proximal" typically refers to the end closer to the operator, and the term "distal" typically refers to the end closer to the patient. "One end" and "the other end," as well as "proximal" and "distal," generally refer to two corresponding parts, including not only endpoints. The terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two elements or interactions between two elements. Furthermore, as used in this invention, the placement of one element on another element generally only indicates a connection, coupling, cooperation, or transmission relationship between the two elements, and the connection, coupling, cooperation, or transmission between the two elements can be direct or indirect through an intermediate element. It should not be construed as indicating or implying a spatial positional relationship between the two elements, i.e., one element can be located arbitrarily inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] The core idea of ​​this invention is to provide a surgical field tracking and adjustment method and a surgical robot system to solve the problems in the prior art, which require manual intervention for surgical field adjustment and thus result in high barriers to entry, low efficiency, and long time.

[0052] The following description refers to the accompanying drawings.

[0053] like Figure 1As shown, this embodiment provides a surgical robot system, which includes a robot module 1, an endoscope module 2, and an adaptive adjustment module 3. The robot module 1 includes a patient end 14, which includes a first robotic arm 11 for holding an endoscope 21 and a second robotic arm 12 for holding surgical instruments (or, in other words, the robot module 1 includes the first robotic arm 11 and the second robotic arm 12). The endoscope module 2 includes the endoscope 21. The adaptive adjustment module 3 outputs control commands based on a surgical field tracking and adjustment method to drive the first robotic arm 11 to move. The surgical field tracking and adjustment method will be described later.

[0054] Furthermore, the robot module 1 also includes a robot doctor end 13, which includes a main control arm 15 (or the robot module 1 also includes the main control arm 15). The main control arm 15 is used to collect the manipulation actions of medical staff and convert them into control commands for the first robotic arm 11 or the second robotic arm 12.

[0055] The endoscope module 2 also includes a cold light source 24, an image processor 23, and a display 22; the cold light source is used to provide illumination for the surgical field environment, and the image processor 23 is used to process surgical field image information and send it to the display 22 for display.

[0056] Furthermore, the adaptive adjustment module 3 includes a CT (Computed Tomography) reconstruction and diagnosis unit 31, a tissue identification unit 32, a calculation unit 33, and a storage unit 34; the tissue identification unit 32 is used for optimization and calculation of the surgical field; the calculation unit 33 is used for identification of the patient's tissue; and the storage unit 34 is used for storing threshold information.

[0057] The adaptive adjustment module 3 is used to execute surgical field tracking and adjustment methods. Please refer to [reference needed]. Figure 2 The surgical field tracking and adjustment method includes the following steps:

[0058] S10 acquires preliminary information based on CT images of the surgical area, the preliminary information including model information and location information of characteristic tissues in the surgical area, and model information and location information of lesion tissues.

[0059] S20 identifies a preset object and / or obtains the location information of the preset object based on the application scenario, wherein the preset object includes at least one of the lesion tissue, the feature tissue, and the end of the surgical instrument.

[0060] Based on the execution result of step S20 and the application scenario, S60 determines the motion vector of the shooting point; wherein the shooting point is set on the line of sight of the camera and coincides with the target being photographed, the camera belongs to the endoscope, and the camera is set at the front end of the endoscope.

[0061] S70 performs inverse kinematics calculations based on the motion vectors to obtain the basic signal.

[0062] Furthermore, S80 outputs a control signal corresponding to the application scenario to drive the first robotic arm to move, thereby causing the lesion tissue and / or the end of the surgical instrument to appear at a preset position in the surgical field; wherein, the endoscope is fixed to the first robotic arm and moves under the drive of the first robotic arm, and the control signal includes the basic signal.

[0063] In step S10, model information refers to information describing the corresponding tissue, such as tissue color, texture, shape, size, and contour. The model information also includes feature point information used for machine vision matching. This can be configured according to actual needs. After the endoscope is inserted into the patient's body, tissue identification and matching are performed based on these features and visual images. The tissue obtained through visual identification is matched with the tissue modeled before surgery. Location information should be understood as the location information of a preset point within the tissue. Specific preset rules can be set according to different situations. For example, the location information of the tissue's center of gravity can be considered as the tissue's location information, or the center of the tissue's envelope sphere can be considered as the tissue's location information, or the location information of a point on the tissue's outer contour can be considered as the tissue's location information. Any combination of model information and location information that accurately reflects the space occupied by the tissue can be used as location information. CT images are obtained based on fluoroscopic imaging techniques, such as X-rays, gamma rays, and ultrasound. In step S20, the specific steps will differ depending on the application scenario and the required information. In one embodiment, step S20 specifically involves: executing at least a portion of steps S30, S40, and S50 based on the application scenario; wherein step S30 includes: identifying tissue in the surgical field of the endoscope based on machine vision and matching it with the feature tissue or the lesion tissue; step S40 includes: obtaining the coordinates of the lesion tissue in a reference coordinate system based on machine vision and kinematic calculations; step S50 includes: obtaining the coordinates of the end effector of the surgical instrument in the reference coordinate system based on kinematic calculations; wherein the surgical instrument is fixed to a second robotic arm and moves under the drive of the second robotic arm. In one application scenario, step S20 may only execute a portion of steps S30, S40, and S50, but when all application scenarios are covered, steps S30, S40, and S50 will all be executed. In step S30, the specific content of the matched tissue depends on the content of the tissue captured in the surgical field. For example, initially, the surgical field may not contain the lesion tissue, so only the feature tissue can be matched. The specific implementation of the machine vision can be set according to actual needs, such as binocular vision technology, infrared vision technology, etc. In steps S40 and S50, the results obtained based on kinematic coordinates are more accurate than those obtained by other methods, and the surgical field tracking and adjustment method can obtain the relevant coordinates of surgical instruments that are not in the surgical field. Throughout the text, surgical instruments should be understood as "surgical instruments that need to be monitored." For example, in a surgical preparation stage, surgical instruments A, B, C, and D are fixed on the four robotic arms of a robot, but during the operation, sometimes D is not needed. In this case, the surgical instruments refer only to A, B, and C; sometimes A and B are not needed. In this case, the surgical instruments refer only to C and D.Generally, the surgical instruments refer to the instruments that the surgeon is operating with their left and right hands; however, other surgical instruments that are not being operated but still need to be monitored are also excluded; at the same time, there may be techniques and methods for one surgeon to operate more than three surgical instruments simultaneously, or there may be scenarios where two surgeons operate more than three surgical instruments simultaneously. In these cases, the surgical instruments may also refer to the three or more surgical instruments that the surgeon is operating. In step S60, the shooting point 27 can be set according to... Figure 3 To clarify, the shooting point 27 is an imaginary point located on the camera's line of sight 26 and coinciding with the target 28 being photographed. The target 28 can be the lesion tissue or the characteristic tissue. The surgical field can be adjusted by moving the shooting point 27; however, the robot's movement is limited by the mechanical structure of the robotic arm and the range of motion of each joint. Therefore, it is necessary to plan the motion trajectory of each joint through inverse kinematics calculations to obtain control signals. The camera's line of sight 26 should be understood as a line pointing to and passing through the center point of the surgical field. In step S80, the content of the control signal may only include the basic signal, or other control signals may be added based on the basic signal to further ensure the final surgical field range. "Driven" should be understood as the main focus of this method being the output of control signals; whether the final control objective is achieved may also depend on other control algorithms or the specific current situation.

[0064] This configuration can solve a series of problems caused by manual intervention through automatic tracking and adjustment; on the other hand, it can obtain a more accurate and reliable tracking effect by obtaining the second relative position relationship through kinematic relationship.

[0065] The overall structure of the surgical robot system can also be referenced. Figure 4 .

[0066] The surgical robot system includes a robot module 1, an endoscope module 2, and an adaptive adjustment module 3. The robot module 1 includes a robotic surgeon's end 13, a robotic patient's end 14, and a robot controller 16. The robotic surgeon's end 13 includes the main control arm 15, and the robotic patient's end includes the first robotic arm 11 (in...). Figure 4 In the text, "endoscope-holding robotic arm" is used to refer to the second robotic arm 12 (in the context of the endoscope-holding robotic arm 12). Figure 4In this text, "instrument-holding robotic arm" is used to describe its function. The first robotic arm 11 and the second robotic arm 12 can perform actions based on the robot controller 16, which is used to respond to the doctor's active control commands and the surgical field adjustment and tracking commands output by the adaptive adjustment module. The endoscope module 2 includes the endoscope 21, the display 22, the image processor 23, and the cold light source 24. The image processor 23 is used to send the processed data to the display 22 and the adaptive adjustment module 3. The adaptive adjustment module 3 includes the CT reconstruction and diagnosis unit 31, the tissue identification unit 32, the calculation unit 33, and the storage unit 34. The CT reconstruction and diagnosis unit 31 is used to process CT images, which are obtained from an external CT acquisition process. Here, the CT acquisition process is not limited.

[0067] Further, step S10 includes: S11 performing tissue identification based on the CT image to obtain identification results, wherein the identification results include model information and location information of the tissue to be distinguished, and the tissue to be distinguished includes the feature tissue, the lesion tissue, and the tissue to be removed.

[0068] S12 overlays the recognition results onto the CT image.

[0069] S13 Obtain identification information, wherein the identification information includes information distinguishing the feature tissue, the lesion tissue, and the tissue to be removed, or the identification information includes information distinguishing the feature tissue, the lesion tissue, and the tissue to be removed, information for correcting the feature tissue, and information for correcting the lesion tissue.

[0070] And, S14 determines the preparatory information based on the identification information.

[0071] In step S11, simply observing the identification results only reveals that several tissues to be distinguished have been identified. However, it is not yet known which tissue should be considered the lesion tissue, which should be considered the characteristic tissue, or which should be eliminated. This can be determined later using the identification information. In step S12, the identification results are overlaid to facilitate intuitive observation and judgment by medical personnel to determine the identification information. In step S13, the identification information is input by external medical personnel, or it can be input via a host computer, intelligent identification algorithm, or other methods. The identification information includes at least information distinguishing the characteristic tissue, the lesion tissue, and the tissues to be eliminated. In some embodiments, if the identification results in step S11 are not ideal, the identification information also includes information for correcting the characteristic tissue and the lesion tissue to ensure the accuracy of the preliminary information.

[0072] Step S10 can also be followed Figure 5 To understand the content.

[0073] S101 first acquires image information of the patient's lesions through lesion CT scan.

[0074] S102 Image information modeling, obtaining a patient lesion area model, including tissue model, lesion model and location (corresponding to step S11).

[0075] S103 Display device reproduces modeling information (corresponding to step S12), medical staff diagnosis (corresponding to step S13).

[0076] S104 Medical staff select the patient's lesion area and mark the lesion area to identify the lesion area.

[0077] S105 Medical staff perform feature identification on the model, including but not limited to the identification and selection of tissues and organs. (S104 and S105 correspond to step S14)

[0078] At this point, the modeling of the patient's tissues and the identification of characteristic tissues have been completed.

[0079] To perform kinematic and inverse kinematic calculations, the method further includes the following steps:

[0080] S91 establishes the base coordinate system, where please refer to... Figure 6 The base coordinate system includes a surgical robot base coordinate system E1 fixed to the robot base 17, a first robotic arm proximal base coordinate system E2 fixed to the proximal end of the first robotic arm 11, a first robotic arm distal base coordinate system E3 fixed to the distal end of the first robotic arm 11, a second robotic arm proximal base coordinate system E4 fixed to the proximal end of the second robotic arm 12, a second robotic arm distal base coordinate system E5 fixed to the distal end of the second robotic arm 12, an endoscope base coordinate system E6 fixed to the endoscope 21, and a camera base coordinate system E7 fixed to the camera 25. Based on the above base coordinate system, the coordinate data of an object can be easily converted between different coordinate systems, assisting in kinematic and inverse kinematic calculations.

[0081] The surgical robot base coordinate system E1 described in S92 is set as the reference coordinate system. In other embodiments, other coordinate systems may also be set as the reference coordinate system.

[0082] S93 acquires sensor information, wherein the sensor information includes the joint position information of the first robotic arm 11 and the joint position information of the second robotic arm 12.

[0083] Furthermore, S94 establishes a transformation relationship between the coordinates in one of the reference coordinate systems and the coordinates in the other of the reference coordinate system, and the transformation relationship has a functional relationship with the sensor information.

[0084] Based on the above settings, steps S40 and S50 can be further refined as follows:

[0085] Step S40 includes: acquiring the coordinates of the lesion tissue in the camera base coordinate system E7 based on machine vision, and converting them to coordinates in the reference coordinate system based on the transformation relationship.

[0086] Step S50 includes: obtaining the coordinates of the end of the surgical instrument in the second robotic arm distal base coordinate system E5, and converting them to coordinates in the reference coordinate system based on the transformation relationship.

[0087] It needs to be understood that Figure 6 The main focus is on the consolidation methods of each base coordinate system. The orientation of its origin and number axis can be set according to actual needs and is not limited to... Figure 6 The situation is illustrated in the image. Furthermore, as each joint moves, the relative positions and orientations between the various base coordinate systems also change, not limited to... Figure 6 The situation shown in the middle.

[0088] In this embodiment, the application scenarios include: preoperative positioning, preoperative instrument insertion positioning, intraoperative tracking positioning, and postoperative instrument withdrawal positioning. Other embodiments may also include at least some of the above application scenarios.

[0089] To facilitate preoperative localization, data processing can be performed in advance to facilitate the subsequent logical development. In one embodiment, the application scenario includes preoperative localization; the preparatory information also includes the direction vector of the feature tissue pointing to the lesion tissue, and the distance between the feature tissue and the lesion tissue.

[0090] Please refer to Figure 7 Within the acquisition and modeling area, the lesion tissue 41 is identified as number 0, and the feature tissues 42 are identified as numbers 1, 2, 3...n (where n is the total number of feature tissues 42). Of course, other identification methods can also be used. This is only an example and does not limit the identification method of feature tissues, nor does it limit the tissue features, nor does it limit the identification or number of each feature tissue obtained based on the intelligent feature tissue recognition technology after modeling.

[0091] Subsequently, the coordinates of each tissue are obtained. The coordinate system in which the coordinates are located can be arbitrarily selected, and the default coordinate system used during data acquisition can be used. Among them, the coordinates of feature tissue 42, numbered i, are (xi, yi, zi), where the value of i ranges from 1 to n. The coordinates of the lesion tissue 41 are (x0, y0, z0). Here, the method of establishing the coordinate system is not limited, nor is the method of obtaining the preset points representing each tissue limited. For example, it can be based on the center of the smallest envelope sphere of the tissue, or on the center of the envelope surface circle, etc.

[0092] Based on the above coordinates, the direction vectors of the feature tissue 42 (numbered i) and the lesion tissue 41 are n(xi-x0, yi-y0, zi-z0). The distance Li between the feature tissue 42 (numbered i) and the lesion tissue 41 can be calculated using the following formula.

[0093] Preferably, step S20 includes: when the application scenario is preoperative localization, step S30 is executed. Step S60 includes: when the application scenario is preoperative localization, if the matching result is the lesion tissue 41, then the motion vector is 0 (in this case, corresponding to no action in the basic signal); if the matching result is the feature tissue 42, the motion vector 43 is constructed based on the direction vector of the feature tissue 42 pointing to the lesion tissue 41 and the distance between the feature tissue and the lesion tissue. The motion vector 43 can refer to... Figure 8 To understand, in Figure 8 In the diagram, the endoscope 21 on the right is in its initial insertion state, while the endoscope 21 on the left is in its adjusted state 52. Step S80 includes: when the application scenario is preoperative positioning, outputting the basic signal to drive the first robotic arm to move. With this configuration, the motion vector 43 can be directly constructed using the direction vector and distance without the need for other coordinate transformations. The logic is clear and intuitive, facilitating design and subsequent maintenance.

[0094] The above process can also be followed Figure 9 To understand the application scenario, when the procedure is performed for preoperative localization, the process of the method is as follows.

[0095] S201 Medical staff guide the robotic arm holding the endoscope, and the endoscope lens is inserted into the patient's body. This step is a preliminary step in the method described above.

[0096] The S202 endoscope identifies tissue in the current surgical field image and acquires the corresponding tissue location coordinates.

[0097] The surgical field image tissue in step S203 matches the tissue modeled in the previous CT scan. Steps S202 and S203 correspond to step S30.

[0098] S204 obtains the matched tissue and its direction vector; based on the direction vector, coordinate transformation is performed to obtain the motion vector of the end effector of the lens-holding robotic arm (and the shooting point 27). Step S204 corresponds to step S60.

[0099] S205 The surgical robot's robotic arm undergoes inverse kinematics calculations to obtain the target positions of each joint. The robotic arm then moves to the target positions to obtain the current surgical field. Step S205 corresponds to steps S70 and S80.

[0100] S206 Identify and match the target lesion in the current surgical field image until the target lesion tissue is located. Repeat steps S202 and S203 to ensure the validity of the motion results.

[0101] This configuration, based on preoperative CT modeling information and tissue identification, uses a directional vector-guided motion method to adaptively locate the target lesion, achieving precise positioning in visual mode, while also enabling the self-searching and automatic positioning of the target lesion tissue.

[0102] The method is configured in such a way to improve the effectiveness of positioning the preoperative instruments after they have entered the surgical site.

[0103] Step S20 includes: when the application scenario is that the preoperative instrument is positioned after entry, step S30 is executed.

[0104] Step S60 includes: when the application scenario is that the preoperative instrument is positioned after entry, calculating the distance between the center of the surgical field and the lesion tissue; if the distance is greater than a first distance threshold, calculating the motion vector of the surgical field moving to align with the lesion tissue; otherwise, the motion vector is 0. It should be understood that "alignment" should be understood as alignment within the engineering scope, that is, allowing for an error within a preset range between the two.

[0105] Step S80 includes: when the application scenario is that the preoperative instrument has been positioned after entry, the basic signal is output to drive the first robotic arm to move, and then a control command is output to drive the endoscope away from the lesion tissue to the extreme position. The extreme position refers to the farthest position that can be moved due to the limitations of the mechanical structure, or the farthest position that can be moved due to the limitations of preset rules, which can be set according to the actual situation in different embodiments. For example, in one embodiment, the extreme position is the top position of the puncture card, which is obtained by structural configuration calculation.

[0106] The above process can also be followed Figure 10 To understand the application scenario, when the preoperative instruments are positioned, the process of the method is as follows.

[0107] S301 Obtains instrument entry instructions, which include, but are not limited to, software instructions, hardware button instructions, and robot entry into the preoperative instrument preparation stage. That is, whether the application scenario involves preoperative instrument entry and positioning can be determined by whether the instrument entry instructions have been obtained.

[0108] S302 Extraction and acquisition of the center position of the current endoscopic field of view image; extraction and acquisition of the origin of the lesion tissue coordinates in the current surgical field image; calculation and acquisition of the distance vector between the image center and the origin of the target lesion tissue coordinates. Step S302 corresponds to step S30.

[0109] In step S303, the magnitude Ld of the distance vector is compared with the first distance threshold la. If Ld > la, it indicates that the lesion tissue is not located in the center of the current surgical field. The endoscope-holding robotic arm performs inverse kinematics calculation and motion adjustment, and the image center moves to the center of the tissue according to the distance vector, thus completing the centering adjustment of the endoscope. Step S303 corresponds to the first half of steps S60, S70, and S80.

[0110] S304 The endoscope holding arm is raised and adjusted to the position of the top of the puncture card. This position of the puncture card top is calculated based on the structural configuration to obtain the maximum field of view. Step S304 corresponds to the latter half of step S80.

[0111] S305 instrument enters the field of view, preparation for completion.

[0112] S306 Medical personnel enter the surgical instruments. S305 and S306 are subsequent steps in the method.

[0113] This adjustment procedure, based on endoscopic vision technology and robotic arm technology, ensures that the lesion tissue is positioned in the center of the surgical field and maximizes the surgical field, facilitating the entry of surgical instruments into the patient's body; at the same time, the adjustment process is automated and highly efficient.

[0114] The method is configured in such a way to improve the effectiveness of intraoperative tracking and positioning.

[0115] Step S20 includes: when the application scenario is intraoperative tracking and positioning, steps S30, S40 and S50 are executed.

[0116] Step S60 includes: when the application scenario is intraoperative tracking and positioning, calculating an envelope circle, wherein the lesion tissue and the tip of the surgical instrument are both located inside or around the envelope circle. Calculating a surgical field circle based on the envelope circle, wherein the surgical field circle is concentric with the envelope circle, and the diameter of the surgical field circle is greater than the diameter of the envelope circle by a surgical field threshold. For example, if the diameter of the envelope circle is d1, the surgical field threshold is H, and the diameter of the surgical field circle is d2, then d2 = H + d1. And calculating the motion vector that moves the surgical field to coincide with the surgical field circle.

[0117] Step S80 includes: when the application scenario is intraoperative tracking and positioning, outputting the basic signal to drive the first robotic arm to move.

[0118] Specifically, in one embodiment, the step of calculating the envelope circle is as follows: the circumcircle of the lesion tissue and at least a portion of the end of the surgical instrument is set as the envelope circle, and the circumcircle also encloses the remaining end of the surgical instrument. When there are two ends of the surgical instrument, the step of calculating the envelope circle is as follows: the circumcircle of the lesion tissue and the end of the surgical instrument is set as the envelope circle. Please refer to [reference needed]. Figure 11 In the figure, the envelope circle 61 is circumscribed to the lesion tissue 41 and the ends 44 of the two surgical instruments. The surgical field circle 62 is expanded in diameter to d1+H based on the envelope circle 61, that is, the radius is expanded by 0.5H. When the number of ends of the surgical instruments is not two, any logic can be used to select a portion of the surgical instruments to generate the circumscribed circle, and the remaining portion is set within the envelope circle. In this embodiment, the instrument position is calculated based on the robotic arm configuration. During adaptive adjustment, the instruments will not be lost in the field of view. At the same time, automatic adjustment and tracking are completed during the operation. The lesion and the left and right instruments are all in the optimal field of view area. The threshold H can be set. The larger H is, the larger the field of view range.

[0119] In another embodiment, the lesion tissue is the center, and the smallest circle enclosing the ends of all the surgical instruments is set as the envelope circle. When the number of ends of the surgical instruments is two, please refer to... Figure 12 In the figure, the end 44 of one surgical instrument is located within the envelope circle 61, and the end 44 of the other surgical instrument is located exactly on the envelope circle 61, thereby minimizing the size of the envelope circle. In this embodiment, the instrument position is calculated based on the robotic arm configuration. During adaptive adjustment, the instruments are not lost in the field of view, and the lesion is always in the center of the surgical field, enveloping the left and right instruments, thus achieving better positioning and tracking of the lesion tissue. At the same time, instruments 1 and 2 are in the surgical field.

[0120] In another embodiment, the centroid of the distal end of at least a portion of the surgical instruments is the center of a circle, the x-coordinate of the centroid is the average of the x-axis coordinates of the distal ends of the surgical instruments, and the y-coordinate of the centroid is the average of the y-axis coordinates of the distal ends of the surgical instruments. The smallest circle enclosing all the distal ends of the surgical instruments and the lesion tissue is defined as the envelope circle. When there are two distal ends of the surgical instruments, the center of the distal end of each surgical instrument is the center of a circle, and the smallest circle enclosing all the distal ends of the surgical instruments and the lesion tissue is defined as the envelope circle. Please refer to... Figure 13In the figure, the ends 44 of the two surgical instruments are exactly at both ends of a diameter of the envelope circle 61. In this embodiment, the instrument positions are calculated based on the robotic arm configuration. During adaptive adjustment, the instruments are not lost in the field of view. At the same time, the midpoint of the left and right instruments is used as the center of the surgical field to envelop the lesion tissue, thus tracking the ends 44 of the two surgical instruments well, while the lesion tissue is in the surgical field.

[0121] Understandably, other methods for calculating the envelope circle can also be set.

[0122] The method is configured in such a way to improve the effectiveness of the postoperative instrument removal and positioning scenario.

[0123] Step S20 includes: when the application scenario is the postoperative instrument removal and positioning, steps S30, S40 and S50 are executed.

[0124] Step S60 includes: when the application scenario is postoperative instrument withdrawal positioning, calculating an envelope circle, wherein the lesion tissue and the end of the surgical instrument are both located inside or around the envelope circle. Calculating the distance between the center of the surgical field and the center of the envelope circle. And, if the distance is greater than a second distance threshold, calculating the motion vector of the surgical field moving to align with the envelope circle; otherwise, the motion vector is 0. The second distance threshold can be equal to the first distance threshold, or each can be set independently.

[0125] Step S80 includes: when the application scenario is the postoperative instrument withdrawal positioning, the basic signal is output to drive the first robotic arm to move, and then the control command is output to drive the endoscope to move away from the envelope circle to the limit position.

[0126] The above process can also be followed Figure 14 To understand the application scenario, when the instrument is removed and positioned after surgery, the procedure is as follows.

[0127] The S401 robot receives an instrument withdrawal command, which includes, but is not limited to, software commands and hardware button commands, and then enters the postoperative instrument withdrawal preparation stage. That is, whether the application scenario is postoperative instrument withdrawal positioning can be determined by whether the instrument withdrawal command has been received.

[0128] S402 obtains the center position of the current surgical field image of the endoscope; obtains the position of the end of the surgical instrument; and calculates the center position of the envelope circle. The specific calculation method of the envelope circle can also adopt the method described above.

[0129] S403 calculates the distance between the center of the envelope circle and the center of the image. Steps S402 and S403 correspond to step S30.

[0130] In step S404, the magnitude Ld of the distance vector is compared with the second distance threshold lb. If Ld > lb, it indicates that the current surgical field center is not at the withdrawal center position. The endoscope-holding robotic arm performs inverse kinematics calculation and motion adjustment, and the image center moves to the withdrawal center according to the distance vector, thus completing the endoscope centering adjustment. Step S404 corresponds to the first half of steps S60, S70, and S80.

[0131] S405 The endoscope arm is raised and adjusted to the top position of the puncture card to obtain the maximum field of view. Step S405 corresponds to the latter half of step S80.

[0132] S406 Equipment withdrawal preparation completed.

[0133] S407 Medical personnel remove surgical instruments. S406 and S407 are subsequent steps of the method.

[0134] This adjustment process, based on endoscopic vision technology and robotic arm technology, ensures that the lesion tissue and the end of the surgical instruments are in the center of the surgical field for removal, and maximizes the surgical field to facilitate the removal of surgical instruments from the patient's body; at the same time, the adjustment process is automated and highly efficient.

[0135] In one embodiment, the method further includes the following steps: indicating the current application scenario via a status light and / or a buzzer, and / or indicating that the application scenario is being switched. The specific method of indication can be set according to actual needs.

[0136] For example, status lights and buzzers can be placed on the imaging platform, including but not limited to the imaging host, imaging cart, monitor, etc., as well as the doctor's cart and patient cart of the surgical robot, including but not limited to wired, wireless and other connection methods, and external status lights and buzzers.

[0137] The application scenarios can be characterized by changes in status lights. These changes include, but are not limited to, color changes, changes in flashing frequency, and combinations of multiple status lights, changes in the order of the lights, and changes in color combinations, to characterize and distinguish changes in the application scenarios of the surgical robot, such as preoperative positioning, preoperative instrument entry positioning, intraoperative tracking positioning, and postoperative instrument withdrawal positioning.

[0138] The application scenarios described can be characterized by changes in the buzzer. These changes include, but are not limited to, changes in sound intensity, pitch, and blink frequency, to characterize and distinguish state changes, such as preoperative positioning, preoperative instrument insertion positioning, intraoperative tracking positioning, and postoperative instrument withdrawal positioning.

[0139] To facilitate the surgeon's visual assessment of the suitability of the current surgical field during operation, the method further includes the following steps: calculating an envelope circle, wherein the lesion tissue and the tip of the surgical instrument are both located inside or around the envelope circle; and displaying the surgical field suitability rate, which is the ratio of the current diameter of the surgical field to the desired diameter, wherein the desired diameter is the diameter of the envelope circle plus a surgical field threshold.

[0140] The display of surgical field suitability rate allows doctors to determine in real time whether the current surgical field is appropriate for continuing the surgery.

[0141] In one embodiment, the panel content of the display is as follows: Figure 15 As shown, on the left side of the panel, the ranges of the envelope circle 61, the surgical field circle 62 (the diameter of the surgical field circle is the desired diameter), and the surgical field 63 are visually displayed through images. On the right side of the panel, the surgical field suitability rate 72 and the status light 71 are displayed. The panel content of the display helps medical staff understand the current surgical field status in order to perform the surgery better.

[0142] In summary, this embodiment provides a surgical field tracking and adjustment method and a surgical robot system. The surgical field tracking and adjustment method includes the following steps: acquiring preliminary information based on CT images of the surgical area; identifying tissues in the endoscopic surgical field using machine vision and matching them with the characteristic tissues or lesion tissues; acquiring the coordinates of the lesion tissue and the end effector of the surgical instrument in a reference coordinate system; determining a motion vector; performing inverse kinematics calculations based on the motion vector; and outputting a control signal corresponding to the application scenario to drive the first robotic arm to move, thereby causing a preset object to appear at a preset position in the surgical field; wherein the preset object includes the lesion tissue and / or the end effector of the surgical instrument. This configuration, through automatic adjustment of the surgical field using algorithms, reduces the requirements for operators and improves surgical efficiency, solving the problems of high barriers to entry, low efficiency, and long time associated with manual intervention in surgical field adjustment in existing technologies.

[0143] The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A surgical robot system, characterized in that, The surgical robot system includes a robot module, an endoscope module, and an adaptive adjustment module; the robot module includes a first robotic arm for holding the endoscope and a second robotic arm for holding surgical instruments; the endoscope module includes the endoscope; the adaptive adjustment module is used to output control commands to drive the first robotic arm to move based on a surgical field tracking and adjustment method; The surgical field tracking and adjustment method includes the following steps: S10 acquires preparatory information based on CT images of the surgical area, the preparatory information including model information and location information of characteristic tissues in the surgical area, and model information and location information of lesion tissue; S20 identifies a preset object and / or obtains the location information of the preset object based on the application scenario, wherein the preset object includes at least one of the lesion tissue, the feature tissue, and the end of the surgical instrument; Based on the execution result of step S20 and the application scenario, S60 determines the motion vector of the shooting point; wherein the shooting point is set on the line of sight of the camera and coincides with the target being photographed, the camera belongs to the endoscope, and the camera is set at the front end of the endoscope. S70 performs inverse kinematics calculations based on the motion vectors to obtain the fundamental signal; and, S80 outputs a control signal corresponding to the application scenario to drive the first robotic arm to move, thereby causing the lesion tissue and / or the end of the surgical instrument to appear in a preset position in the surgical field; wherein, the endoscope is fixed on the first robotic arm and moves under the drive of the first robotic arm, and the control signal includes the basic signal.

2. The surgical robot system according to claim 1, characterized in that, Step S10 includes: Tissue identification is performed based on the CT images to obtain identification results, wherein the identification results include model information and location information of the tissues to be distinguished, and the tissues to be distinguished include the feature tissues, the lesion tissues, and the tissues to be removed; The recognition results are overlaid on the CT images and displayed. Obtain identification information, wherein the identification information includes information distinguishing the characteristic tissue, the lesion tissue, and the tissue to be removed; or, the identification information includes information distinguishing the characteristic tissue, the lesion tissue, and the tissue to be removed, information correcting the characteristic tissue, and information correcting the lesion tissue; and, The preparatory information is determined based on the identification information.

3. The surgical robot system according to claim 1, characterized in that, Step S20 specifically involves: based on the application scenario, executing at least a portion of steps S30, S40, and S50; wherein, Step S30 includes: identifying tissues in the surgical field of the endoscope based on machine vision and matching them with the characteristic tissues or the lesion tissues; Step S40 includes: obtaining the coordinates of the lesion tissue in the reference coordinate system based on machine vision and kinematic calculations; Step S50 includes: obtaining the coordinates of the end of the surgical instrument in the reference coordinate system based on kinematic calculations; wherein the surgical instrument is fixed on the second robotic arm and moves under the drive of the second robotic arm.

4. The surgical robot system according to claim 3, characterized in that, The surgical field tracking and adjustment method also includes the following steps: A base coordinate system is established, wherein the base coordinate system includes a surgical robot base coordinate system fixed to the robot base, a first robot arm proximal base coordinate system fixed to the proximal end of the first robot arm, a first robot arm distal base coordinate system fixed to the distal end of the first robot arm, a second robot arm proximal base coordinate system fixed to the proximal end of the second robot arm, a second robot arm distal base coordinate system fixed to the distal end of the second robot arm, an endoscope base coordinate system fixed to the endoscope, and a camera base coordinate system fixed to the camera. The coordinate system of the surgical robot base is set as the reference coordinate system; Acquire sensor information, wherein the sensor information includes joint position information of the first robotic arm and joint position information of the second robotic arm; and, Establish a transformation relationship between coordinates in one of the reference coordinate systems and coordinates in the other of the reference coordinate systems, wherein the transformation relationship has a functional relationship with the sensor information; Step S40 includes: acquiring the coordinates of the lesion tissue in the camera base coordinate system based on machine vision, and converting them to coordinates in the reference coordinate system based on the transformation relationship; Step S50 includes: obtaining the coordinates of the end of the surgical instrument in the second robotic arm distal base coordinate system, and converting them to coordinates in the reference coordinate system based on the transformation relationship.

5. The surgical robot system according to claim 3, characterized in that, The application scenarios include at least one of the following: preoperative positioning, preoperative instrument insertion positioning, intraoperative tracking positioning, and postoperative instrument withdrawal positioning.

6. The surgical robot system according to claim 5, characterized in that, The application scenario includes the preoperative localization; the preparatory information also includes the direction vector of the feature tissue pointing to the lesion tissue, and the distance between the feature tissue and the lesion tissue.

7. The surgical robot system according to claim 6, characterized in that, Step S20 includes: when the application scenario is the preoperative positioning, step S30 is executed; Step S60 includes: when the application scenario is the preoperative localization, if the matching result is the lesion tissue, then the motion vector is 0; if the matching result is the feature tissue, the motion vector is constructed based on the direction vector of the feature tissue pointing to the lesion tissue and the distance between the feature tissue and the lesion tissue. Step S80 includes: when the application scenario is the preoperative positioning, outputting the basic signal to drive the first robotic arm to move.

8. The surgical robot system according to claim 5, characterized in that, The application scenario includes positioning the preoperative instruments after they have entered the surgical procedure; Step S20 includes: when the application scenario is that the preoperative instrument is positioned after entry, step S30 is executed; Step S60 includes: when the application scenario is that the preoperative instrument is positioned after entering, calculating the distance between the center of the surgical field and the lesion tissue; if the distance is greater than a first distance threshold, calculating the motion vector of the surgical field moving to align with the lesion tissue; otherwise, the motion vector is 0. Step S80 includes: when the application scenario is that the preoperative instrument is positioned after entering, the basic signal is output to drive the first robotic arm to move, and then the control command is output to drive the endoscope to move away from the lesion tissue to the extreme position.

9. The surgical robot system according to claim 5, characterized in that, The application scenarios include intraoperative tracking and positioning; Step S20 includes: when the application scenario is intraoperative tracking and positioning, steps S30, S40 and S50 are executed; Step S60 includes: when the application scenario is intraoperative tracking and positioning, calculating the envelope circle, wherein the lesion tissue and the end of the surgical instrument are both located inside or around the envelope circle; The surgical field circle is calculated based on the envelope circle, wherein the surgical field circle is concentric with the envelope circle, and the diameter of the surgical field circle is greater than the diameter of the envelope circle by a surgical field threshold; and, Calculate the motion vector of the surgical field moving to coincide with the surgical field circle; Step S80 includes: when the application scenario is intraoperative tracking and positioning, outputting the basic signal to drive the first robotic arm to move.

10. The surgical robot system according to claim 9, characterized in that, The steps for calculating the envelope circle are as follows: The circumcircle of the lesion tissue and at least a portion of the end of the surgical instrument is set as the enclosing circle, which also encloses the remaining end of the surgical instrument. The lesion tissue is the center of the circle, and the smallest circle that encloses the ends of all the surgical instruments is set as the envelope circle; or, The center of gravity of the distal end of at least a portion of the surgical instruments is the center of a circle, and the smallest circle enclosing the distal ends of all the surgical instruments and the lesion tissue is set as the envelope circle.

11. The surgical robot system according to claim 5, characterized in that, The application scenarios include postoperative instrument removal and positioning; Step S20 includes: when the application scenario is the postoperative instrument removal and positioning, steps S30, S40 and S50 are executed; Step S60 includes: when the application scenario is the postoperative instrument withdrawal positioning, calculating the envelope circle, wherein the lesion tissue and the end of the surgical instrument are both located inside or around the envelope circle; Calculate the distance between the center of the surgical field and the center of the envelope circle; and, If the distance is greater than the second distance threshold, the motion vector of the surgical field moving to align with the envelope circle is calculated; otherwise, the motion vector is 0. Step S80 includes: when the application scenario is the postoperative instrument withdrawal positioning, the basic signal is output to drive the first robotic arm to move, and then the control command is output to drive the endoscope to move away from the envelope circle to the limit position.

12. The surgical robot system according to claim 3, characterized in that, The method further includes the following steps: The current application scenario is indicated by status lights and / or a buzzer, and / or the application scenario is being switched.

13. The surgical robot system according to claim 3, characterized in that, The method further includes the following steps: Calculate the envelope circle, wherein the lesion tissue and the tip of the surgical instrument are both located inside or around the envelope circle; and, The surgical field suitability rate is displayed. The surgical field suitability rate is the ratio of the current diameter of the surgical field to the desired diameter, where the desired diameter is the diameter of the envelope circle plus the surgical field threshold.

14. The surgical robot system according to claim 1, characterized in that, The surgical robot system also includes at least one of the following features: The robot module also includes a main control arm, which is used to collect the manipulation actions of medical staff and convert them into control commands for the first robotic arm or the second robotic arm. The endoscope module also includes a cold light source, an image processor, and a display; the cold light source provides illumination for the surgical field environment, the image processor processes the surgical field image information and sends it to the display for presentation; and... The adaptive adjustment module includes a CT reconstruction and diagnosis unit, a tissue identification unit, a calculation unit, and a storage unit; the tissue identification unit is used for surgical field optimization and calculation; the calculation unit is used for identification of patient tissues; and the storage unit is used to store threshold information.

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