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

Abstract

The present invention relates to a computer-readable storage medium, an electronic device and a surgical robot system. The surgical robot system obtains a target punching position on a patient's vital sign image model, and plans the target punching posture of a robotic arm according to the target punching position, the lesion position and the structure of the robotic arm. Then, a motion path is planned outside the collision model so that the robotic arm can move along the motion path from an initial state to the target punching posture to obtain the actual punching position on the patient's body surface. The surgical robot system has the advantages of accurate, safe and efficient guidance.

Description

Technical Field

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

[0002] Surgical robots are designed to precisely perform complex surgical procedures using minimally invasive methods. Developed in response to the limitations of traditional surgical procedures, they transcend the limitations of the human eye, using stereoscopic imaging technology to present internal organs more clearly to the operator. Furthermore, even in confined areas where some people's hands cannot reach, surgical robots can still control the movement, swinging, clamping, and 360-degree rotation of surgical instruments, while avoiding vibration and improving surgical precision. This further enhances the advantages of smaller incisions, less bleeding, faster postoperative recovery, and significantly shortened postoperative hospital stays. Consequently, surgical robots are highly favored by doctors and patients, and are widely used in their respective clinical procedures.

[0003] As with traditional surgery, before using a surgical robot, the lesion needs to be located and the perforation point determined based on the lesion's location. The perforation is then made at the perforation point, and the surgical procedure can begin. However, during this procedure, the confirmation of the perforation point relies heavily on the surgeon's experience. Furthermore, even after planning the perforation location for each patient, the patient's position often changes during the actual surgery due to various reasons (e.g., holding their breath, being full, or establishing pneumoperitoneum). This makes it impossible to quickly and accurately locate the planned perforation location. Summary of the Invention

[0004] The purpose of the present invention is to provide a computer-readable storage medium, an electronic device and a surgical robot system. By planning the posture and motion path of the robotic arm, the robotic arm can automatically, accurately and safely guide the drilling position on the patient's body surface, improve the accuracy of the drilling position guidance, and reduce preoperative preparation time.

[0005] To achieve the above object, the present invention provides a computer-readable storage medium having a program stored thereon. When the program is executed, the following steps are performed:

[0006] Obtaining target punch position information based on the patient's physical sign image model;

[0007] planning a target drilling position of the robotic arm according to at least one of the patient's lesion location, the target drilling position, and the structure of the robotic arm, so that when the robotic arm is in the target drilling position, the total distance between the surface of the patient's designated tissue and the extended line of the axis of the instrument shaft of the robotic arm is minimized;

[0008] establishing a collision model, wherein the collision model covers a body surface of the patient;

[0009] Planning a motion path outside the collision model so that the robot arm can move from an initial position along the motion path to the target drilling position; and

[0010] The robotic arm is driven to move along the motion path to the target drilling posture.

[0011] Optionally, the program further performs the following steps:

[0012] Plan the motion trajectory to obtain the relationship between the posture and time of the robotic arm as it moves along the motion path, and calculate the position information, velocity information and acceleration information of the joints of the robotic arm that change over time, and then control the movement of the robotic arm based on the obtained information.

[0013] Optionally, the program further performs the following steps:

[0014] The speed information of the joints of the robotic arm is generated by a triangular speed curve; or the speed information of the joints of the robotic arm is generated by a trapezoidal speed curve.

[0015] Optionally, the program executes the following steps to plan the target drilling posture of the robotic arm:

[0016] A conical space is constructed with a line connecting the lesion position and the target drilling position as the central axis and the target drilling position as the apex, so that the lesion is located on the bottom surface of the conical space;

[0017] Taking the line connecting any point on the bottom surface of the conical space and the target punching position as a reference line, the sum of the distances from the reference line to the surface of the specified tissue is obtained, and the reference line with the smallest sum of the distances is obtained as the target reference line, so that the axis of the instrument shaft of the robotic arm in the target punching position coincides with the target reference line.

[0018] Optionally, the motion path includes a first sub-motion path and a second sub-motion path; and the program executes the following steps to plan the motion path:

[0019] Selecting a front punching position outside the body on the target reference line;

[0020] Planning the first sub-motion path specifically includes: determining whether a line connecting the initial position of the end point of the robotic arm and the front punching position intersects with the collision model; if so, selecting at least one transition point outside the collision model, wherein a distance from at least one of the transition points to the collision model is greater than a distance from the initial position of the end point of the robotic arm to the collision model, and greater than a distance from the front punching position to the collision model; and planning an arc path starting from the initial position of the end point of the robotic arm, passing through all the transition points, and terminating at the front punching position as the first sub-motion path; if not, planning a straight line path starting from the initial position of the end point of the robotic arm and terminating at the front punching position as the first sub-motion path;

[0021] The second sub-motion path is planned, where the second sub-motion path is defined as a straight path starting from the preceding punching position and ending at the target punching position.

[0022] Optionally, the program further performs the following steps:

[0023] According to the motion path, the position information, velocity information and acceleration information of the joints of the robotic arm that change with time during the movement of the robotic arm along the motion path are obtained; wherein the maximum motion velocity of the joints of the robotic arm is V max , the acceleration time is t s ;

[0024] When the distance s between the pre-punching position and the target punching position satisfies s<V max ×t s When the speed information of the joint of the robot arm is generated by the triangular speed curve; or when the distance s between the pre-punching position and the target punching position satisfies s≥V max ×t s When the speed information of the joints of the robot arm is generated through the trapezoidal speed curve.

[0025] Optionally, the vital sign image model includes a first vital sign image model and a second vital sign image model, wherein the first vital sign image model is established based on first body surface data and lesion data of a patient in a first state, and the second vital sign image model is established based on second body surface data of a patient in a second state; the program executes the following steps to obtain the target puncture position:

[0026] Obtaining the first vital sign image model to plan pre-punching positions on the first vital sign image model;

[0027] obtaining the second vital sign image model;

[0028] The second vital signs image model and the first vital signs image model are registered to convert the pre-punching position on the first vital signs image model into the target punching position on the second vital signs image model.

[0029] Optionally, the program further performs the following steps:

[0030] Generate prompt information, where the prompt information is used to prompt that the robotic arm has reached the target drilling position.

[0031] To achieve the above objectives, the present invention further provides an electronic device, comprising a processor and a computer-readable storage medium as described in any of the preceding items, wherein the processor is configured to execute a program stored on the computer-readable storage medium.

[0032] To achieve the above objectives, the present invention also provides a surgical robot system, including a robotic arm and a control module, wherein the control module is communicatively connected to the robotic arm, and the control module is configured to execute a program stored on a computer-readable storage medium as described in any of the preceding items.

[0033] Optionally, the surgical robot system includes the electronic device as described above, and the control module includes the processor.

[0034] Optionally, the robotic arm includes a robotic arm body and an auxiliary device provided on the robotic arm body;

[0035] When the robotic arm moves to the target drilling position, the position of the patient's body surface indicated by the auxiliary device is the actual drilling position.

[0036] Optionally, the auxiliary device includes a poking card, which is used to connect to the end of the robotic arm body. When the robotic arm moves to the target punching position, the tip of the poking card connected to the end of the robotic arm body indicates the actual punching position.

[0037] Optionally, the robotic arm body includes a first link, a second link, a third link, and a fourth link connected in sequence, wherein the first link, the second link, the third link, and the fourth link define a parallelogram structure, and the fourth link extends along the axial direction of the instrument shaft of the robotic arm;

[0038] The auxiliary device includes a first laser and a second laser. The first laser is arranged on the first connecting rod. The first laser beam emitted by the first laser propagates along the length direction of the first connecting rod. The second laser is arranged on the fourth connecting rod. The laser beam emitted by the second laser propagates along the length direction of the fourth connecting rod, and the second laser beam and the first laser beam intersect to form a light spot; the position on the patient's body surface indicated by the light spot is the actual drilling position.

[0039] Optionally, an operating trolley is further included, the operating trolley is provided with a first electrical interface, the robotic arm is provided with a second electrical interface, and the second electrical interface is used to be detachably connected to the first electrical interface.

[0040] Compared with the prior art, the computer-readable storage medium, electronic device, and surgical robot system of the present invention have the following advantages:

[0041] The aforementioned computer-readable storage medium stores a program, and when the program is executed, the following steps are performed: obtaining target punching position information based on the patient's vital sign image model; planning the target punching position of the robotic arm based on the patient's lesion position, the target punching position information and at least one of the structure of the robotic arm, so that when the robotic arm is in the target punching position, the sum of the distances from the surface of the patient's designated tissue to the extension line of the axis of the instrument shaft of the robotic arm is minimized; establishing a collision model, which covers the patient's body surface; planning a motion path outside the boundary of the collision model, so that the robotic arm can move from an initial position along the motion path to the target punching position; and driving the robotic arm to move along the motion path to the target punching position to obtain the actual punching position on the patient's body surface. When the computer-readable storage medium is applied to a surgical robot system, the target drilling posture of the robotic arm and the motion path of the robotic arm are planned, and the robotic arm is moved along the motion path to the target drilling posture to accurately indicate the actual drilling position on the patient's body surface, thereby improving the reliability, convenience, and safety of the drilling guidance. At the same time, drilling at the actual drilling position can also increase the space for surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0043] Figure 1 1 is a schematic structural diagram of a surgical robot system according to an embodiment of the present invention, in which the robotic arm is in an initial state;

[0044] Figure 21 is a schematic structural diagram of a surgical robot system according to an embodiment of the present invention, wherein the robotic arm is in a target drilling position;

[0045] Figure 3 This is a flow chart of a surgical robot system providing drilling guidance according to one embodiment of the present invention;

[0046] Figure 4 1 is a schematic structural diagram of a robotic arm of a surgical robot system provided in accordance with one embodiment of the present invention;

[0047] Figure 5 Schematic diagram of the connection between the robotic arm and the operating table of the surgical robot system provided by one embodiment of the present invention;

[0048] Figure 6 This is a flow chart of a surgical robot system according to one embodiment of the present invention when planning a target drilling position;

[0049] Figure 7 is a schematic diagram of a surgical robot system according to one embodiment of the present invention using a first imaging device to acquire first body surface data and lesion data;

[0050] Figure 8 is a schematic diagram of a surgical robot system according to an embodiment of the present invention using a second imaging device to obtain second body surface data;

[0051] Figure 9 This is a schematic diagram of a surgical robot system according to one embodiment of the present invention establishing a mapping relationship between a target on a patient's body surface and a control module;

[0052] Figure 10 This is a flow chart of a surgical robot system according to one embodiment of the present invention when planning the optimal drilling posture of a robotic arm;

[0053] Figure 11 1 is a schematic diagram of a surgical robot system according to an embodiment of the present invention when planning a target drilling posture;

[0054] Figure 12 is a schematic diagram of a collision model constructed by a surgical robot system provided according to an embodiment of the present invention;

[0055] Figure 13 This is a flow chart of a surgical robot system performing path planning according to one embodiment of the present invention;

[0056] Figure 14 is a schematic diagram of a surgical robot system performing path planning according to one embodiment of the present invention;

[0057] Figure 15is a schematic diagram of a surgical robot system according to an embodiment of the present invention planning an arc path as a first path;

[0058] Figure 16 is a schematic diagram of a surgical robot system according to one embodiment of the present invention planning a straight path as a second path;

[0059] Figure 17 Schematic diagrams of speed changes when a surgical robot system plans a motion trajectory according to one embodiment of the present invention, wherein a) shows a schematic diagram when a triangular speed curve is used to generate speed information, and b) shows a schematic diagram when a trapezoidal speed curve is used to generate speed information;

[0060] Figure 18 It is a schematic diagram of an application scenario of a surgical robot system provided according to one embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following describes the embodiments of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present invention in a schematic manner, and the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components during actual implementation. During actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0062] In addition, each embodiment described below has one or more technical features. However, this does not mean that users of the present invention must implement all technical features in any embodiment at the same time, or that they can only implement some or all technical features in different embodiments separately. In other words, as long as implementation is possible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility of the implementation of the present invention.

[0063] As used in this specification, the singular forms "a", "an", and "the" include plural objects, unless the content clearly indicates otherwise. As used in this specification, the term "or" is generally used in the sense of including "and / or", unless the content clearly indicates otherwise, and the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be internal communication between two elements or an interactive relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0064] To further clarify the objectives, advantages, and features of the present invention, the present invention is further described below with reference to the accompanying drawings. It should be noted that the drawings are greatly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention. Identical or similar reference numerals in the drawings represent identical or similar components.

[0065] Please refer to Figure 1 and Figure 2 The surgical robot system provided in this embodiment includes a robotic arm 100 and a control module (not shown in the figure), wherein the control module is in communication with the robotic arm 100. The control module is configured to:

[0066] Obtain the target punch position M on the patient's vital signs image model (please refer to Figure 2 、 11 );

[0067] The target drilling position of the robotic arm 100 is planned according to at least one of the patient's lesion position, the target drilling position M, and the structure of the robotic arm 100, so that when the robotic arm 100 is in the target drilling position, the patient's designated tissue N (reference Figure 11 ) to the extended line of the axis of the instrument shaft of the robotic arm 100 is the smallest; Here, the "designated tissue N" is determined by the doctor according to the actual condition. For example, in laparoscopic surgery, the designated tissue N includes the major organs protruding into the abdominal cavity;

[0068] Establish collision model S (refer to Figure 12 ), the collision model S preferably covers the entire body surface of the patient;

[0069] Planning a motion path outside the boundary of the collision model S so that the robot arm 100 can move from an initial position along the motion path to the target drilling position; and

[0070] The robotic arm 100 is driven to move along the motion path to the target drilling posture to obtain the actual drilling position on the patient's body surface.

[0071] By planning the target punching position on the vital sign image model, and determining the target punching posture of the robotic arm 100 according to the target punching position, the lesion position and the structure of the robotic arm 100 itself, and then planning the movement path of the robotic arm 100 outside the boundary of the collision model S, and finally driving the robotic arm 100 to move along the movement path to the target punching posture, the actual punching position on the patient's body surface can be determined according to the axis of the instrument axis of the robotic arm 100. The guidance process is fast, accurate and safe, which not only reduces the preparation time for preoperative punching, but also helps to increase the operating space for subsequent operations.

[0072] Furthermore, the robotic arm 100 includes at least one joint. After the motion path planning is completed and before the robotic arm 100 is driven to move along the motion path, the control module is further configured to: plan the motion trajectory of the robotic arm 100, obtain the relationship between the position and time of the robotic arm 100 as it moves along the motion path, and then obtain the position information, velocity information, and acceleration information of the joints on the robotic arm 100 that change over time through robotic arm inverse kinematics solution. The control module then controls the robotic arm 100 to move according to the planned motion trajectory.

[0073] Furthermore, when the robotic arm 100 moves to the optimal punching posture, the control module is further configured to generate a prompt message to indicate that the punching instruction is completed.

[0074] In an exemplary embodiment, the operator uses the surgical robot system to perform drilling guidance. Figure 3 Shown, including:

[0075] Step S1: Acquire the target punching position on the patient's vital sign image model.

[0076] Step S2: The control module plans the target drilling posture of the robotic arm based on the lesion position, the target drilling position and the structure of the robotic arm itself.

[0077] Step S3: The control module establishes a collision model S covering the entire body surface of the patient.

[0078] Step S4: the control module plans a motion path outside the boundary of the collision model so that the robotic arm does not collide with the patient's body surface when moving along the motion path to the target drilling posture.

[0079] Step S5: The control module plans the motion trajectory of the robotic arm and obtains position information, velocity information, and acceleration information of the joints of the robotic arm at predetermined time points.

[0080] Step S6: The control module drives the robotic arm to move to the target drilling position according to the planned motion trajectory.

[0081] Furthermore, the method further includes step S7: the control module generates a prompt message to prompt that the punching instruction is completed.

[0082] Afterwards, the operator can confirm the actual drilling location on the patient's body surface based on the direction of the axis of the instrument shaft of the robotic arm 100 and mark it. Alternatively, the drilling guidance method further includes step S8: the control module drives the robotic arm to mark the actual drilling location, which is not limited to this invention.

[0083] The specific implementation of each step in the above method will be described in detail later.

[0084] Furthermore, in order to facilitate acquisition of the actual drilling position on the patient's body surface according to the axis of the instrument shaft of the robotic arm 100 , the robotic arm 100 includes a robotic arm body and an auxiliary device provided on the robotic arm body.

[0085] like Figure 1 and Figure 2 As shown, the auxiliary device includes a stamp 170, which is provided at the end of the body of the robotic arm 100. When the robotic arm 100 moves to the target punching position, the position of the patient's body surface indicated by the tip of the stamp 170 is the actual punching position.

[0086] Or, as Figure 4As shown, in an optional implementation, the main body of the robotic arm 100 includes a first link 110, a second link 120, a third link 130, and a fourth link 140 connected in sequence. The first link 110, the second link 120, the third link 130, and the fourth link 140 define a parallelogram, and the extension direction of the fourth link 140 is the extension direction of the axis of the instrument shaft of the robotic arm 100. The auxiliary device includes a first laser 150 and a second laser 160. The first laser 150 is disposed on the first link 110, and the first laser beam emitted by the first laser 150 propagates along the length of the first link 110. The second laser 160 is disposed on the fourth link 140, and the second laser beam emitted by the second laser 160 propagates along the length of the fourth link 140, and the second laser beam intersects with the first laser beam to form a light spot. When the robotic arm 100 moves to the target drilling position, the light spot falls on the patient's body surface, and the position of the light spot is the actual drilling position.

[0087] In addition, if Figure 5 As shown, the surgical robot system also includes an operating trolley 300, which is used to carry the patient when performing drilling guidance. In this embodiment, the operating trolley 300 is non-detachably connected to the robotic arm 100, or the operating trolley 300 is detachably connected to the robotic arm 100. Specifically, a first electrical interface 301 is provided on the operating trolley 300, and a second electrical interface 101 is provided on the base of the robotic arm 100. When the second electrical interface 101 is connected with the first electrical interface 301, a mapping relationship is established between the operating trolley 300 and the robotic arm 100. The advantage of this arrangement is that the robotic arm 100 is independent of the operating trolley 300, which is convenient for transportation and use.

[0088] The following article will describe the method for drilling guidance using the surgical robot system (i.e., Figure 2 The punching guide method shown in the figure is explained in detail).

[0089] Please refer to Figure 6 ,The process of obtaining the target punching position on the patient's vital sign image model is as follows:

[0090] Step S11: Obtaining the first vital sign image model. In this embodiment, the control module constructs a vital sign image model based on the first body surface data and lesion data of the patient in the first state, as the first vital sign image model.

[0091] Step S12: Planning pre-punch locations on the first vital sign image model. In this embodiment, the pre-punch locations are planned by the control module through three-dimensional simulation. In other embodiments, the pre-punch locations may be determined by the operator based on experience, and then the control module may perform simulated punching to verify the appropriateness of the pre-punch locations.

[0092] Step S13: the control module constructs a physical sign image model according to the second body surface data of the patient in the second state as a second physical sign image model.

[0093] Step S14: The control module performs image registration on the second vital sign image model and the first vital sign image model to convert the pre-punch positions on the first vital sign image model into the target punch positions on the second vital sign image model. The image registration in this step is a conventional technical means and will not be described in detail here.

[0094] As well as Figure 7 As shown, the first body surface data and the lesion data are collected by a first imaging device 400, which includes but is not limited to MRI, CT or other X-ray devices. Figure 8 As shown, the second body surface data is collected by the second imaging device 500, and the second imaging device includes but is not limited to a 3D visual system. When the patient is in the first state and the second state respectively, there is a difference in the patient's body position. Usually, the first state refers to the state of the patient in the diagnosis stage, and the second state refers to the state of the patient in preoperative preparation. Taking laparoscopic surgery as an example, the first state refers to the state of the patient before pneumoperitoneum, and the second state is the state of the patient after pneumoperitoneum is established. In other surgeries or other environments, the difference between the first state and the second state may also be due to different states caused by reasons such as the patient holding his breath, fullness, defecation, etc. In addition, those skilled in the art will understand that step S12 may also be performed after step S13.

[0095] In practice, the first imaging device 400, the second imaging device 500, the control module and the patient are in different coordinate systems, but those skilled in the art can use conventional methods to establish mapping relationships between different coordinate systems. Figures 7 to 9As shown, when the second imaging device collects the second body surface data, multiple markers 1 are distributed on the patient's body surface. The positions of the multiple markers 1 are calibrated by the operator, and a first coordinate system F1 (i.e., the patient coordinate system) is established based on the positions of the multiple markers 1. The second imaging device 500 is within the second coordinate system F2. The second imaging device 500 obtains the coordinates of the markers 1 as the second body surface data, thereby determining the mapping relationship between the second coordinate system F2 and the first coordinate system F1. The first imaging device 400 is within the third coordinate system F3. In step S14, the mapping relationship between the second coordinate system F2 and the third coordinate system F3 is obtained through image registration, and the position of the target drilling position within the first coordinate system F1 is further determined. The control module and the robotic arm 100 are within the fourth coordinate system F4. The mapping relationship between the fourth coordinate system F4 and the first coordinate system F1 can be directly obtained in the world coordinate system F0. This allows the establishment of mapping relationships between the various coordinate systems, enabling coordinate conversion between different coordinate systems.

[0096] It should be noted that, in an alternative embodiment, the control module may not establish the first vital sign image model. In this case, the first vital sign image model is established by an external mechanism, and then the control module receives the first vital sign image model. It can be understood that the control module receiving the first vital sign image model here includes two situations. One is that the control module is connected to the external control mechanism in communication to receive the first vital sign image model by electronic transmission; the other is that the control module is not connected to the external control mechanism, and the doctor manually inputs the relevant data of the first vital sign image model into the control module so that the control module receives the first vital sign image model. The external control mechanism can be a control mechanism connected to the first imaging device.

[0097] Next, the control module plans the target drilling posture of the robot arm 100. Figures 10 and 11 The control module performs the following steps when planning the target drilling posture of the robot arm 100:

[0098] Step S21: On the second vital sign image model, a conical space is constructed with the line connecting the center P of the lesion and the target drilling position M as the central axis L1 and the target drilling position M as the top of the cone, so that the lesion is located on the bottom surface of the conical space.

[0099] Step S22: Using the line connecting any point on the bottom surface of the conical space and the target drilling location M as a reference line, obtain the sum of the distances from the reference line to the surface of the designated tissue N. Repeat this step until all points on the bottom surface have been traversed. In this embodiment, the first imaging device 400 is a CT scan. Therefore, the operator can determine the designated tissue N based on factors such as the CT model, lesion location, surgical procedure, and patient physical signs.

[0100] Step S23: Select the reference line with the smallest sum of the distances as the target reference line L2, so that when the robot arm 100 is in the target drilling posture, the axis of the instrument axis of the robot arm 100 coincides with the target reference line L2, that is, the position of the target reference line L2 is the position of the axis of the instrument axis of the robot arm 100 in the target drilling posture.

[0101] The target drilling position of the robotic arm 100 is planned by the above-mentioned method, so that when the robotic arm 100 is in the target drilling position and the actual drilling position on the patient's body surface is obtained, the lesion can be made as close as possible to the axis of the actual drilling position, thereby increasing the surgical operation space and facilitating the execution of the surgical operation.

[0102] Then, if Figure 12 As shown, the control module constructs a collision model S. The present invention does not particularly limit the method for constructing the collision model S or the shape of the collision model S, as long as the collision model S can cover the entire body surface of the patient. In this embodiment, the collision model is a cube. In other embodiments, the collision model can also be cylindrical, ellipsoidal, etc.

[0103] Next, the control module plans the motion path of the manipulator 100. In a preferred implementation, the motion path includes a first sub-motion path and a second sub-motion path, and the manipulator 100 first moves along the first sub-motion path and then moves along the second sub-motion path. Figure 1 , Figure 2 Combined with Figures 13 to 16 As shown, the control module is configured to perform the following steps when planning the motion path:

[0104] Step S41: selecting a pre-punching position Q outside the body on the target reference line L2.

[0105] Step S42: Planning the first sub-movement path, which specifically includes:

[0106] Step S421: Determine whether the line connecting the initial position R of the end point of the robot arm and the front punching position Q intersects with the collision model S. If so, execute steps S422 and S423; if not, execute step S424.

[0107] Step S422: Select at least one transition point T outside the boundary of the collision model S, and the distance between at least one transition point T and the collision model S is greater than the distance between the initial position R of the end point of the robotic arm and the collision model S, and is also greater than the distance between the front punching position Q and the collision model S.

[0108] Step S423: planning an arc path starting from the initial position R of the end point of the robot arm, passing through all the transition points T, and terminating at the pre-punching position Q as the first sub-motion path.

[0109] Step S424: planning a straight line path starting from the initial position R of the end point of the robot arm and ending at the front punching position Q as the first sub-motion path.

[0110] Step S43: Planning the second sub-motion path, which starts from the pre-punching position Q and ends at the target punching position M. Since both the pre-punching point Q and the target punching point M are located on the target reference line L2, the second sub-motion path is a straight path.

[0111] In this embodiment, step S422 selects one transition point T, but in other embodiments, more than two transition points T may be selected. The motion path planned by this method ensures that the robotic arm 100 will not collide with the patient during subsequent movement, effectively ensuring the safety and effectiveness of automatic guidance. Those skilled in the art will appreciate that when the auxiliary device includes the poking card 170, the end point of the robotic arm 100 refers to the tip end point of the poking card 170, and when the auxiliary device includes the first laser 150 and the second laser 160, the end point of the robotic arm 100 refers to the end point of the main body of the robotic arm 100.

[0112] Afterwards, the control module can plan the motion trajectory of the robotic arm 100. Specifically, the control module adds a time constraint to the movement of the robotic arm 100 along the motion path to obtain the motion trajectory, that is, the motion trajectory includes the relationship between the position and posture of the robotic arm 100 and the time of movement when the robotic arm 100 moves along the motion path, and then the position information, velocity information and acceleration information of the joints of the robotic arm 100 that change with time are obtained through the inverse kinematics solution of the robotic arm. In this embodiment, there is no limitation on the specific method of inverse kinematics solution, and both analytical solutions and numerical solutions in conventional technology can be used. The analytical solutions include algebraic methods and geometric methods, and the numerical solutions include incremental position solutions and inverse kinematics Newton iteration methods, which can be selected according to actual needs.

[0113] In this embodiment, during the motion trajectory planning process, the maximum motion speed of the joints of the robot arm 100 is set to V max , the acceleration time is t s , when the distance s between the pre-punching position and the target punching position satisfies s<V max ×t s When, such as Figure 17 As shown in a), the control module is configured to generate a velocity curve using a triangular velocity curve, and the position of the joint of the robot arm 100 can be obtained by velocity integration.

[0114]

[0115] v=a·t,t≤t s

[0116] v=a(t-2t s ),t s ≤t≤2t s

[0117] Wherein, a is the acceleration of the joints of the robot arm 100 .

[0118] When the distance s between the pre-punching position and the target punching position satisfies s≥V max ×t s When, such as Figure 17 As shown in b), the control module is configured to generate a velocity curve using a trapezoidal velocity curve, and the joint positions of the robot arm 100 can also be obtained by velocity integration.

[0119]

[0120] v1=at,t≤t s

[0121] v2=Vmax , t s <t≤t f-s

[0122] v3=-a(tt f ), t f-s <t≤t f

[0123] Where, t f is the movement time of the joints of the robot arm 100, t s to t f-s is the time it takes for the joints of the robotic arm 100 to move at a uniform speed, v1 is the speed of the joints of the robotic arm 100 in the acceleration phase, v2 is the speed of the joints of the robotic arm 100 in the uniform motion phase, and v3 is the speed of the joints of the robotic arm 100 in the deceleration phase.

[0124] Finally, the control module drives the robotic arm 100 to move along the motion path according to the motion trajectory. Those skilled in the art may know that during the movement of the robotic arm 100, the control module may also obtain the position of the robotic arm 100 in real time to facilitate monitoring whether the robotic arm 100 moves in the expected manner.

[0125] As mentioned above, in the surgical robot system provided by this embodiment, the control module needs to realize functions such as establishing a vital sign image model, image registration, planning of the optimal punching position, path planning, motion trajectory planning, and driving the movement of the robotic arm. Therefore, the control module described in this embodiment includes a modeling module, a registration module, a target configuration solving module, a path planning module, a trajectory planning module, and a joint control module. Among them, the modeling module is used to construct a vital sign image model of the patient, the registration module is used to align different vital sign image models, the target configuration solving module is used to plan the target punching posture of the robotic arm, the path planning module is used to plan the motion path, the trajectory planning module is used to plan the motion trajectory, and the joint control module is used to control the movement of the robotic arm.

[0126] Those skilled in the art will understand that the surgical robot system can be applied to various surgical operations that require drilling on the patient's body surface, including not only operations performed using a surgical robot system, but also operations performed manually by doctors. In this case, the surgical robot system is only used to provide guidance for drilling on the patient's body surface.

[0127] like Figure 18As shown, the surgical robot system generally includes a control end and an execution end. The control end includes a doctor's console and a doctor's end control device 10 provided on the doctor's console. The execution end includes a patient control end (not labeled in the figure) and an image end control device 20 and other devices. In some embodiments, when the control module is located at the patient end control device, it is used to establish the patient's vital sign image model (the first vital sign image model and the second vital sign image model are established according to actual conditions, or only the second vital sign image model is established), plan the target drilling posture of the robotic arm 100, construct the collision model S, plan the motion path, plan the motion trajectory, and drive the robotic arm 100 to move. However, in this case, the patient end control device requires a higher configuration to complete the corresponding work. In view of this, it is preferred that a part of the control module is located at the image end control device 20 to establish the patient's vital sign image model, plan the target drilling posture of the robotic arm 100, construct the collision model S, plan the motion path and the motion trajectory. Another part of the control module can be located at the patient end control device to drive the robotic arm 100 to move.

[0128] Furthermore, when the robotic arm 100 moves to the target punching position, the control module also generates a prompt message to indicate that the punching guidance is completed, and the doctor-side control device 10 and the image-side control device 20 receive the prompt message and provide a prompt.

[0129] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium on which a program is stored. When the program is executed, the corresponding steps performed by the control module of the aforementioned surgical robot system are executed.

[0130] Furthermore, an embodiment of the present invention also provides an electronic device, comprising a processor and the computer-readable storage medium as described above, wherein the processor executes a program stored in the computer-readable storage medium.

[0131] An embodiment of the present invention also provides a drilling path planning method, which includes the steps executed by the above-mentioned program; the drilling path planning method is used in a surgical robot system, and the robotic arm of the surgical robot system moves to the target drilling posture according to the planned path.

[0132] While the present invention is disclosed above, it is not limited thereto. Those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to encompass such modifications and variations as long as they fall within the scope of the claims and their equivalents.

Claims

1. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed, the following steps are performed: Obtaining target punching position information based on the patient's physical sign image model; planning a target drilling position of the robotic arm based on at least one of the patient's lesion location, the target drilling position information, and the structure of the robotic arm, so that when the robotic arm is in the target drilling position, the total distance from the surface of a designated tissue of the patient to the extended line of the axis of the instrument shaft of the robotic arm is minimized; the designated tissue is a major organ protruding within the surgical area; establishing a collision model, wherein the collision model covers a body surface of the patient; Planning a motion path outside the collision model so that the robotic arm can move from an initial position along the motion path to the target drilling position; as well as, The robotic arm is driven to move along the motion path to the target drilling posture.

2. The computer-readable storage medium according to claim 1, wherein The program also performs the following steps: Plan the motion trajectory to obtain the relationship between the posture and time of the robotic arm as it moves along the motion path, and calculate the position information, velocity information and acceleration information of the joints of the robotic arm that change over time, and then control the movement of the robotic arm based on the obtained information.

3. The computer-readable storage medium according to claim 2, wherein: The program also performs the following steps: The speed information of the joints of the robotic arm is generated by a triangular speed curve; or the speed information of the joints of the robotic arm is generated by a trapezoidal speed curve.

4. The computer-readable storage medium according to claim 1, wherein The program executes the following steps to plan the target drilling posture of the robotic arm: A conical space is constructed with a line connecting the lesion position and the target drilling position as the central axis and the target drilling position as the apex, so that the lesion is located on the bottom surface of the conical space; Taking the line connecting any point on the bottom surface of the conical space and the target punching position as a reference line, the sum of the distances from the reference line to the surface of the specified tissue is obtained, and the reference line with the smallest sum of the distances is obtained as the target reference line, so that the axis of the instrument shaft of the robotic arm in the target punching position coincides with the target reference line.

5. The computer-readable storage medium according to claim 4, wherein: The motion path includes a first sub-motion path and a second sub-motion path; the program executes the following steps to plan the motion path: Selecting a front punching position outside the body on the target reference line; Planning the first sub-motion path specifically includes: Determine whether the line connecting the initial position of the end point of the robot arm and the front punching position intersects with the collision model; if so, select at least one transition point on the outside of the collision model, and the distance from at least one of the transition points to the collision model is greater than the distance from the initial position of the end point of the robot arm to the collision model, and greater than the distance from the front punching position to the collision model; and plan an arc path starting from the initial position of the end point of the robot arm, passing through all the transition points, and terminating at the front punching position as the first sub-motion path; if not, plan a straight line path starting from the initial position of the end point of the robot arm and terminating at the front punching position as the first sub-motion path; The second sub-motion path is planned, where the second sub-motion path is defined as a straight path starting from the preceding punching position and ending at the target punching position.

6. The computer-readable storage medium according to claim 5, wherein: The program also performs the following steps: According to the motion path, the position information, velocity information and acceleration information of the joints of the robotic arm that change with time during the movement of the robotic arm along the motion path are obtained; wherein the maximum motion velocity of the joints of the robotic arm is V max , the acceleration time is t s ; When the distance s between the pre-punching position and the target punching position satisfies s<V max ×t s When the speed information of the joint of the robot arm is generated by the triangular speed curve; or when the distance s between the pre-punching position and the target punching position satisfies s≥V max ×t s When the speed information of the joints of the robot arm is generated through the trapezoidal speed curve.

7. The computer-readable storage medium according to claim 1, wherein The vital sign image model includes a first vital sign image model and a second vital sign image model, wherein the first vital sign image model is established based on first body surface data and lesion data of a patient in a first state, and the second vital sign image model is established based on second body surface data of a patient in a second state. The program executes the following steps to obtain the target puncture position: Obtaining the first vital sign image model to plan pre-punching positions on the first vital sign image model; obtaining the second vital sign image model; The second vital signs image model and the first vital signs image model are registered to convert the pre-punching position on the first vital signs image model into the target punching position on the second vital signs image model.

8. The computer-readable storage medium according to claim 1, wherein The program also performs the following steps: Generate prompt information, where the prompt information is used to prompt that the robotic arm has reached the target drilling position.

9. An electronic device, characterized in that: The method comprises a processor and a computer-readable storage medium according to any one of claims 1 to 8, wherein the processor is configured to execute a program stored on the computer-readable storage medium.

10. A surgical robot system, characterized in that: The system comprises a robotic arm and a control module, wherein the control module is communicatively connected to the robotic arm and configured to execute a program stored on a computer-readable storage medium according to any one of claims 1 to 8.

11. The surgical robot system according to claim 10, wherein: The surgical robot system includes the electronic device according to claim 9, and the control module includes the processor.

12. The surgical robot system according to claim 10, wherein: The robotic arm comprises a robotic arm body and an auxiliary device arranged on the robotic arm body; When the robotic arm moves to the target drilling position, the position of the patient's body surface indicated by the auxiliary device is the actual drilling position.

13. The surgical robot system according to claim 12, wherein: The auxiliary device includes a punch card, which is used to connect to the end of the robotic arm body. When the robotic arm moves to the target punching posture, the tip of the punch card connected to the end of the robotic arm body indicates the actual punching position.

14. The surgical robot system according to claim 12, wherein: The robotic arm body includes a first link, a second link, a third link, and a fourth link connected in sequence, wherein the first link, the second link, the third link, and the fourth link define a parallelogram structure, and the fourth link extends along the axis direction of the instrument shaft of the robotic arm; The auxiliary device includes a first laser and a second laser. The first laser is arranged on the first connecting rod, and the first laser beam emitted by the first laser propagates along the length direction of the first connecting rod. The second laser is arranged on the fourth connecting rod, and the second laser beam emitted by the second laser propagates along the length direction of the fourth connecting rod. The second laser beam and the first laser beam intersect to form a light spot; the position on the patient's body surface indicated by the light spot is the actual drilling position.

15. The surgical robot system according to claim 10, wherein: It also includes an operating trolley, which is provided with a first electrical interface, and the robotic arm is provided with a second electrical interface, which is used to be detachably connected to the first electrical interface.

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