Laparoscopic surgery robot simulation system and control method thereof

Abstract

The present application relates to a laparoscopic surgical robot simulation system and a control method thereof. The laparoscopic surgical robot simulation system includes a slave arm message processing system, a state recorder and a slave arm simulation motion system. The slave arm message processing system of the laparoscopic surgical robot simulation system is used to process the motion control command issued by the master arm control system to obtain the active joint serial number, active motion value, passive joint serial number and passive motion value. The state recorder is used to store the active joint serial number, active motion value, passive joint serial number and passive motion value and send them to the slave arm simulation motion system. The slave arm simulation motion system is used to simulate the motion trajectory of the slave arm according to the active joint serial number, active motion value, passive joint serial number and passive motion value. The laparoscopic surgical robot simulation system can be docked with the master arm control system to replace the slave arm structure, saving the cost of the slave arm, and thus saving the debugging cost of the master arm control system.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a laparoscopic surgical robot simulation system and a control method thereof. Background Art

[0002] A laparoscopic surgical robot typically consists of a master arm, a slave arm that is inserted into the body, and an endoscope for observing internal conditions. The slave arm first enters the body to allow the endoscope to reach the corresponding position and observe the body's internal conditions. The master arm control system receives external commands and controls the movement of the slave arm accordingly.

[0003] The main arm control system includes multiple control logic operations, which require multiple debugging to improve the control accuracy of the main arm control system. How to reduce the debugging cost of the main arm control system is an urgent problem to be solved. Summary of the Invention

[0004] Based on this, it is necessary to provide a laparoscopic surgical robot simulation system and a control method thereof in order to solve the problem of how to save the debugging cost of the main arm control system.

[0005] A laparoscopic surgical robot simulation system comprises a slave arm message processing system, a state recorder and a slave arm simulation motion system.

[0006] The slave arm message processing system is used to connect to the master arm control system. The slave arm message processing system is used to receive motion control commands sent by the master arm control system and parse the active joint serial number and active motion value of the active joint of the slave arm according to the motion control command. The slave arm message processing system is also used to obtain the passive joint serial number and passive motion value of the passive joint based on the active joint serial number and active motion value of the active joint, and encapsulate the active joint serial number, active motion value, passive joint serial number, and passive motion value to obtain an encapsulation package.

[0007] The state recorder is connected to the slave arm message processing system and is used to receive the encapsulation package.

[0008] The slave arm simulation motion system is connected to the state recorder and is used to receive the encapsulation package and simulate the motion trajectory of the slave arm according to the encapsulation package.

[0009] In one embodiment, the slave arm simulation motion system includes a slave arm command receiver, a slave arm control manager, and a simulation modeling controller. The slave arm command receiver is connected to the state recorder. The slave arm command receiver is used to receive and parse the encapsulated package to obtain a simulation motion command. The slave arm control manager is connected to the slave arm command receiver. The slave arm control manager is used to receive the simulation motion command. The simulation modeling controller is connected to the slave arm control manager. The simulation modeling controller is used to receive the simulation motion command and perform simulation modeling based on the simulation motion command to simulate the motion trajectory of the slave arm.

[0010] In one embodiment, the slave arm simulated motion system further includes a joint control simulator. The joint control simulator is connected to the slave arm control manager and the state recorder, respectively. The joint control simulator is configured to receive the simulated motion command, simulate the operation of the motor controller at the joint and the detection status of the motor sensor according to the simulated motion command, and transmit the detection status of the motor sensor to the state recorder.

[0011] The state recorder is connected to the slave arm message processing system and the joint control simulator respectively. The state recorder is also used to receive the detection state of the motor sensor.

[0012] In one embodiment, the slave arm message processing system includes a master arm command receiver, a command parser, a master-slave mapper, and a message converter.

[0013] The master arm command receiver is configured to be connected to the master arm control system. The master arm command receiver is configured to receive motion control commands sent by the master arm control system. The command parser is connected to the master arm command receiver. The command parser is configured to parse the motion control commands to obtain active joint numbers and active motion values ​​of active joints of the slave arm.

[0014] The master-slave mapper is connected to the command parser. The master-slave mapper stores the joint correspondence between the joint serial numbers and motion values ​​of the active joint and the passive joint of the slave arm. The master-slave mapper is used to obtain the passive joint serial number and the passive motion value of the passive joint according to the active joint serial number, the active motion value and the joint correspondence. The message converter is connected to the master-slave mapper and the state recorder respectively. The message converter is used to encapsulate the active joint serial number, the active motion value, the passive joint serial number and the passive motion value to obtain the encapsulation package, and send the encapsulation package to the state recorder.

[0015] In one embodiment, the slave arm message processing system further includes a status transmitter. The status transmitter is connected to the status recorder and the master arm control system, respectively. The status transmitter is configured to request the status recorder to transmit the detection status of the motor sensor, and transmit the detection status of the motor sensor to the master arm control system.

[0016] In one embodiment, the laparoscopic surgical robot simulation system further includes a configuration manager. The configuration manager is connected to the master arm command receiver, the master-slave mapper, and the status transmitter, respectively. The configuration manager is configured to initialize and configure the master arm command receiver, the master-slave mapper, and the status transmitter.

[0017] In one embodiment, the slave arm simulation motion system further includes a display. The display is connected to the simulation modeling controller and the joint control simulator, respectively. The display is configured to receive the model simulated by the simulation modeling controller and the detection status of the motor sensor, and to display the motion trajectory of the slave arm.

[0018] A control method for a laparoscopic surgical robot simulation system, the laparoscopic surgical robot simulation system comprising a slave arm message processing system, a state recorder, and a slave arm simulation motion system, the control method comprising:

[0019] Control the slave arm message processing system to obtain the passive joint serial number and passive motion value of the passive joint according to the active joint serial number and the active motion value of the active joint, and encapsulate the motion control command, the active joint serial number, the active motion value, the passive joint serial number and the passive motion value to obtain an encapsulation package.

[0020] The state recorder is controlled to receive the encapsulated packet.

[0021] The slave arm simulation motion system is controlled to receive the encapsulation packet and simulate the motion trajectory of the slave arm according to the encapsulation packet.

[0022] In one embodiment, the slave arm simulation motion system includes a slave arm command receiver, a slave arm control manager, and a simulation modeling controller. The slave arm message processing system is controlled to obtain the passive joint sequence number and the passive motion value of the passive joint according to the active joint sequence number and the active motion value of the active joint, and the motion control command, the active joint sequence number, the active motion value, the passive joint sequence number, and the passive motion value are encapsulated to obtain the encapsulation package. The steps include:

[0023] The slave arm command receiver is controlled to receive and parse the encapsulated packet to obtain a simulation motion command.

[0024] The slave arm control manager is controlled to receive the simulated motion command.

[0025] The simulation modeling controller is controlled to receive the simulation motion command and perform simulation modeling according to the simulation motion command to simulate the motion trajectory of the slave arm.

[0026] A control method for a laparoscopic surgical robot simulation system, the control method comprising:

[0027] A motion control command is received, and according to the motion control command, an active joint sequence number of an active joint of the slave arm and an active motion value of the active joint are parsed.

[0028] The passive joint sequence number and the passive motion value of the passive joint are obtained according to the active joint sequence number and the active motion value of the active joint.

[0029] The motion trajectory of the slave arm is simulated according to the active joint sequence number, the active motion value, the passive joint sequence number and the passive motion value.

[0030] The laparoscopic surgical robot simulation system provided in the embodiment of the present application processes the motion control command issued by the master arm control system through the slave arm message processing system to obtain the active joint serial number, the active motion value, the passive joint serial number and the passive motion value. The state recorder is used to store the active joint serial number, the active motion value, the passive joint serial number and the passive motion value and send them to the slave arm simulation motion system. The slave arm simulation motion system simulates the motion trajectory of the slave arm according to the active joint serial number, the active motion value, the passive joint serial number and the passive motion value. The laparoscopic surgical robot simulation system can be docked with the master arm control system to replace the slave arm structure, saving the cost of the slave arm, and thus saving the debugging cost of the master arm control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 This is a schematic structural diagram of the laparoscopic surgical robot simulation system provided in one embodiment of the present application;

[0033] Figure 2 This is a flow chart of the preparation method of the laparoscopic surgical robot simulation system provided in one embodiment of the present application.

[0034] Figure Number:

[0035] Laparoscopic surgical robot simulation system 10; slave arm message processing system 20; state recorder 30; slave arm simulation motion system 40; slave arm command receiver 410; slave arm control manager 420; simulation modeling controller 430; joint control simulator 440; master arm command receiver 210; command parser 220; master-slave mapper 230; message converter 240; state transmitter 250; configuration manager 50; display 450; master arm control system 100. DETAILED DESCRIPTION

[0036] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar modifications without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0037] The serial numbers of the components herein, such as "first", "second", etc., are only used to separate the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application include direct and indirect connections (couplings) unless otherwise specified. In the description of this application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0038] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0039] The slave arm structure includes multiple active joints and multiple passive joints. Connectors are provided between the active and passive joints. A motor is installed at the active joint. The motor output of the active joint drives the connected connector to move. Passive joints do not have motors. Passive joints are driven by the connector to move. The motors at the active joints are divided into linear and rotary motors. Linear motors are used to adjust the linear feed rate of the connector. Rotary motors are used to adjust the rotation angle of the connector. Typically, only one motor is installed at an active joint. The serial number of the active joint is the same as the serial number of the motor.

[0040] See Figure 1 An embodiment of the present application provides a laparoscopic surgical robot simulation system 10 , including a slave arm message processing system 20 , a state recorder 30 and a slave arm simulation motion system 40 .

[0041] The slave arm message processing system 20 is used to connect to the master arm control system 100. The slave arm message processing system 20 is used to receive the motion control command sent by the master arm control system 100, and parse the active joint serial number of the active joint of the slave arm and the active motion value of the active joint according to the motion control command. The slave arm message processing system 20 is also used to obtain the passive joint serial number and passive motion value of the passive joint based on the active joint serial number and active motion value of the active joint, and encapsulate the active joint serial number, active motion value, passive joint serial number and passive motion value to obtain an encapsulation package.

[0042] The state recorder 30 is connected to the slave arm message processing system 20. The state recorder 30 is used to receive the encapsulated packet. The slave arm simulation motion system 40 is connected to the state recorder 30. The slave arm simulation motion system 40 is used to receive the encapsulated packet and simulate the motion trajectory of the slave arm according to the encapsulated packet.

[0043] The laparoscopic surgical robot simulation system 10 provided in the embodiment of the present application processes the motion control command issued by the master arm control system 100 through the slave arm message processing system 20 to obtain the active joint serial number, the active motion value, the passive joint serial number and the passive motion value. The state recorder 30 is used to store the active joint serial number, the active motion value, the passive joint serial number and the passive motion value and send them to the slave arm simulation motion system 40. The slave arm simulation motion system 40 simulates the motion trajectory of the slave arm according to the active joint serial number, the active motion value, the passive joint serial number and the passive motion value. The laparoscopic surgical robot simulation system 10 can be docked with the master arm control system 100, replacing the slave arm structure, saving the cost of the slave arm, and thus saving the debugging cost of the master arm control system 100.

[0044] The active joint serial number is used to distinguish active joints. The passive joint serial number is used to distinguish passive joints. The active motion value refers to the position offset value or angular rotation value of the active joint. The passive motion value refers to the position offset value or angular rotation value of the passive joint.

[0045] The slave arm message processing system 20 further stores the joint correspondence between the active joint serial number and the active motion value of the active joint of the slave arm and the active joint serial number and the active motion value of the passive joint.

[0046] The slave arm message processing system 20 is further configured to obtain the passive joint sequence number and the passive motion value of the passive joint according to the active joint sequence number, the active motion value and the joint correspondence of the active joint.

[0047] The state recorder 30 includes an information storage device or an information type converter. The state recorder 30 includes a mass storage device, a removable storage device, a volatile read-write memory, a read-only memory (ROM), or the like, or any combination thereof. Exemplary mass storage devices may include magnetic disks, optical disks, solid-state drives, and the like. Exemplary removable storage devices may include flash drives, floppy disks, optical disks, memory cards, zip disks, magnetic tapes, and the like. Exemplary volatile read-write memory devices may include random access memory (RAM). Exemplary RAM devices may include dynamic RAM (DRAM), double data rate synchronous dynamic RAM (DDR, SDRAM), static RAM (SRAM), thyristor RAM (T-RAM), and zero capacitor RAM (Z-RAM). Exemplary ROM devices may include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), compact disk ROM (CD-ROM), and digital versatile disk ROM.

[0048] In one embodiment, the slave arm simulation motion system 40 includes a slave arm command receiver 410, a slave arm control manager 420, and a simulation modeling controller 430. The slave arm command receiver 410 is connected to the state recorder 30. The slave arm command receiver 410 is used to receive and parse the encapsulated package to obtain a simulation motion command. The slave arm control manager 420 is connected to the slave arm command receiver 410. The slave arm control manager 420 is used to receive the simulation motion command. The simulation modeling controller 430 is connected to the slave arm control manager 420. The simulation modeling controller 430 is used to receive the simulation motion command and perform simulation modeling according to the simulation motion command to simulate the motion trajectory of the slave arm.

[0049] The simulated motion command includes the active joint serial number, the active motion value, the passive joint serial number, and the passive motion value. In a specific embodiment, the simulated motion command includes the active joint serial number and the position offset value or angular rotation amount of the active joint corresponding to the active joint serial number. The simulated motion command includes the passive joint serial number and the position offset value or angular rotation amount of the passive joint corresponding to the passive joint serial number.

[0050] The slave arm control manager 420 comprehensively manages the simulated components of the slave arm (the motors of the active joints, motor sensors, and surveillance cameras). The slave arm control manager 420 is used to comprehensively control the information transmission and reception or simulated actions of the simulated active joint motors, simulated motor sensors, or simulated surveillance cameras.

[0051] In one embodiment, the slave arm simulation motion system 40 further includes a joint control simulator 440. The joint control simulator 440 is connected to the slave arm control manager 420 and the state recorder 30, respectively. The joint control simulator 440 is configured to receive the simulated motion command, simulate the operation of the motor controller at the joint and the detection status of the motor sensor according to the simulated motion command, and send the detection status of the motor sensor to the state recorder 30.

[0052] The state recorder 30 is respectively connected to the slave arm message processing system 20 and the joint control simulator 440. The state recorder 30 is used to receive the encapsulation package and the detection status of the motor sensor.

[0053] The detection status of the motor sensor includes the serial number of the detected motor (active joint serial number), the feed amount or rotation angle of the detected motor, etc.

[0054] The joint control simulator 440 can control the operation of the motor at the active joint to simulate the motor controller. The joint control simulator 440 can also simulate the motor sensor to detect the feed amount and rotation angle of the simulated motor and transmit the detection structure to the state recorder 30. The joint control simulator 440 simulates information feedback.

[0055] In one embodiment, the slave arm message processing system 20 includes a master arm command receiver 210 , a command parser 220 , a master-slave mapper 230 , and a message converter 240 .

[0056] The master arm command receiver 210 is configured to be connected to the master arm control system 100. The master arm command receiver 210 is configured to receive motion control commands sent by the master arm control system 100. The command parser 220 is connected to the master arm command receiver 210. The command parser 220 is configured to parse the motion control commands to obtain active joint numbers and active motion values ​​of the active joints of the slave arms.

[0057] The master-slave mapper 230 is connected to the command parser 220. The master-slave mapper 230 stores the joint correspondence between the joint serial numbers and motion values ​​of the active joints and passive joints of the slave arm. The master-slave mapper 230 is used to obtain the passive joint serial number and the passive motion value of the passive joint according to the active joint serial number, the active motion value and the joint correspondence. The message converter 240 is connected to the master-slave mapper 230 and the state recorder 30 respectively. The message converter 240 is used to encapsulate the active joint serial number, the active motion value, the passive joint serial number and the passive motion value to obtain the encapsulation package, and send the encapsulation package to the state recorder 30.

[0058] The data type of the information obtained by the message converter 240 is different from the data type of the information required by the slave arm command receiver 410 , so the state recorder 30 is required to perform data storage and data conversion on the encapsulated packet.

[0059] The slave arm message processing system 20 simulates the influence of the motion of the active joint on the position of the passive joint and presents it in the form of numerical information. The slave arm simulation motion system 40 simulates the motion form or motion trajectory of the slave arm and presents it in the form of modeling.

[0060] In one embodiment, the slave arm message processing system 20 further includes a status transmitter 250. The status transmitter 250 is connected to the status recorder 30 and the master arm control system 100. The status transmitter 250 is configured to request the status recorder 30 to transmit the detection status of the motor sensor and transmit the detection status of the motor sensor to the master arm control system 100.

[0061] The state transmitter 250 can periodically send a request command to the state recorder 30. The state recorder 30 sends the detection status of the motor sensor to the state transmitter 250. The state transmitter 250 then sends the detection status of the motor sensor to the master arm control system 100.

[0062] The state recorder 30 includes the following functions: storing the position status of each joint of the slave arm, receiving the joint status of each joint of the slave arm (the active joint serial number, the active motion value, the passive joint serial number and the passive motion value) sent by the message converter 240, and storing them; receiving the status sent periodically by the simulated motor sensor in the slave joint control simulator 440, and saving them; receiving the request of the state transmitter 250, and returning the status of the motor position sensor of each joint of the slave arm (the detection status of the motor sensor); sending the active joint serial number, the active motion value (offset value), the passive joint serial number and the passive motion value (offset value) to the slave arm command receiver 410.

[0063] In one embodiment, the laparoscopic surgical robot simulation system 10 further includes a configuration manager 50. The configuration manager 50 is respectively connected to the master arm command receiver 210, the master-slave mapper 230, and the status transmitter 250. The configuration manager 50 is used to initialize and configure the master arm command receiver 210, the master-slave mapper 230, and the status transmitter 250.

[0064] The configuration manager 50 is used to store the joint correspondence between the active joint serial number and the active motion value of the active joint of the slave arm and the active joint serial number and the active motion value of the passive joint in the master-slave mapper 230 (joint mapping table). The configuration manager 50 is used to configure the time interval for sending requests for the status transmitter 250. The configuration manager 50 is used to configure parameters such as the IP address and port number for the master arm command receiver 210.

[0065] The configuration manager 50 includes a controller, a configurator, a parameter setter or a command receiver, etc.

[0066] In one embodiment, the slave arm simulation motion system 40 further includes a display 450. The display 450 is connected to the simulation modeling controller 430 and the joint control simulator 440. The display 450 is configured to receive the model simulated by the simulation modeling controller 430 and the detection status of the motor sensor, and to display the motion trajectory of the slave arm.

[0067] The display 450 includes a UI display 450, a display panel, a display screen or a display touch screen, etc.

[0068] Please also see Figure 2 The embodiment of the present application provides a control method for a laparoscopic surgical robot simulation system 10, wherein the laparoscopic surgical robot simulation system 10 includes a slave arm message processing system 20, a state recorder 30, and a slave arm simulation motion system 40. The control method includes:

[0069] S100, control the slave arm message processing system 20 to obtain the passive joint serial number and passive motion value of the passive joint according to the active joint serial number and the active motion value of the active joint, and encapsulate the motion control command, the active joint serial number, the active motion value, the passive joint serial number and the passive motion value to obtain an encapsulation package.

[0070] S200: Control the state recorder 30 to receive the encapsulation packet.

[0071] S300 , controlling the slave arm simulation motion system 40 to receive the encapsulation package, and simulating the motion trajectory of the slave arm according to the encapsulation package.

[0072] The control method of the laparoscopic surgical robot simulation system 10 provided in the embodiment of the present application processes the motion control command issued by the master arm control system 100 through the slave arm message processing system 20 to obtain the active joint serial number, the active motion value, the passive joint serial number and the passive motion value. The state recorder 30 is used to store the active joint serial number, the active motion value, the passive joint serial number and the passive motion value and send them to the slave arm simulation motion system 40. The slave arm simulation motion system 40 simulates the motion trajectory of the slave arm according to the active joint serial number, the active motion value, the passive joint serial number and the passive motion value. The control method of the laparoscopic surgical robot simulation system 10 can simulate the slave arm structure, save the cost of the slave arm, and thus save the debugging cost of the master arm control system 100.

[0073] In one embodiment, the slave arm simulation motion system 40 includes a slave arm command receiver 410, a slave arm control manager 420, and a simulation modeling controller 430. The step S100 includes:

[0074] S110 , controlling the slave arm command receiver 410 to receive and parse the encapsulated packet to obtain a simulation motion command.

[0075] S120 , controlling the slave arm control manager 420 to receive the simulation motion command.

[0076] S130 , controlling the simulation modeling controller 430 to receive the simulation motion command, and performing simulation modeling according to the simulation motion command to simulate the motion trajectory of the slave arm.

[0077] In a specific embodiment, the control method of the laparoscopic surgical robot simulation system 10 includes two processes: the first process is the process in which the main arm control system 100 sends a control command to the laparoscopic surgical robot simulation system 10; the second process is the process in which the laparoscopic surgical robot simulation system 10 returns the joint status to the main arm control system 100.

[0078] The first process includes: after the slave arm simulation system client is started, the configuration manager 50 initializes the master arm command controller, the state transmitter 250 and the master-slave mapper 230 according to the configuration. The master arm control system 100 sends a motion control command to the master arm command receiver 210. After receiving the motion control command, the master arm command receiver 210 passes the motion control command to the command parser 220. The command parser 220 parses the motion control command, saves the motion offset value of each joint motor (the active joint serial number of the active joint and the active motion value of the active joint) and sends it to the master-slave mapper 230. The master-slave mapper 230 calculates the serial number and offset value of the passive joint based on the joint offset configuration, the joint mapping table and the active joint motor motion value, and finally saves the motion offset values ​​of all active joints and sends them to the message converter 240 at the same time. The message converter 240 packages the joint serial number, motion offset value or motor name of all joints and saves them in the state recorder 30.

[0079] The slave arm state recorder 30 packages the joint serial numbers and motion offset values ​​of all joints and sends them to the slave arm command receiver 410. The slave arm command receiver 410 receives and parses the joint serial numbers and motion offset values ​​of all joints and passes them to the joint control simulator 440 through the slave arm control manager 420. The joint control simulator 440 simulates the joint motor controller according to the device node type (motor, sensor, etc.), the motor ID (joint serial number) of the active joint and the corresponding motion offset, and updates the UI after the operation is completed.

[0080] The second process includes: the motor joint controller regularly sends the value of each joint motor sensor to the state recorder 30. The state transmitter 250 regularly obtains the value of the joint motor sensor from the state recorder 30 and sends it to the main arm control system 100.

[0081] The present invention provides a control method for a laparoscopic surgery robot simulation system 10, the control method comprising:

[0082] S10 , receiving a motion control command, and parsing the motion control command to obtain an active joint serial number of an active joint of the slave arm and an active motion value of the active joint.

[0083] S20 , obtaining a passive joint sequence number and a passive motion value of a passive joint according to the active joint sequence number and the active motion value of the active joint.

[0084] S30 , simulating a motion trajectory of the slave arm according to the active joint serial number, the active motion value, the passive joint serial number, and the passive motion value.

[0085] The control method of the laparoscopic surgical robot simulation system 10 provided in the embodiment of the present application processes the motion control command to obtain and simulate the motion trajectory of the slave arm based on the active joint sequence number, the active motion value, the passive joint sequence number, and the passive motion value. The control method of the laparoscopic surgical robot simulation system 10 can simulate the slave arm structure, saving the cost of the slave arm, and thus reducing the debugging cost of the master arm control system 100.

[0086] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above-described embodiments merely represent several implementation methods of the present application and should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A laparoscopic surgery robot simulation system, characterized in that: include: A slave arm message processing system, used to connect to the master arm control system, the slave arm message processing system is used to receive the motion control command sent by the master arm control system, and parse the active joint sequence number of the active joint of the slave arm and the active motion value of the active joint according to the motion control command; The slave arm message processing system is also used to obtain the passive joint serial number and passive motion value of the passive joint according to the active joint serial number and the active motion value of the active joint, and encapsulate the active joint serial number, the active motion value, the passive joint serial number and the passive motion value to obtain an encapsulation package; A state recorder connected to the slave arm message processing system, the state recorder being used to receive the encapsulation package; A slave arm simulation motion system connected to the state recorder, the slave arm simulation motion system is used to receive the encapsulation package and simulate the motion trajectory of the slave arm according to the encapsulation package; The slave arm simulation motion system comprises: a slave arm command receiver connected to the state recorder, the slave arm command receiver is used to receive and parse the encapsulation package to obtain a simulation motion command; a slave arm control manager connected to the slave arm command receiver, the slave arm control manager is used to receive the simulation motion command; a joint control simulator, connected to the slave arm control manager and the state recorder respectively, the joint control simulator is used to receive the simulation motion command, and simulate the operation of the motor controller at the joint and the detection state of the motor sensor according to the simulation motion command, and send the detection state of the motor sensor to the state recorder; The state recorder is connected to the slave arm message processing system and the joint control simulator respectively, and the state recorder is also used to receive the detection state of the motor sensor.

2. The laparoscopic surgery robot simulation system according to claim 1, characterized in that: The slave arm simulation motion system also includes: The simulation modeling controller is connected to the slave arm control manager, and is used to receive the simulation motion command and perform simulation modeling according to the simulation motion command to simulate the motion trajectory of the slave arm.

3. The laparoscopic surgery robot simulation system according to claim 2, characterized in that: The slave arm message processing system comprises: A main arm command receiver, used to be connected to the main arm control system, and the main arm command receiver is used to receive a motion control command sent by the main arm control system; A command parser connected to the master arm command receiver, the command parser being used to parse out the active joint serial number of the active joint of the slave arm and the active motion value of the active joint according to the motion control command; A master-slave mapper connected to the command parser, wherein the master-slave mapper stores a joint correspondence between joint serial numbers and motion values ​​of the active joint and the passive joint of the slave arm, and the master-slave mapper is used to obtain the passive joint serial number and the passive motion value of the passive joint according to the active joint serial number, the active motion value and the joint correspondence; A message converter is connected to the master-slave mapper and the state recorder respectively. The message converter is used to encapsulate the active joint serial number, the active motion value, the passive joint serial number and the passive motion value to obtain the encapsulation package, and send the encapsulation package to the state recorder.

4. The laparoscopic surgery robot simulation system according to claim 3, characterized in that: The slave arm message processing system also includes: A state transmitter is connected to the state recorder and the main arm control system respectively, and is used to request the state recorder to send the detection state of the motor sensor, and send the detection state of the motor sensor to the main arm control system.

5. The laparoscopic surgery robot simulation system according to claim 4, characterized in that: Also includes: A configuration manager is connected to the master arm command receiver, the master-slave mapper and the status transmitter respectively, and is used to initialize and configure the master arm command receiver, the master-slave mapper and the status transmitter.

6. The laparoscopic surgery robot simulation system according to claim 2, characterized in that: The slave arm simulation motion system also includes: A display is connected to the simulation modeling controller and the joint control simulator respectively, and is used to receive the model simulated by the simulation modeling controller and the detection status of the motor sensor, and display the movement trajectory of the slave arm.

7. A control method for a laparoscopic surgery robot simulation system, characterized in that: The laparoscopic surgery robot simulation system comprises a slave arm message processing system, a state recorder and a slave arm simulation motion system, wherein the slave arm message processing system is connected to the master arm control system, the state recorder is connected to the slave arm message processing system, the slave arm simulation motion system is connected to the state recorder, the slave arm simulation motion system comprises a slave arm command receiver, a slave arm control manager and a joint control simulator, the slave arm command receiver is connected to the state recorder, the slave arm control manager is connected to the slave arm command receiver, the joint control simulator is respectively connected to the slave arm control manager and the state recorder, and the control method comprises: Control the slave arm message processing system to receive the motion control command sent by the master arm control system, and parse the active joint serial number of the active joint of the slave arm and the active motion value of the active joint according to the motion control command, and obtain the passive joint serial number and passive motion value of the passive joint according to the active joint serial number and the active motion value of the active joint, and encapsulate the motion control command, the active joint serial number, the active motion value, the passive joint serial number and the passive motion value to obtain an encapsulation package; Controlling the state recorder to receive the encapsulation packet; Controlling the slave arm simulation motion system to receive the encapsulation package, and simulating the motion trajectory of the slave arm according to the encapsulation package; Control the slave arm command receiver to receive and parse the encapsulation packet to obtain a simulation motion command; Controlling the slave arm control manager to receive the simulated motion command; Controlling the joint control simulator to receive the simulated motion command, and simulating the operation of the motor controller at the joint and the detection state of the motor sensor according to the simulated motion command, and sending the detection state of the motor sensor to the state recorder; The state recorder is controlled to receive the detection state of the motor sensor.

8. The control method of the laparoscopic surgery robot simulation system according to claim 7, characterized in that: The slave arm simulation motion system further comprises a simulation modeling controller, the simulation modeling controller is connected to the slave arm control manager, and the control method comprises: The simulation modeling controller is controlled to receive the simulation motion command, and perform simulation modeling according to the simulation motion command to simulate the motion trajectory of the slave arm.

9. The control method of the laparoscopic surgery robot simulation system according to claim 8, characterized in that: The slave arm message processing system includes a master arm command receiver, a command parser, a master-slave mapper and a message converter, the master arm command receiver is connected to the master arm control system, the command parser is connected to the master arm command receiver, the master-slave mapper is connected to the command parser, the message converter is connected to the master-slave mapper and the state recorder respectively, and the control method includes: Controlling the main arm command receiver to receive the motion control command sent by the main arm control system; Controlling the command parser to parse out the active joint serial number of the active joint of the slave arm and the active motion value of the active joint according to the motion control command; Control the master-slave mapper to store the joint correspondence between the joint serial numbers and motion values ​​of the active joint and the passive joint of the slave arm, and control the master-slave mapper to obtain the passive joint serial number and the passive motion value of the passive joint according to the active joint serial number, the active motion value and the joint correspondence; The message converter is controlled to encapsulate the active joint sequence number, the active motion value, the passive joint sequence number and the passive motion value to obtain the encapsulation package, and the encapsulation package is sent to the state recorder.

10. A control method for a laparoscopic surgery robot simulation system, characterized in that: Applied to the laparoscopic surgery robot simulation system as described in any one of 1-6, the control method comprises: receiving a motion control command, and parsing the active joint sequence number of the active joint of the slave arm and the active motion value of the active joint according to the motion control command; Obtaining a passive joint sequence number and a passive motion value of a passive joint according to the active joint sequence number and the active motion value of the active joint; The motion trajectory of the slave arm is simulated according to the active joint sequence number, the active motion value, the passive joint sequence number and the passive motion value.

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