Surgical robot, computer-readable storage medium, and control device

Abstract

The present invention relates to a surgical robot and its control method and control device. The surgical robot comprises an operating arm and a controller coupled to the operating arm. The operating arm includes a camera arm and a surgical arm. The controller is configured to: obtain a visual area of the camera arm; obtain a target portion of the configured surgical arm currently located within the visual area; and limit movement of the target portion within the visual area based on the visual area. The surgical robot of the present invention is capable of safely and reliably limiting the movement of the target portion of the surgical arm within the visual area provided by the camera arm.

Description

[0001] This application is a divisional application of the invention application with application number CN202011472838.2 and application name "Surgical robot, its control method and control device" filed on December 15, 2020. The full text of the application is incorporated into this application by reference. Technical Field

[0002] The present invention relates to the field of medical devices, and in particular to a surgical robot, a computer-readable storage medium, and a control device. Background Art

[0003] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0004] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. A surgical robot consists of a master console and slave operating devices. The slave operating devices include multiple manipulators, including a camera arm with an imaging end-use instrument and a surgical arm with an operating end-use instrument. The master console includes a display and a handle. The surgeon manipulates the handle to control the movement of the camera arm or surgical arm, while viewing the field of view provided by the camera arm on the display.

[0005] However, under the control of the handle, part of the surgical arm can easily move out of the field of view of the camera arm. When the surgical arm, for example, its end instrument, is out of the field of view, it can easily get out of the doctor's control, which may cause accidental injury to the patient. Summary of the Invention

[0006] Based on this, it is necessary to provide a surgical robot and a control method and control device thereof that can limit the target part of the surgical arm to move safely and reliably within the field of view provided by the camera arm.

[0007] On the one hand, the present invention provides a control method, wherein the surgical robot has an operating arm, the operating arm includes a camera arm and a surgical arm, and the control method includes the following steps: obtaining a visible area of the camera arm; obtaining a target part of the surgical arm currently located in the visible area; and limiting the movement of the target part within the visible area based on the visible area.

[0008] The step of obtaining the visible area of the camera arm includes: obtaining the camera parameters currently configured for the camera arm in real time; and obtaining the visible area according to the camera parameters.

[0009] The camera parameters include a field of view angle and a depth of field, and the step of obtaining the visible area according to the camera parameters includes: obtaining the visible area based on the field of view angle and the depth of field.

[0010] In which, the surgical arm has more than one characteristic part that can be configured as the target part, and the step of obtaining the target part of the surgical arm currently located in the visible area includes: obtaining the characteristic part of the surgical arm that can be configured as the target part; judging whether the characteristic part is currently located in the visible area; making the characteristic part currently judged to be located in the visible area a first part, and obtaining the target part based on the first part.

[0011] Among them, the step of determining whether the characteristic part is currently located in the visible area includes: obtaining an operation image of the visible area captured by the camera arm; identifying whether the characteristic part is located in the operation image; and when the characteristic part is located in the operation image, determining that the characteristic part is located in the visible area.

[0012] Among them, the step of judging whether the characteristic part is currently located in the visible area includes: obtaining the kinematic model of the surgical arm and the joint variables of each joint in the surgical arm; determining the position of the characteristic part in the reference coordinate system in combination with the kinematic model and the joint variables; converting the visible area into a position range in the reference coordinate system; judging whether the position of the characteristic part is within the position range; and when the characteristic part is within the position range, judging that the characteristic part is located in the visible area.

[0013] Among them, the step of acquiring the configured target part based on the first part includes: generating a configuration interface containing controls associated with characteristic parts that can be configured as the target part based on the first part; and acquiring the target part configured through the controls of the configuration interface.

[0014] Among them, the step of generating a configuration interface containing controls associated with characteristic parts that can be configured as the target part based on the first part includes: obtaining a model image of the surgical arm; generating a configuration interface containing the model image, and generating controls associated with characteristic parts that can be configured as the target part at a position corresponding to the first part on the model image.

[0015] The model image is a projection image of the surgical arm or a computer model image.

[0016] Among them, the step of limiting the movement of the target part within the visible area based on the visible area includes: judging whether the target part reaches the boundary of the visible area; when judging that the target part reaches the boundary of the visible area, judging whether the movement direction of the target part at the next moment is toward the outside of the visible area; when judging that the movement direction of the target part at the next moment is toward the outside of the visible area, prohibiting the target part from moving toward the outside of the visible area.

[0017] Wherein, prohibiting the target part from moving outside the visible area includes prohibiting the target part from moving outside the visible area or prohibiting the surgical arm from moving.

[0018] Among them, the step of judging whether the target part reaches the boundary of the visible area includes: obtaining the operation image of the visible area captured by the camera arm; identifying whether the target part reaches the edge of the operation image; when the target part reaches the edge of the operation image, judging that the target part reaches the boundary of the visible area.

[0019] Among them, the step of judging whether the target part reaches the boundary of the visible area includes: obtaining the kinematic model of the surgical arm and the joint variables of each joint in the surgical arm; determining the position of the target part in the reference coordinate system in combination with the kinematic model and the joint variables; converting the visible area into a position range in the reference coordinate system; judging whether the position of the target part reaches the boundary of the position range; when the target part reaches the boundary of the position range, judging that the target part reaches the boundary of the visible area.

[0020] Among them, the step of judging whether the movement direction of the target part at the next moment is toward outside the visible area includes: obtaining the current position of the target part when it reaches the boundary of the visible area; obtaining the target position of the target part at the next moment; and determining whether the movement direction of the target part at the next moment is toward outside the visible area based on the target position and the current position.

[0021] Among them, the step of obtaining the current position of the target part when it reaches the boundary of the visible area includes: obtaining the kinematic model of the surgical arm and the joint variables of each joint in the surgical arm at the current moment; calculating the current position of the target part at the current moment based on the kinematic model and each joint variable.

[0022] In which, the surgical robot includes a motion input part, and the step of obtaining the target position of the target part at the next moment includes: obtaining the target posture information input by the motion input part; calculating the joint variables of each joint in the surgical arm based on the target posture information; obtaining the kinematic model of the surgical arm; and determining the target position of the target part at the next moment in combination with the kinematic model and each joint variable.

[0023] Among them, the step of limiting the movement of the target part within the visible area based on the visible area includes: obtaining a configured safe movement area located in the visible area, making the area within the safe movement area a first area, and making the area outside the safe movement area and within the visible area a second area; changing the movement speed of the target part according to changes in the position and movement direction of the target part in the first area and the second area.

[0024] Among them, the step of changing the movement speed of the target part according to the changes in the position and movement direction of the target part in the first area and the second area includes: when the target part moves from the boundary of the first area to the outer boundary of the second area, reducing the movement speed of the target part in the corresponding direction; when the target part moves from the outer boundary of the second area to the boundary of the first area, increasing the movement speed of the target part in the corresponding direction.

[0025] The movement speed of the target part in the corresponding direction is positively correlated with the distance between the target part and the outer boundary of the second area.

[0026] The movement speed of the target part in the corresponding direction is linearly positively correlated with the distance between the target part and the outer boundary of the second area.

[0027] In which, the surgical robot includes a mechanical motion input unit for inputting control instructions for controlling the movement of the surgical arm, and the step of limiting the movement of the target part within the visible area based on the visible area includes: obtaining a safe motion area located in the visible area, making the area within the safe motion area a first area, and making the area outside the safe motion area and within the visible area a second area; when the target part moves from the boundary of the first area to the outer boundary of the second area, increasing the resistance of the motion input unit when moving in the corresponding direction; when the target part moves from the outer boundary of the second area to the boundary of the first area, reducing the resistance of the motion input unit when moving in the corresponding direction.

[0028] The resistance of the motion input portion when moving in the corresponding direction is negatively correlated with the distance between the target part and the outer boundary of the second area.

[0029] The resistance of the motion input portion when moving in the corresponding direction is linearly negatively correlated with the distance between the target part and the outer boundary of the second area.

[0030] The visible area is a planar area determined by the field of view and depth of field of the camera arm.

[0031] The visible area is a three-dimensional space determined by the field of view and depth of field of the camera arm.

[0032] In which, the camera arm has a camera, the parameters of the camera are adjustable, and before the step of limiting the movement of the target part within the visible area based on the visible area, it also includes: obtaining an expanded motion area that is at least partially outside the visible area; adjusting the parameters of the camera based on the visible area and the expanded motion area to generate a new visible area to cover the visible area and the expanded motion area, the parameters of the camera include focal length and aperture, the focal length is related to the field of view angle, and the aperture is related to the depth of field.

[0033] In which, the camera arm has a camera, the parameters of the camera are adjustable, and the step of obtaining the target part of the configured surgical arm currently located in the visible area includes: determining whether the target part is located in the visible area; if the target part is not in the visible area, adjusting the parameters of the camera based on the position of each target part to generate a new visible area to cover the maximum motion area, the parameters of the camera include focal length and / or aperture, the focal length is related to the field of view angle, and the aperture is related to the depth of field.

[0034] Among them, the step of adjusting the parameters of the camera to generate a new visible area to cover each of the target parts includes: obtaining the kinematic model of the surgical arm and the joint variables of each joint in the surgical arm; determining the position of the target part in the reference coordinate system in combination with the kinematic model and the joint variables; constructing a maximum motion area according to the position of each of the target parts; and adjusting the parameters of the camera based on the maximum motion area to generate the new visible area to cover each of the target parts.

[0035] The target part may be selected from the joints and / or end instruments of the surgical arm.

[0036] The target part is a point on the joint and / or the end instrument, an area on the joint and / or the end instrument, and / or the entire joint and / or the end instrument.

[0037] On the other hand, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to be loaded and executed by a processor to implement the steps of the control method as described in any of the above embodiments.

[0038] On the other hand, the present invention provides a control device for a surgical robot, comprising: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured to be loaded and executed by the processor to implement the steps of the control method described in any of the above embodiments.

[0039] On the other hand, the present invention provides a surgical robot comprising: an operating arm, the operating arm comprising a camera arm and a surgical arm; and a controller, the controller being coupled to the operating arm and configured to execute the steps of the control method described in any one of the above embodiments.

[0040] The surgical robot and its control method and control device of the present invention have the following beneficial effects:

[0041] By limiting the movement of the target part of the surgical arm currently in the visual area within the visual area, it can be ensured that the target part of the surgical arm is always under intuitive control, thereby ensuring the safety and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0043] Figure 2 for Figure 1 A partial schematic diagram of an embodiment of a surgical robot is shown;

[0044] Figure 3 This is a flow chart of an embodiment of a control method for a surgical robot;

[0045] Figure 4 This is a schematic diagram of the structure of the operating arm and power unit of the surgical robot;

[0046] Figure 5 This is a partial schematic diagram of the surgical robot in a surgical state;

[0047] Figure 6 This is a flow chart of an embodiment of a control method for a surgical robot;

[0048] Figure 7 is a schematic diagram of a state of a surgical arm in an embodiment of a surgical robot;

[0049] Figures 8 to 10 This is a flow chart of an embodiment of a control method for a surgical robot;

[0050] Figures 11 to 13 are respectively associated with Figure 7 A schematic diagram of the configuration interface of the surgical robot in the state of the surgical arm shown;

[0051] Figures 14 to 18 This is a flow chart of an embodiment of a control method for a surgical robot;

[0052] Figure 19 Schematic diagram of the target part of the surgical arm moving in different areas;

[0053] Figures 20 to 22 This is a flow chart of an embodiment of a control method for a surgical robot;

[0054] Figure 23 Schematic diagram of the visible part of the camera arm under the current camera parameters and the visible area after the camera parameters are adjusted;

[0055] Figure 24 This is a flow chart of an embodiment of a control method for a surgical robot;

[0056] Figure 25 This is a schematic structural diagram of another embodiment of the surgical robot of the present invention;

[0057] Figure 26 2 is a schematic structural diagram of a control device for a surgical robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0059] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an element centered. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an element centered at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be an element centered at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used in the present invention are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. The terms "first / second" and the like used in the present invention represent a component and two or more components of a type having common characteristics.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. The term "each" as used herein includes one or more than one.

[0061] like Figures 1 to 2 As shown in FIG, they are respectively a structural schematic diagram of an embodiment of a surgical robot of the present invention and a partial schematic diagram thereof.

[0062] The surgical robot includes a master console 2 and a slave operating device 3 controlled by the master console 2. The master console 2 has a motion input device 21 and a display 22. The surgeon operates the motion input device 21 to send control commands to the slave operating device 3, causing the slave operating device 3 to perform corresponding operations based on the surgeon's control commands. The surgeon also observes the surgical area through the display 22. The slave operating device 3 includes an arm mechanism comprising a robotic arm 30 and a manipulator arm 31 detachably mounted at the distal end of the robotic arm 30. The robotic arm 30 comprises a base and a connection assembly, each of which has multiple joint assemblies. The manipulator arm 31 comprises a connecting rod 32, a connection assembly 33, and an end-use instrument 34, each of which has multiple joint assemblies. The end-use instrument 34 is adjusted by adjusting the joint assemblies of the manipulator arm 31. The end-use instrument 34 includes an imaging end-use instrument 34A and an operating end-use instrument 34B. The imaging end-use instrument 34A is used to capture images within the field of view, and the display 22 is used to display these images. The operating end instrument 34B is used to perform surgical operations such as cutting and suturing. In this paper, the operating arm with the image end instrument 34A is referred to as the camera arm 31A, and the operating arm with the operating end instrument 34B is referred to as the surgical arm 31B.

[0063] Figure 1 The surgical robot on display is a single-port surgical robot, in which each operating arm 31 is inserted into the patient's body through the same puncture device 4 installed at the distal end of the robotic arm 30. In a single-port surgical robot, the doctor generally only controls the operating arm 31 to complete basic surgical operations. At this time, the operating arm 31 of the single-port surgical robot should have both positional freedom (i.e., positioning freedom) and posture freedom (i.e., orientation freedom) to achieve changes in posture within a certain range. For example, the operating arm 31 has horizontal movement freedom x, vertical movement freedom y, rotation freedom α, pitch freedom β, and yaw freedom γ. The operating arm 31 can also achieve forward and backward movement freedom z (i.e., feed freedom) under the drive of the distal joint of the robotic arm 30, i.e., the power mechanism 301. In addition, in some embodiments, redundant degrees of freedom can be set for the operating arm 31 to achieve the possibility of more functions. For example, under the premise that the above 6 degrees of freedom can be achieved, one, two, or even more degrees of freedom can be additionally set. For example, the power mechanism 301 has a guide rail and a power unit slidingly arranged on the guide rail, and the operating arm 31 is detachably mounted on the power unit. On the one hand, the sliding of the power unit on the guide rail provides the operating arm 31 with a degree of freedom z for moving forward and backward. On the other hand, the power unit provides power to the joints of the operating arm 31 to realize the remaining five degrees of freedom (i.e., [x, y, α, β, γ]).

[0064] The surgical robot also includes a controller. This controller can be integrated into the master console 2 or the slave operating device 3. Of course, the controller can also be independent of the master console 2 and the slave operating device 3. For example, the controller can be deployed locally or in the cloud. The controller can be composed of more than one processor.

[0065] The surgical robot also includes an input unit. This input unit can be integrated into the main console 2 or the slave operating device 3. Of course, the input unit can also be independent of the main console 2 and the slave operating device 3. This input unit can, for example, be a mouse, keyboard, voice input device, or touch screen. In one embodiment, a touch screen is used as the input unit, and the touch screen can be installed, for example, on the armrest of the main console 2.

[0066] The operating arm 31 also includes sensors for sensing joint variables of the joints. These sensors include angle sensors for sensing the rotational motion of the joint components and displacement sensors for sensing the linear motion of the joint components. Specifically, the appropriate sensors can be configured according to the type of joint.

[0067] The controller is coupled to the sensors, and to the input and display 22 .

[0068] In one embodiment, a control method for a surgical robot is provided, which can be executed by a controller. Figure 3 As shown, the control method includes the following steps:

[0069] Step S1, obtaining the visible area of the camera arm.

[0070] The visible area of the camera arm 31A is determined by the image terminal device 34A of the camera arm 31A. In one embodiment, the step of determining the visible area includes:

[0071] The camera parameters currently configured by the camera arm are obtained in real time, and then the visible area is obtained according to the camera parameters.

[0072] Camera parameters typically include field of view angle and depth of field. The field of view angle is related to the focal length, and the depth of field is related to the aperture. Specifically, the smaller the focal length, the larger the field of view angle and the closer the visible distance; the larger the focal length, the smaller the field of view angle and the farther the visible distance. In one embodiment, obtaining the visible area according to the camera parameters specifically means obtaining the visible area based on the field of view angle and the depth of field. For example, the visible area can be calculated using a trigonometric formula in combination with the field of view angle and the depth of field. The visible area can be obtained by real-time calculation, or it can be directly retrieved from a pre-set database, such as a comparison table, based on the field of view angle and the depth of field.

[0073] In fact, based on the obtained visible area, a three-dimensional space can be obtained, or a plane area of the three-dimensional space can be obtained. For example, when f(x,y,z) represents the three-dimensional space, f(x,y) can be used to represent the plane area corresponding to the corresponding depth of field z in the three-dimensional space. Among them, through coordinate transformation, f(x,y,z) can be converted to f'(x,y,z) in the reference coordinate system, and f(x,y) can also be converted to f'(x,y) in the reference coordinate system, thereby obtaining the position range of the visible area in the reference coordinate system.

[0074] Step S2: obtaining the target part of the configured surgical arm currently located in the visible area.

[0075] The target part that needs to be restricted to move within the visible area is usually in an initial state, that is, it should be located within the visible area at the current moment.

[0076] In step S2, the target location can be a default location. For example, the default target location is the end instrument 34B of the surgical arm 31B, or the default target location is the joint at the distal end of the surgical arm 31B connected to the end instrument 34B, because surgeons are generally more concerned with whether the distal end of the surgical arm 31B is visible. The default target location can be defined in a system file for access and autonomous configuration by the surgical robot system.

[0077] In step S2, the target part can also be configured individually by the doctor. The surgical arm 31B usually has more than one part that can be configured as the target part. These parts, namely the characteristic parts, can be pre-defined in the database. Different surgical arms usually have different characteristic parts.

[0078] For example, Figure 4 As shown, the abutment surface of the driving box 310 of the manipulator arm 31 abutting the power unit 302 of the power mechanism 301 is equipped with a storage unit 311. Correspondingly, the abutment surface of the power unit 302 abutting the driving box 310 is equipped with a reading unit 303 that is compatible with the storage unit 311. The reading unit 303 is coupled to the controller. When the manipulator arm 31 is mounted on the power unit 302, the reading unit 303 communicates with the coupled storage unit 311 and reads relevant information from the storage unit 311. The storage unit 311 is, for example, a memory or an electronic tag. The storage unit stores, for example, the type of manipulator arm, the characteristic parts of the manipulator arm that can be configured to target a target, and the kinematic model of the manipulator arm. For example, the storage unit 311 of the camera arm 31A can store camera parameters.

[0079] Step S3: limiting the target part to move within the visible area based on the visible area.

[0080] like Figure 5As shown, through the above steps S1 to S3, it is ensured that the target part in the surgical arm is controlled and moves within the visible area, especially when the target part includes an end instrument, which can effectively prevent accidental injury to the patient due to unexpected movement of the end instrument outside the visible area.

[0081] In one embodiment, if Figure 6 As shown, step S2, i.e., the step of obtaining the target part of the configured surgical arm currently located in the visible area, includes:

[0082] Step S21 : acquiring a characteristic portion of the surgical arm that can be configured as a target portion.

[0083] For example, the characteristic part can be directly read from a database.

[0084] Step S22: determine whether the characteristic part is currently located in the visible area.

[0085] Step S23 : determining that the characteristic part currently located in the visible area is the first part, and acquiring the configured target part based on the first part.

[0086] In step S23 , the target part originates from the first part located in the visible area.

[0087] like Figure 7 The figure shows a simplified representation of the positional relationship between a surgical arm and the visible area. The end effector E, joints J1, J2, J3, and J4 are currently located within the visible area, while joints J5 and J6 are located outside. This means that the characteristic parts E and J1-J4 can be considered the first part, which can be optionally configured as the target part.

[0088] In one embodiment, the above-mentioned step S21, i.e., obtaining the characteristic portion of the surgical arm that can be configured as the target portion, can be implemented by the following two implementations.

[0089] <Implementation Method 1>

[0090] like Figure 8 As shown, the above step S21 includes:

[0091] Step S221: Acquire an operation image of the visible area captured by the camera arm.

[0092] Step S222: Identify whether the characteristic part is located in the operation image.

[0093] If the characteristic portion is located within the operation image, the process proceeds to step S223; otherwise, the process proceeds to step S224. To facilitate image recognition, easily identifiable feature points can be set for the corresponding characteristic portion on the surgical arm to improve recognition speed and accuracy. This step S222 can be combined with a neural network, such as a convolutional neural network, for image recognition. In step S222, whether the characteristic portion is located within the operation image can be determined based on a preset strategy. For example, whether a specific point on the characteristic portion is located within the operation image can be determined. For example, whether a specific area on the characteristic portion is located within the operation image can be determined. For example, whether the characteristic portion is located within the operation image can be determined by identifying whether the overall outline of the characteristic portion is located within the operation image. Such a preset strategy can be pre-set or selected during use based on the operation instructions input by the doctor.

[0094] Step S223: determine whether the characteristic part is located in the visible area.

[0095] Step S224: determining that the characteristic portion is not located within the visible area.

[0096] <Implementation Method 2>

[0097] like Figure 9 As shown, the above step S21 includes:

[0098] Step S221 ′: obtaining the kinematic model of the surgical arm and the joint variables of each joint in the surgical arm.

[0099] The joint variable refers to the joint amount of the rotational joint and / or the joint offset of the translational joint.

[0100] On the one hand, the kinematic model of the surgical arm can be directly called from the storage unit of the manipulator, or on the other hand, it can be obtained based on the linkage parameters of the manipulator.

[0101] Step S222 ′: determine the position of the characteristic part in the reference coordinate system by combining the kinematic model and the joint variables.

[0102] The reference coordinate system can be set arbitrarily. For example, the reference coordinate system can be defined as the base coordinate system of the robot arm, or as the tool coordinate system of the robot arm. In addition, it is also feasible to define the reference coordinate system as a coordinate system other than the surgical robot.

[0103] The determined position of the characteristic part in the reference coordinate system may refer to a point, an area or the entire (contour) position of the characteristic part.

[0104] In the case where the position of the determined characteristic part in the reference coordinate system refers to an area or the entirety (contour) of the characteristic part, for example, each point on the area or the entire contour can be obtained discretely, and then the positions of these points can be calculated.

[0105] Step S223 ′: convert the visible area into a position range in the reference coordinate system.

[0106] Step S224 ′: determine whether the position of the characteristic part is within the position range.

[0107] Among them, when the position of the characteristic part is within the position range, step S225' is entered; otherwise, step S226' is entered. In step S224', it is also possible to determine whether the position of the characteristic part is within the position range based on the preset strategy. Exemplarily, it is possible to determine whether the characteristic part is within the position range by judging whether a specific point on the characteristic part is within the position range. Exemplarily, it is possible to determine whether the characteristic part is within the position range by judging whether a specific area (a point set composed of multiple points) on the characteristic part is within the position range. Exemplarily, it is also possible to determine whether the characteristic part is within the position range by judging whether the overall outline of the characteristic part (a point set composed of points on the outline) is within the position range. Such a preset strategy can be set in advance, or selected according to the operation instructions input by the doctor during use.

[0108] Step S225 ′: determining that the characteristic portion is located within the visible area.

[0109] Step S226 ′: determining that the characteristic portion is not located in the visible area.

[0110] Both the above-mentioned embodiment 1 and embodiment 2 can accurately and quickly determine whether the characteristic portion is located in the visible area.

[0111] In one embodiment, if Figure 10 As shown, the above step S23, i.e., the step of acquiring the configured target part based on the first part, includes:

[0112] Step S231 : generating a configuration interface containing controls associated with characteristic parts that can be configured as a target part according to the first part.

[0113] The controls in the configuration interface can be in various forms such as text controls, option controls such as drop-down list controls, button controls, etc. For example, corresponding to Figure 7 The configuration interface can be as follows Figure 11 As shown, the control in the configuration interface is a button control. In this configuration interface, button controls of characteristic parts E, J1 to J4 are generated, wherein, Figure 11 It is also shown that the characteristic parts E and J1 are configured as target parts.

[0114] Furthermore, in step S231, it can also be implemented as follows: first, obtain a model image of the surgical arm; then, generate a configuration interface containing the model image, and generate controls containing characteristic parts associated with the target parts that can be configured at the position corresponding to the first part on the model image. For example, these controls are icon controls, and the icons can be, for example, light spots, apertures, etc., which are not particularly limited here. Figure 12 and Figure 13 As shown, Figure 12 Only the corresponding Figure 7 In the state shown, the surgical arm can currently be configured as the characteristic parts E, J1 to J4 of the target part. For example, the icon "" can be used to represent the characteristic parts that can be configured as the target part. Figure 13 Also shown is the Figure 7 In the state shown, the surgical arm can be currently configured to the characteristic parts E, J1~J4 of the target part, and Figure 12 The difference is, Figure 13 Other features J5 and J6 of the surgical arm that cannot be configured as a target site are also shown.

[0115] The model image of the surgical arm can usually be pre-stored in a database for direct use, and the database can also be stored in a storage unit of the surgical arm. The model image can be a projection image or a computer model image. The model image must at least be able to reflect the characteristic parts that can be configured as the target part to facilitate configuration by the doctor. The model image can be associated with the current motion state of the surgical arm; the model image can also be associated with the initial motion state of the surgical arm (such as when it is in zero position, such as when it is placed in a straight line), such as Figure 12 and Figure 13 shown.

[0116] In one embodiment, step S21, i.e., obtaining characteristic portions of the surgical arm that can be configured as the target portion, can be implemented by configuring the characteristic portions desired to be configured as the target portion one by one according to controls on the configuration interface. For example, if the configuration interface includes a model image with controls corresponding to the first portion on the model image, these controls can be clicked one by one to configure the associated first portion as the target portion.

[0117] When the configuration interface contains a model image and the model image reflects characteristic parts that can be configured as target parts (the characteristic parts here optionally include only the first part mentioned above, or include all characteristic parts of the surgical arm (because in some cases, such as when the visible area can cover all characteristic parts, they may all be configured as target parts)), a closed figure drawn by the doctor through the input unit that at least covers part of the characteristic parts in the model image can be obtained, and then all the first parts contained in (i.e., enclosed) in the figure are all used as target parts. This design can improve the efficiency of target part configuration. Please continue to refer to Figure 12 and Figure 13 The large circle covering parts E, J1 and J2 represents the closed figure drawn by the doctor. The system analyzes the positional relationship between the figure and the characteristic parts, and then configures parts E, J1 and J2 as target parts.

[0118] Step S232: Acquire the target part configured through the control of the configuration interface.

[0119] In step S232, the surgical arm may be configured such that the characteristic parts of the target part may include joints and / or end instruments. If these joints and / or end instruments are all located in the visible area, they may all be considered as the first part for configuration.

[0120] In one embodiment, see Figure 14 The above step S3, i.e., the step of limiting the movement of the target part within the visible area based on the visible area, includes:

[0121] Step S31, determining whether the target part reaches the boundary of the visible area.

[0122] In step S31, when it is determined that the target part reaches the boundary of the visible area, the process proceeds to step S32; otherwise, the process continues to step S31.

[0123] Step S32: determining whether the target part's next movement direction is outside the visible area.

[0124] In step S32, if it is determined that the movement direction of the target part at the next moment is toward outside the visible area, the process proceeds to step S33; otherwise, the process proceeds to step S31.

[0125] Step S33: at least prohibit the target part from moving outside the visible area.

[0126] Of course, if the target part does not reach the boundary of the visible area in step S31, and / or the movement direction of the target part at the next moment in step S32 is not toward the visible area, no special processing is performed, that is, the surgical arm is still allowed to move normally.

[0127] In step S33, two strategies are available to at least prevent the target part from moving outside the visible area. One strategy involves preventing only the target part from moving outside the visible area; the other strategy involves preventing the entire surgical arm from moving. The strategy to be implemented can be pre-set by default or customized upon initialization based on control commands input by the physician each time the surgical robot is powered on. For example, the target part can be configured to be only the distal joint or end-use instrument.

[0128] In one embodiment, step S31, i.e., determining whether the target portion reaches the boundary of the visible area, can be implemented in the following two ways, for example.

[0129] <Implementation Method 3>

[0130] like Figure 15 As shown, step S31 may include:

[0131] Step S311: Acquire an operation image of the visible area captured by the camera arm.

[0132] Step S312: Identify whether the target part reaches the edge of the operation image.

[0133] In step S312, if the target part reaches the edge of the operation image, the process proceeds to step S313. For example, the determination of whether the target part is within the operation image can be made by identifying whether a specific point on the target part is within the operation image. For example, the determination of whether the target part is within the operation image can be made by identifying whether a specific area on the target part is within the operation image. For example, the determination of whether the target part is within the operation image can be made by identifying whether the entire outline of the target part is within the operation image.

[0134] Step S313: determining whether the target part reaches the boundary of the visible area.

[0135] Step S314: determining that the target portion has not reached the boundary of the visible area.

[0136] <Implementation Method 4>

[0137] like Figure 16 As shown, step S31 may include:

[0138] Step S311 ′: obtaining the kinematic model of the surgical arm and the joint variables of each joint in the surgical arm.

[0139] Step S312 ′: determine the position of the target part in the reference coordinate system by combining the kinematic model and the joint variables.

[0140] Step S313 ′: convert the visible area into a position range in the reference coordinate system.

[0141] Step S314 ′: determine whether the position of the target part reaches the boundary of the position range.

[0142] In step S314', if it is determined that the target part reaches the boundary of the position range, the process proceeds to step S315'; otherwise, the process proceeds to step S316'. For example, whether the target part is within the position range can be determined by determining whether a specific area (a point set consisting of multiple points) on the target part is within the position range. For example, whether the target part is within the position range can also be determined by determining whether the entire outline of the target part (a point set consisting of points on the outline) is within the position range.

[0143] Step S315 ′: determining whether the target part reaches the boundary of the visible area.

[0144] Step S316 ′: determining that the target portion has not reached the boundary of the visible area.

[0145] In one embodiment, see Figure 17 Step S32, i.e., determining whether the target part is moving in a direction outside the visible area at the next moment, includes the following steps:

[0146] Step S321 , obtaining the current position of the target part at the current moment when the target part reaches the boundary of the visible area.

[0147] In step S321, the current position can be obtained, for example, by the following steps: first, obtaining a kinematic model of the surgical arm and joint variables of each joint in the surgical arm at the current moment; then, calculating the current position of the target part at the current moment based on the kinematic model and each joint variable.

[0148] Step S322: Obtain the target position of the target part at the next moment.

[0149] Surgical robots typically include a motion input unit for inputting control commands for incrementally controlling the movement of operating arms, such as the camera arm and the surgical arm. In step S322, for example, the target position at the next moment can be determined through the following steps. These steps include: obtaining target pose information input by the motion input unit; calculating joint variables of each joint in the surgical arm based on the target pose information; obtaining a kinematic model of the surgical arm; and determining the target position of the target part at the next moment by combining the kinematic model and the joint variables.

[0150] Step S323: determining whether the movement direction of the target part at the next moment is toward outside the visible area according to the target position and the current position.

[0151] In step S323, for example, if the target position is outside the visible area, the direction of movement of the target part is toward the outside of the visible area. For another example, if the target position is within the visible area but farther from the boundary of the visible area than the current position, the direction of movement of the target part is not toward the outside of the visible area.

[0152] In one embodiment, see Figure 18 The above step S3, i.e., the step of limiting the movement of the target part within the visible area based on the visible area, may further include:

[0153] Step S34: Acquire the configured safe motion area within the visible area.

[0154] In step S34 , for ease of description, the area within the safe movement area may be referred to as the first area, and the area outside the safe movement area and within the visible area may be referred to as the second area.

[0155] Step S35 , changing the movement speed of the target part according to the changes in the position and movement direction of the target part in the first area and the second area.

[0156] In step S35, the step of changing the movement speed of the target part according to the changes in the position and movement direction of the target part in the first area and the second area can be specifically implemented as follows:

[0157] For example, when the target part moves from the boundary of the first area to the outer boundary of the second area, the speed of the target part in the corresponding direction is reduced; and when the target part moves from the outer boundary of the second area to the boundary of the first area, the speed of the target part in the corresponding direction is increased. The second area includes an inner boundary and an outer boundary. The inner boundary of the second area is the same as the boundary of the first area, both of which refer to the boundary of the safe movement area, and the outer boundary of the second area refers to the boundary of the visible area. Figure 19 As shown, point A is located within the first area, point B is located within the second area, and point C is located outside the second area. The entire movement process of the target part, such as the end instrument, from point A through point B to point C is divided into three stages, including the first stage from point A to the boundary of the first area, the second stage from the boundary of the first area to the outer boundary of the second area, and the third stage from the outer boundary of the second area to point C. The movement speed of the first stage is v1, the movement speed of the second stage is v2, and the movement speed of the third stage is v3. v1>v2>v3, wherein v3=0, that is, the entire movement process essentially includes only the first and second stages. Figure 19The entire movement process from point C to point A via point B actually consists of only two stages, namely the first stage from the outer boundary of the second area to the boundary of the first area, and the second stage from the boundary of the first area to point A. The movement speed of the first stage is v1, and the movement speed of the second stage is v2. At this time, v1 <v2。

[0158] In one embodiment, the target portion's movement speed in the corresponding direction is positively correlated with the distance between the target portion and the outer boundary of the second area. That is, when the distance between the target portion and the outer boundary of the second area is smaller, the movement speed is slower; and when the distance between the target portion and the outer boundary of the second area is larger, the movement speed is also faster. Typically, when the target portion reaches the boundary of the visible area and moves toward the outside of the visible area, its movement speed is substantially zero; and when the target portion reaches the boundary of the safe area and moves away from the visible area, its movement speed returns to substantially normal.

[0159] Preferably, the speed of movement of the target portion in the corresponding direction is linearly positively correlated with the distance between the target portion and the outer boundary of the second region. Preferably, the speed of movement of the target portion in the corresponding direction is exponentially positively correlated with the distance between the target portion and the outer boundary of the second region. Such a design enables the doctor to clearly feel that the target portion is moving from the inner boundary to the outer boundary of the second region.

[0160] In other embodiments, the target site may move at a first constant speed in the first region and at a second constant speed in the second region. Typically, the first constant speed is greater than the second constant speed.

[0161] In some embodiments, the change in the target part's movement speed in different regions and / or different movement directions is typically based on the change in the overall movement speed of the surgical arm. For example, the target part's movement speed can be changed by changing a ratio of the surgical arm's movement speed. This ratio is related to the target part's location and movement direction.

[0162] In some embodiments, the changes in the target part's movement speed in different regions and / or different movement directions may not be based on changes in the overall movement speed of the surgical arm. For example, when the surgical arm's degrees of freedom are sufficiently redundant compared to the desired task's degrees of freedom, different movement speeds for the target part in different regions and / or different movement directions can be calculated.

[0163] In one embodiment, the motion input unit is a mechanical motion input unit, which has a plurality of joint components, a sensor coupled to a controller for sensing the state of each joint component, and a drive motor coupled to the controller for driving each joint component to move. Figure 20As shown, the above step S3, i.e., the step of limiting the movement of the target part within the visible area based on the visible area, may further include:

[0164] Step S34 ′: obtaining a configured safe movement area within the visible area.

[0165] For the convenience of description, in step S34 ′, the visible area and the safe motion area are also divided into the first area and the second area as described above.

[0166] Step S35 ′: changing the resistance of the motion input part according to the changes in the position and the motion direction of the target part in the first area and the second area.

[0167] Among them, step S35' mainly generates a reverse torque for the driving motor in the associated direction based on the resistance. In step S35', the step of changing the resistance of the motion input part based on the change of the position and movement direction of the target part in the first area and the second area can be specifically implemented as follows:

[0168] For example, when the target part moves from the boundary of the first area to the outer boundary of the second area, the resistance of the motion input part in the corresponding direction is increased; and when the target part moves from the outer boundary of the second area to the boundary of the first area, the resistance of the motion input part in the corresponding direction is reduced.

[0169] In one embodiment, the resistance of the motion input unit when moving in the corresponding direction is negatively correlated with the distance between the target part and the outer boundary of the second area. Typically, when the target part reaches the boundary of the visible area and moves in a direction outside the visible area, its movement speed is substantially zero. At this point, the resistance to the physician operating the motion input unit will be extremely high. With such high resistance, the physician can hardly move the motion input unit, causing the target part's movement speed to approach zero. When the target part reaches the boundary of the safe area and moves away from the visible area, its movement speed returns to substantially normal.

[0170] Preferably, the resistance of the motion input portion when moving in the corresponding direction is linearly negatively correlated with the distance between the target portion and the outer boundary of the second region. Preferably, the resistance of the motion input portion when moving in the corresponding direction is exponentially negatively correlated with the distance between the target portion and the outer boundary of the second region. Such a design also enables the physician to clearly sense that the target portion is moving from the inner boundary to the outer boundary of the second region, and can achieve good force feedback.

[0171] In other embodiments, when the target part moves in the first region, the resistance of the motion input part in moving in the corresponding direction is a first constant resistance, and when the target part moves in the second region, the resistance of the motion input part in moving in the corresponding direction is a second constant resistance. Typically, the second constant resistance is greater than the first constant resistance.

[0172] In one embodiment, the image end device of the camera arm, i.e., the camera, has adjustable camera parameters, such as adjustable focal length and / or adjustable aperture, where the focal length and aperture are intrinsic parameters of the camera. Based on this hardware foundation, Figure 21 As shown, before the above step S3, i.e., the step of limiting the movement of the target part within the visible area based on the visible area, the following steps may be further included:

[0173] Step S301: Acquire the configured enlarged motion area outside the visible area.

[0174] The expanded motion area is at least partially located outside the visible area. For example, the visible area is completely located within the expanded motion area; another example, the visible area and the expanded motion area are independent of each other, i.e., have no intersection; another example, a portion of the visible area is located within the expanded motion area. The visible area refers to the area visible before the camera parameters are readjusted, and the new visible area refers to the area visible after the camera parameters are readjusted.

[0175] Step S302 : adjusting the camera parameters based on the visible area and the expanded motion area to generate a new visible area to cover the visible area and the expanded motion area.

[0176] The camera parameters include focal length and / or aperture. Focal length is related to the field of view angle, while aperture is related to the depth of field. Specifically, step S3 above involves limiting the movement of the target part within the new visible area based on the new visible area. Through steps S301 and S302, the range of motion of the target part in the surgical arm can be expanded.

[0177] In some embodiments, a safe motion area and an expanded motion area can be configured simultaneously based on the visible area, so that the doctor can operate the surgical arm to move within a larger and safe range of motion.

[0178] The aforementioned safe movement area and / or expanded movement area may be system default settings. For example, the safe movement area is automatically obtained by the system by setting a zoom factor based on the current visible area; the expanded movement area is automatically obtained by the system by setting a magnification factor based on the current visible area. These zoom factors and / or magnification factors may be pre-stored in a database for easy access, typically stored in a storage unit on the camera arm.

[0179] The above-mentioned safe motion area and / or expanded motion area can also be customized by the doctor. For example, the corresponding depth of field z is generated in the display. i The plane range of the corresponding visible area f(X i ,Y i), obtain the safe boundary image corresponding to the safe motion area within the basic boundary image drawn by the doctor through the input unit, or obtain the enlarged boundary image corresponding to the enlarged motion area that at least partially covers the basic boundary image. These boundary images are usually closed images. Then, the corresponding safe motion area and / or enlarged motion area are calculated based on the relationship between the safe boundary image and / or enlarged boundary image and the basic boundary image, such as the position. Among them, the boundary image drawn by the doctor is usually a regular image, such as a circular image, a rectangular image, or an elliptical image. In order to facilitate the calculation of the safe motion area and / or the enlarged motion area, even if the boundary image is an irregular image, the drawn boundary image can be converted into the closest regular image through processing.

[0180] In one embodiment, if Figure 22 As shown, the above step S2, i.e., the step of obtaining the target part of the configured surgical arm currently located in the visible area, may include:

[0181] Step S24 , obtaining a target part based on a characteristic part configuration of the surgical arm that can be configured as a target part.

[0182] Step S25 , determining whether the target part is located in the visible area. If the currently configured target part is not in the visible area, adjusting the camera parameters based on the position of each target part to generate a new visible area to cover each target part.

[0183] The parameters being adjusted refer to intrinsic camera parameters such as focal length and / or aperture, and do not include extrinsic camera parameters such as position and posture. If the current camera parameters have reached their adjustable limits, or if the viewable area still does not cover all target areas even after reaching their adjustable limits, the surgeon can be prompted to adjust the surgical arm to move all target areas into the viewable area, or to adjust the camera arm to cover all target areas before operating the surgical arm to perform the surgery.

[0184] Through the above steps S24 to S25, a corresponding appropriate visual area can be generated according to the selection of the target part, so as to facilitate the doctor's subsequent surgical operation. Figure 23 As shown in the figure, the dotted circle represents the visible area before adjustment. Only parts E and J1 to J4 can be seen in the visible area before adjustment. In fact, the doctor needs to configure parts E and J1 to J5 as target parts. At this time, the camera parameters can be adaptively adjusted according to the positions of these target parts, so that the characteristic parts that did not originally exist in the visible area before adjustment are located in the visible area after adjustment for configuration and execution of steps such as steps S1 to S3.

[0185] In one embodiment, if Figure 24As shown, the above step S25, i.e., adjusting the camera parameters based on the positions of the target parts to generate a new visible area to cover the target parts, can be specifically implemented by the following steps:

[0186] Step S261: Obtain the kinematic model of the surgical arm and the joint variables of each joint in the surgical arm.

[0187] Step S262 , determining the position of the target part in the reference coordinate system by combining the kinematic model and the joint variables.

[0188] Step S263: constructing a maximum motion region according to the position of each target part.

[0189] Step S264 : adjusting the camera parameters based on the maximum motion area to generate a new visible area to cover the maximum motion area.

[0190] In the case where the target parts are configured to have multiple targets: in some embodiments, all the target parts can be controlled to move within the visible area based on the visible area; in some embodiments, the movement of the surgical arm can be controlled based on the ratio value between the target part in the visible area and all the target parts. For example, when the ratio value reaches a threshold value (for example, 50%), the movement of the surgical arm can be freely controlled without too many restrictions, and when the ratio value is lower than the threshold value, the movement of the surgical arm can be prohibited.

[0191] The surgical robot of the above embodiment can also be a multi-port surgical robot. The difference between a multi-port surgical robot and a single-port surgical robot mainly lies in the operating equipment. Figure 25 The figure shows a slave operating device of a multi-hole surgical robot. The mechanical arm of the slave operating device in the multi-hole surgical robot has a main arm 110, an adjustment arm 120 and a manipulator 130 connected in sequence. There are more than two adjustment arms 120 and manipulators 130, for example, four. The distal end of the main arm 110 has a directional platform, the proximal ends of the adjustment arms 120 are connected to the directional platform, and the proximal end of the manipulator 130 is connected to the distal end of the adjustment arm 120. The manipulator 130 is used to detachably connect the operating arm 150, and the manipulator 130 has multiple joint components. In the multi-hole surgical robot, different operating arms 150 are inserted into the patient's body through different puncture devices. The operating arm 150 of the multi-hole surgical robot generally has fewer degrees of freedom than the operating arm 31 of the single-hole surgical robot. Usually, the operating arm 150 only has posture freedom (i.e., orientation freedom). Of course, changes in its posture generally also have an impact on the position, but because the impact is small, it can usually be ignored. The position of the operating arm 150 is often achieved with the assistance of the manipulator 130. Since the manipulator 130 and the operating arm 150 are linked to achieve posture changes, the two can be considered as a manipulator component, which is equivalent to the operating arm 31 in the single-port surgical robot.

[0192] In one embodiment, a computer-readable storage medium is provided, which stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the following steps: obtaining a visible area of a camera arm; obtaining a target part of the configured surgical arm currently located within the visible area; and limiting the movement of the target part within the visible area based on the visible area.

[0193] In one embodiment, a control device for a surgical robot is provided. Figure 26 As shown, the control device may include: a processor (processor) 501 , a communication interface (Communications Interface) 502 , a memory (memory) 503 , and a communication bus 504 .

[0194] The processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 504 .

[0195] The communication interface 502 is used to communicate with other devices such as various sensors, motors, solenoid valves, or network elements of other clients or servers.

[0196] The processor 501 is configured to execute a program 505 , and specifically may execute the relevant steps in the above method embodiment.

[0197] Specifically, the program 505 may include program codes, which include computer operation instructions.

[0198] The processor 505 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), one or more integrated circuits configured to implement an embodiment of the present invention, or a graphics processing unit (GPU). The one or more processors included in the control device may be processors of the same type, such as one or more CPUs or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0199] The memory 503 is used to store the program 505. The memory 503 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0200] Program 505 can specifically be used to enable processor 501 to perform the following operations: obtain the visible area of the camera arm; obtain the target part of the surgical arm currently located in the visible area; and limit the movement of the target part in the visible area based on the visible area.

[0201] 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.

[0202] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A surgical robot, characterized in that: The surgical robot comprises an operating arm and a controller, wherein the operating arm comprises a camera arm and a surgical arm. The controller is coupled to the operating arm and is configured to perform the following steps: Acquire the visible area of the camera arm; Acquiring a target part on the surgical arm currently located within the visible area includes: Selecting a characteristic portion currently located in the visible area as a first portion from characteristic portions on the surgical arm that can be configured as the target portion; Acquiring a model image of the surgical arm, the model image reflecting at least a characteristic portion that can be configured as the target portion; the model image being associated with a current motion state of the surgical arm; or the model image being associated with an initial motion state of the surgical arm; generating a configuration interface containing the model image; Obtaining a closed figure drawn by the doctor through the input unit, which at least covers a portion of the characteristic parts in the model image, and then taking all the first parts contained in the figure as target parts; The target part is limited to move within the visible area based on the visible area.

2. The surgical robot according to claim 1, characterized in that: The step of generating a configuration interface containing the model image includes: A control containing a feature portion associated with a feature portion that can be configured as the target portion is generated at a position corresponding to the first portion on the model image.

3. The surgical robot according to claim 1, wherein: The input unit is integrated into the master operating console, the slave operating device, or is independent of the master operating console and the slave operating device.

4. The surgical robot according to claim 1, wherein: The step of determining whether the characteristic part is the first part comprises: Acquiring an operation image of the visible area captured by the camera arm; identifying whether the characteristic portion is located within the operation image; When the characteristic portion is located within the operation image, it is determined that the characteristic portion is the first portion.

5. The surgical robot according to claim 1, characterized in that: The step of determining whether the characteristic part is the first part comprises: Acquiring a kinematic model of the surgical arm and joint variables of each joint in the surgical arm; Determining the position of the characteristic part in a reference coordinate system by combining the kinematic model and the joint variables; Converting the visible area into a position range in a reference coordinate system; Determining whether the position of the characteristic part is within the position range; When the characteristic portion is located within the position range, it is determined that the characteristic portion is the first portion.

6. The surgical robot according to claim 1, characterized in that: The target site may be selected from a joint and / or an end instrument of the surgical arm.

7. The surgical robot according to claim 1, characterized in that: The target site is a point on the joint and / or end instrument, an area on the joint and / or end instrument, and / or the entire joint and / or end instrument.

8. The surgical robot according to claim 1, characterized in that: The model image is a projection image or a computer model image of the surgical arm.

9. The surgical robot according to claim 1, characterized in that: The camera arm has a camera, and the focal length and aperture parameters of the camera are adjustable; Before the step of limiting the movement of the target part within the visible area based on the visible area, the method further includes: acquiring a configured enlarged motion area at least partially located outside the visible area; The parameters of the camera are adjusted based on the visible area and the enlarged motion area to generate a new visible area to cover the visible area and the enlarged motion area.

10. The surgical robot according to claim 1, characterized in that: The camera arm has a camera, and the focal length and / or aperture parameters of the camera are adjustable. The step of obtaining the target part of the configured surgical arm currently located in the visible area includes: Determining whether the target part is located in the visible area; If the target parts are not in the visible area, the parameters of the camera are adjusted based on the positions of the target parts to generate a new visible area to cover the target parts.

11. The surgical robot according to claim 10, characterized in that: The step of adjusting the parameters of the camera to generate a new visible area to cover each of the target parts includes: Acquiring a kinematic model of the surgical arm and joint variables of each joint in the surgical arm; Determining the position of the target part in a reference coordinate system by combining the kinematic model and the joint variables; constructing a maximum motion region according to the position of each target part; The parameters of the camera are adjusted based on the maximum motion area to generate the new viewing area to cover each of the target parts.

12. The surgical robot according to any one of claims 1 to 11, characterized in that: The surgical arm may be configured with a characteristic part of the target part, and / or a model image of the surgical arm, and / or a kinematic model of the surgical arm are pre-stored in a storage unit on each surgical arm for retrieval.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the surgical robot according to any one of claims 1 to 12.

14. A control device for a surgical robot, characterized in that: include: memory for storing computer programs; and a processor for loading and executing the computer program; The computer program is configured to be loaded and executed by the processor to implement the steps of the surgical robot according to any one of claims 1 to 12.

Images