Computer-readable storage medium and surgical robotic system

Abstract

The application provides a computer readable storage medium and a surgical robot system, and the computer readable storage medium stores a program, and when the program is executed, the following steps are implemented: an expected pose of a mechanical arm is planned according to a current pose of an orifice on a surface of an action object and a target region in the action object, so that when the mechanical arm is in the expected pose, a fixed point of the mechanical arm is located at the orifice, and when the mechanical arm rotates around the fixed point, a terminal end of a surgical instrument connected to the mechanical arm can reach the target region; a motion path of the mechanical arm is planned according to an initial pose and the expected pose of the mechanical arm, so that when the mechanical arm moves according to the motion path, the mechanical arm can reach the expected pose. When the computer readable storage medium is applied to the surgical robot system, the mechanical arm can be ensured to quickly and accurately move to the expected pose matched with the pose of the action object, and the smooth operation of the surgery is facilitated.

Description

Technical Field

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

[0002] When using a surgical robot system to perform minimally invasive surgery, it has the advantages of less trauma, less wound infection, and faster postoperative recovery for the subject. For the operator, it can also reduce the operator's operating difficulty and fatigue, and can bring the operator a strong sense of immersion.

[0003] During a surgical operation using a surgical robot system, the position of the robotic arm relative to the object of operation may change due to factors such as changes in the patient's body position or changes in the operator's operation. At this time, the robotic arm may not be able to adapt to the current operation, so the position of the robotic arm needs to be adjusted. The existing methods for adjusting the robotic arm mainly rely on the installation accuracy of the external guidance device to ensure the adjustment accuracy of the robotic arm. This method may have safety risks or it may be difficult to ensure that the adjusted robotic arm is in the appropriate position, resulting in the need for repeated adjustments, which prolongs the operation time. Therefore, developing a method that can quickly and accurately adjust the position of the robotic arm has become an urgent problem to be solved. 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, and to adjust the surgical robot system to ensure smooth operation.

[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 program is used to implement the following steps:

[0006] planning an expected posture of the robotic arm based on the current posture of the orifice on the surface of the object and the target area within the object, so that when the robotic arm is in the expected posture, the fixed point of the robotic arm is located at the orifice, and when the robotic arm rotates around the fixed point, the distal end of the surgical instrument connected to the robotic arm can reach the target area;

[0007] The motion path of the robotic arm is planned according to the initial posture of the robotic arm and the expected posture, so that the robotic arm can reach the expected posture when moving according to the motion path.

[0008] Optionally, the number of the robotic arms is at least two;

[0009] When planning the motion path, a constraint condition is that when at least two of the robotic arms move along their respective motion paths, the distance between any two of the robotic arms is greater than zero.

[0010] Optionally, each joint of the robotic arm has a first limit position and a second limit position, and the distance between the first limit position and the second limit position is the expected travel range of the corresponding joint of the robotic arm;

[0011] When planning the motion path, a constraint condition is that when the robotic arm is in the expected position, the distance from any joint to the corresponding first limit position and the distance from the joint to the corresponding second limit position are both greater than a predetermined value.

[0012] Optionally, when planning the motion path, a constraint condition is that when the robotic arm is in the expected position, the distance from any joint of the robotic arm to the corresponding first extreme position is equal to the distance from the joint to the corresponding second extreme position.

[0013] Optionally, the robotic arm has a plurality of joints, each of the joints having an expected joint position corresponding to an expected posture of the robotic arm;

[0014] When planning the motion path, the ability of the plurality of joints to reach their respective expected joint positions is used as a convergence condition.

[0015] Optionally, the number of the robotic arms is at least three;

[0016] When planning the motion path, the convergence condition is that the distances between corresponding joints of any two adjacent robotic arms among the at least three robotic arms are equal and greater than zero.

[0017] Optionally, the program executes the following steps to plan the motion path:

[0018] Traversing all possible paths of the robotic arm from the initial position to the expected position, and screening out the expected path;

[0019] It is determined whether the expected path converges, and if so, the expected path is determined to be the motion path.

[0020] Optionally, a poking card is provided at the orifice, and the surgical instrument is used to pass through the poking card and enter the body of the subject;

[0021] The program also performs the following steps:

[0022] determining whether the distal end of the surgical instrument is located within the puncture card, and if so, allowing the position of the subject to be changed;

[0023] If the position of the object being operated on is allowed to change, and the position of the object being operated on is changed, the motion path is planned and the robotic arm is driven to move.

[0024] Optionally, the program performs the following steps:

[0025] Acquiring the coordinates of the end of the surgical instrument and the coordinates of the end of the puncture card;

[0026] Whether the end of the surgical instrument is located inside the puncture card is determined according to the coordinates of the end of the surgical instrument and the coordinates of the end of the puncture card.

[0027] Optionally, when the distal end of the surgical instrument is located outside the puncture card, the program further performs the following steps:

[0028] The robotic arm is driven to move so that the distal end of the surgical instrument moves into the interior of the puncture card.

[0029] Optionally, if it is determined that the distal end of the surgical instrument is located inside the puncture card and before the position of the subject is changed, the program further performs the following steps:

[0030] Planning the initial position of the robotic arm so that when the robotic arm is in the initial position, the surgical instrument is separated from the poking card and is located at the position of the object being acted upon, and in the process of changing the position of the object being acted upon, the distance between the object being acted upon and the robotic arm is greater than zero; and

[0031] The robotic arm is driven to move to the initial position.

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

[0033] Optionally, an input device is further included for inputting adjustment instructions so that the control unit executes the program.

[0034] Optionally, a display is also included for displaying the status of the robotic arm and / or the surgical instrument.

[0035] Optionally, the state of the robotic arm includes a state in which the robotic arm is being recovered or reset; the state of the surgical instrument includes a state in which an operating space is being adjusted.

[0036] Compared with the prior art, the computer-readable storage medium and surgical robot system of the present invention have the following advantages:

[0037] First, a program is stored on the aforementioned computer-readable storage medium. When the program is executed, the program performs the following steps: planning the expected posture of the robotic arm according to the current posture of the orifice on the surface of the object and the target area in the object, so that when the robotic arm is in the expected posture, the fixed point of the robotic arm is located at the orifice, and when the robotic arm rotates around the fixed point, the end of the surgical instrument connected to the robotic arm can reach the target area; planning the motion path of the robotic arm according to the initial posture of the robotic arm and the expected posture, so that the robotic arm can reach the expected posture when moving along the motion path; when the computer-readable storage medium is applied to a surgical robot system, rapid and accurate adjustment of the robotic arm can be achieved, thereby ensuring the smooth progress of the operation and saving operation time.

[0038] Second, when the number of the robotic arms is at least two, when planning the motion path, a constraint condition is that the distance between the connecting rods of two adjacent robotic arms is greater than zero when at least two robotic arms move along their respective motion paths, so as to ensure that no collision occurs during the movement of the robotic arms along the motion path.

[0039] Third, each joint of the robotic arm has a first extreme position and a second extreme position, and the distance between the first extreme position and the second extreme position is the expected range of travel of the corresponding joint of the robotic arm; when planning the motion path, the distance from each joint to the corresponding first extreme position and from the joint to the corresponding second extreme position is greater than a predetermined value when the robotic arm is in the expected position as a constraint condition, so that when the robotic arm is in the expected position, the surgical instrument can have a more suitable operating space, which is conducive to the operator performing the surgical operation. In particular, when the robotic arm is in the expected position, when the distance from the joint to the corresponding first extreme position and the corresponding second extreme position are equal, the surgical instrument has the largest operating space.

[0040] Fourth, the number of the robotic arms is at least three. When planning the motion path, the program uses the distance between the corresponding joints of any two adjacent robotic arms among the at least three robotic arms to be equal and greater than zero as a convergence condition, so that when the robotic arms move along the motion path to the expected posture, the surgical instruments on the multiple robotic arms can perform surgical operations in various suitable operating spaces, avoiding interference, which is conducive to the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0042] Figure 1is a schematic diagram of an application scenario of a surgical robot system provided according to one embodiment of the present invention;

[0043] Figure 2 is a logic block diagram of hardware devices of a surgical robot system provided according to one embodiment of the present invention;

[0044] Figure 3 1 is a schematic diagram of component modules of a control unit in a surgical robot system provided according to one embodiment of the present invention;

[0045] Figure 4 1 is a schematic diagram of a specific connection relationship of action units in a surgical robot system provided according to one embodiment of the present invention;

[0046] Figure 5 This is a flow chart of adjusting the posture of a robotic arm when a surgical robot system is used according to one embodiment of the present invention;

[0047] Figure 6a is a schematic structural diagram of a robotic arm of a surgical robot system provided according to one embodiment of the present invention;

[0048] Figure 6b is a schematic structural diagram of a robotic arm of a surgical robot system provided according to another embodiment of the present invention;

[0049] Figure 7a This is a schematic diagram of the relative posture relationship between the robotic arm and the object before the object's position is changed during surgery by the surgical robot system provided by one embodiment of the present invention;

[0050] Figure 7b This is a schematic diagram of the relative posture relationship between the surgical instrument and the object before the object's position changes during surgery performed by the surgical robot system provided by one embodiment of the present invention;

[0051] Figure 8a This is a schematic diagram of the relative posture relationship between the robotic arm and the object after the object's position changes during surgery performed by the surgical robot system provided by one embodiment of the present invention;

[0052] Figure 8b This is a schematic diagram of the relative posture relationship between the surgical instrument and the object after the object's position changes during surgery performed by the surgical robot system provided by one embodiment of the present invention;

[0053] Figure 9 1 is a partial schematic diagram of a surgical robot system according to an embodiment of the present invention, showing three robotic arms and the spacing between joints;

[0054] Figure 10The relative positional relationship between the surgical instrument and the poking card when the position of the object being operated on is allowed to be changed in the surgical robot system provided by one embodiment of the present invention;

[0055] Figure 11 This is a flowchart of a control unit in a surgical robot system according to an embodiment of the present invention determining whether to allow the position of an object to be operated on to be changed;

[0056] Figure 12a is a schematic diagram of a human-machine interaction device of a surgical robot system according to one embodiment of the present invention;

[0057] Figure 12b This is a schematic diagram of a human-machine interaction device for a surgical robot system according to an embodiment of the present invention. Figure 12a Not the same;

[0058] Figure 12c This is a schematic diagram of a human-machine interaction device for a surgical robot system according to an embodiment of the present invention. Figure 12a and Figure 12b All are different;

[0059] Figure 13 This is an overall flow chart of adjusting the operating space during surgery using a surgical robot system provided by one embodiment of the present invention;

[0060] Figure 14 This is an overall flow chart of the surgical robot system provided by the present invention according to one embodiment for adjusting the operating space during surgery, which shows the process of the control unit constructing the cost function, heuristic function, weight function and convergence judgment function.

[0061] [Description of reference numerals is as follows]:

[0062] 1-target, 2-orifice, 3a-first lesion, 3b-second lesion;

[0063] 10-doctor's console, 20-robot body, 21-base, 30-image display device, 40-operating table, 50-tool placement table;

[0064] 110-mechanical arm, 111-adjustment arm, 112-tool arm;

[0065] 120-control unit, 121-information transceiver module, 122-processing module;

[0066] 130- detection unit;

[0067] 200-Surgical instruments, 300-Poking cards, 400-Human-computer interaction devices. DETAILED DESCRIPTION

[0068] 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.

[0069] 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.

[0070] As used in this specification, the singular forms "a", "an", and "the" include plural objects, and the plural form "a plurality" includes more than two objects, unless the content clearly indicates otherwise. As used in this specification, the terms "first", "second", "third", etc. are only used to distinguish between components and constituent elements, and do not indicate a sequence, unless the content clearly indicates otherwise. As used in this specification, the term "or" is generally used to include the meaning of "and / or", unless the content clearly indicates otherwise, and the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium, and it can be a connection between the internal parts of two components or an interaction relationship between two components. 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.

[0071] To make the objects, advantages, and features of the present invention more apparent, the present invention is further described below in detail with reference to the accompanying drawings. It should be noted that the drawings are greatly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar components.

[0072] Figure 1 FIG2 shows a schematic diagram of an application scenario of the surgical robot system provided by an embodiment of the present invention. Figure 1 As shown, the surgical robot system includes a control end and an execution end. The control end includes a doctor's console 10, and the execution end includes a robot body 20, an image display device 30, an operating table 40, and a tool placement table 50. The doctor's console 10 and the robot body 20 can form a master-slave control mode, so that the doctor's console 10 controls the robot body 20 to perform surgery on an object 1 supported by the operating table 40. It should be understood that the object 1 described herein can be a human or other animal, and the present invention is not limited to this.

[0073] The robot body 20 includes at least one robotic arm 110, which can be arranged on a base 21 of the robot body 20. The end joint of the robotic arm 110 is used to connect a surgical instrument 200 (such as Figure 6a As shown), the surgical instrument 200 is used to perform surgery from an orifice 2 (as shown in FIG. Figure 7b and Figure 8b During the surgical operation, the position of the robotic arm 110 needs to match that of the object, and the fixed point of the robotic arm 110 should be located at the orifice 2, so that the end joint of the robotic arm 110 can rotate around the fixed point at the orifice 2, thereby driving the surgical instrument 200 to rotate and perform the corresponding operation, and also ensuring that the operating space of the surgical instrument 200 can cover the target area, such as the lesion area where the surgical operation needs to be performed.

[0074] Those skilled in the art will appreciate that before the start of surgery, or during surgery, when the position of the subject 1 needs to be adjusted due to various reasons, the position of the robotic arm 110 needs to be adjusted according to actual needs after the position of the subject 1 is adjusted, so that the robotic arm 110 can drive the surgical instrument 200 to successfully complete the surgical operation. Figure 1 Combined with Figures 2 to 4This embodiment provides a surgical robot system, comprising a robotic arm 110 and a control unit 120, wherein the surgical instrument 200 is connected to the distal end joint of the robotic arm 110. The control unit 120 is in communication with the robotic arm 110 and is configured to: plan a desired position of the robotic arm 110 based on the current position of the orifice 2 on the body surface of the subject 1 and the target area, such that when the robotic arm 110 is in the desired position, the fixed point of the robotic arm 110 is located at the orifice 2, and when the robotic arm 110 rotates around the fixed point, the distal end of the surgical instrument 200 can reach the target area, so that the operating range of the surgical instrument 200 covers the target area; and plan a motion path of the robotic arm 110 based on the initial position of the robotic arm 110 and the desired position, such that the robotic arm 110 can reach the desired position when moving along the motion path. The current position of the orifice 2 here refers to the position of the orifice 2 after the position adjustment of the subject 1 is completed. The initial posture of the robotic arm 110 refers to the posture of the robotic arm 110 when the body position of the object 1 is adjusted.

[0075] Each joint of the manipulator 110 is further provided with a detection unit 130, such as a position sensor or encoder, for obtaining the joint angle (i.e., position information) of each joint of the manipulator 110 to obtain the position of the manipulator 110 at any given moment. The control unit 120 preferably includes an information transceiver module 121 and a processing module 122 (e.g., Figure 3 As shown). The information transceiver module 121 is communicatively connected with the detection unit 130 and the driving mechanism on the robotic arm 110, and the information transceiver module 121 is used to receive the position information of each joint of the robotic arm 110 to obtain the posture of the robotic arm 110, and send it to the processing module 122. The processing module 122 is used to plan the motion path, and feed the motion path back to the information transceiver module 121, and then the information transceiver module sends the corresponding motion instructions to the driving mechanism to form a closed-loop control, and drives the various joints of the robotic arm 110 to move until the robotic arm 110 reaches the expected posture. In this way, the action units involved in the surgical robot system provided by this embodiment (such as Figure 4 The components related to the robot arm 110 mainly include the base 21 connected to the robot arm 110 and the surgical instrument 200 (as shown in FIG. Figure 4 shown).

[0076] In this way, when the position of the object 1 is adjusted and it is confirmed that the position of the robotic arm 110 needs to be adjusted, the surgical robot system performs the following operations: Figure 5The flow shown automatically adjusts the pose of the mechanical arm 110:

[0077] Step S100: The detection unit detects the initial positions of the joints of the mechanical arm to obtain the initial pose of the mechanical arm (i.e., the pose of the mechanical arm 110 when the body position of the action object 1 is completed).

[0078] Step S200: The control unit plans the expected pose of the mechanical arm according to the current pose of the orifice and the target region.

[0079] Step S300: The control unit plans the motion path according to the initial pose and the expected pose of the mechanical arm. Specifically, the information receiving module 121 receives the initial positions of the joints of the mechanical arm and sends them to the processing module 122, which plans the motion path.

[0080] Step S400: The control unit drives the mechanical arm to move along the motion path so that the mechanical arm reaches the expected pose. That is, the information receiving and sending module 121 sends the relevant motion instructions of the motion path to the mechanical arm 110 to drive the mechanical arm 110 to move.

[0081] The configuration of the mechanical arm 110 in this embodiment is not particularly limited. According to the type of the fixed point, the mechanical arm 110 can be divided into a mechanical fixed point mechanical arm (as shown in Figure 6a ), an active fixed point mechanical arm (which can also be referred to as an algorithm fixed point mechanical arm, as shown in Figure 6b ), and a passive fixed point mechanical arm (not shown in the figure). The mechanical fixed point mechanical arm can include an adjustment arm 111 and a tool arm 112. The mechanical fixed point mechanical arm has a fixed relationship with the position of the mechanical fixed point (hereinafter referred to as the fixed point for simplicity) after the structure of the tool arm 112 is determined. The end joint of the adjustment arm 111 is connected to the tool arm 112, and the end joint of the tool arm 112 is connected to the surgical instrument 200. The adjustment arm 111 is used to adjust the position of the fixed point, and the tool arm 112 is used to drive the surgical instrument 200 to rotate around the fixed point. The active fixed point mechanical arm includes a spatial structure with at least six degrees of freedom. The control unit calculates the rotation angles of the joints of the mechanical arm according to the position of the active fixed point, and the surgical instrument 200 enters the body of the action object 1 through the active fixed point for operation. This document takes the mechanical arm 110 as an example of the mechanical fixed point mechanical arm, but it should not limit the present application.

[0082] In addition, the surgical robot system provided in this embodiment can be either a master-slave mapping robot system or a non-master-slave mapping robot system.

[0083] As mentioned above, during the operation, if the current posture of the robot arm 110 does not match the current posture of the object 1 due to changes in the body position of the object 1 or other reasons, it is not conducive to the smooth progress of the operation. For example, in a specific embodiment, please refer to Figure 7a and Figure 7b At the beginning of the operation, the operating table 40 is arranged horizontally, and the object 1 lies flat on the operating table 40. At this time, the operating space of the surgical instrument 200 can cover the target area. It can be understood that the surgical instrument 200 rotates around the fixed point under the drive of the tool arm 112, that is, the operating space of the surgical instrument 200 is a conical space P, then the operating space of the surgical instrument 200 covering the target area means that the cone bottom surface S of the conical space covers the target area. In this embodiment, please focus on Figure 7b , the patient's object 1 has a first lesion 3a and a second lesion 3b in its body. The target area may be the area where the first lesion 3a and the second lesion 3b are located. That is, when the operating space of the surgical instrument 200 covers both the first lesion 3a and the second lesion 3b, it can be considered that the position of the robotic arm 110 matches the position of the object 1, and the robotic arm 110 is in the expected position. In other words, in this embodiment, the expected position of the robotic arm 110 refers to the position of the robotic arm 110 when the operating space of the surgical instrument 200 can simultaneously cover both the first lesion 3a and the second lesion 3b.

[0084] As the operation progresses, the operator changes the position of the subject 1, for example, Figure 8a In a specific embodiment, the operator adjusts the position of the operating table 40 so that an angle θ greater than 0° is formed between the operating table 40 and the horizontal plane. At this time, the position of the object being operated on changes accordingly, that is, the position of the object being operated on in the world coordinate system changes. Since the position of the robotic arm 110 in the world coordinate system remains unchanged, the position of the robotic arm 110 relative to the object being operated on changes. Figure 8b As shown, the area covered by the operating space of the surgical instrument 200 changes accordingly, for example, it only covers the first lesion 3a but cannot cover the second lesion 3b, that is, the robotic arm 110 deviates from the expected posture.

[0085] To ensure a smooth surgical procedure, the position of the robotic arm 110 must be adjusted so that the operating space of the surgical instrument 200 mounted on its end can be restored to cover both the first lesion 3a and the second lesion 3b. The control unit can then plan the desired position of the robotic arm 110 based on the current position of the subject 1, specifically the current position of the orifice 2 on the subject's body surface, and the target area. The control unit then plans the motion path of the robotic arm 110 and drives the robotic arm 110 to move to the desired position along the motion path.

[0086] The control unit can plan the motion path by any appropriate method. Corresponding to the expected posture of the robotic arm 110, each joint of the robotic arm 110 has a corresponding expected joint position. In order to plan a reasonable motion path so that the robotic arm 110 can reach the expected posture, and avoid collisions between the robotic arm 110 or other structures during the motion according to the motion path, and avoid the joints of the robotic arm 110 reaching or even exceeding the limit position and causing danger, the control unit 120 is preset with appropriate constraints and convergence conditions. For example, the ability of each joint of the robotic arm 110 to reach its respective expected joint position is used as the first convergence condition in the process of planning the motion path. The deviation between the actual joint position that each joint of the robotic arm 110 can reach and the expected joint position is less than a first preset value as the first constraint condition when planning the motion path. It should be noted that the joints of the robotic arm 110 mentioned herein refer to the movable joints of the robotic arm 110.

[0087] Furthermore, each joint of the robot arm 110 rotates under the drive of the driving mechanism, and each joint has a first limit position P max and the second extreme position P min The first limit position P of each of the joints max To the second extreme position P min The distance is the expected range of motion P of the corresponding joint r When planning the motion path, it is also preferred to set the position of each joint to the corresponding first limit position P when the robot arm 110 is in the expected position. max The distance to the corresponding second extreme position P min The distances of the first limit position P are all greater than the first predetermined value as the second constraint condition. In a non-limiting embodiment, the first limit position P max It can be 180°, the second extreme position P minIt can be 0°. In this way, the expected range of motion of each joint of the robotic arm 110 is 0° to 180°. The first predetermined value can be, for example, 20% of the full range of motion. Thus, when the robotic arm 110 is in the expected posture, the position of any joint within its expected range of motion is:

[0088] (P min +20% × P r , P max -20% × P r ), thus, the surgical instrument 200 has an operating range of at least 36° in any direction, which can basically meet the needs of surgical operations.

[0089] When there are multiple robotic arms 110, it is preferred that the joints are located at 50% of the corresponding desired range of motion, that is, when the robotic arm 110 is in the expected posture, each of the joints is at the corresponding first limit position P max and the corresponding second extreme position P min The distances between the joints are all 90° (that is, each of the joints is located in the middle of the corresponding desired range of motion), so that all of the surgical instruments 200 can have a suitable operating range at the same time.

[0090] Furthermore, when there are multiple robotic arms 110, for example, two robotic arms, collisions between the robotic arms 110 should be avoided when the robotic arms 110 move along the motion path. Therefore, during the motion path planning process, a third constraint condition should be set: the distance between any two robotic arms 110 should be greater than zero.

[0091] Corresponding to the second constraint condition, when the number of the robotic arms 110 is three or more (including three), when planning the motion path, it is also preferred to use the distance L (such as the distance L between the corresponding joints of any two adjacent robotic arms 110) of the robotic arms 110. Figure 9 The corresponding joint spacing refers to the same type of joints or joints at the same position on the same type of manipulator 110, for example, please refer to Figure 9 , Figure 9 The surgical robot system shown has three robotic arms 110 , and the configurations and numbers of joints of the three robotic arms 110 are exactly the same. Therefore, for the three robotic arms 110 , the joints with corresponding positions, such as the end joints, are the same joints.

[0092] Furthermore, it should be noted that as the operator changes the position of the subject, the three-dimensional position of the orifice 2 in the world coordinate system may or may not change. When the three-dimensional position of the orifice 2 remains unchanged (for example, the operating table 40 rotates about the orifice 2 and tilts), the fixed point of the robotic arm 110 remains at the orifice 2. Therefore, for the robotic arm with the fixed point, the motion path effectively only involves the movement of the tool arm 112. However, when the three-dimensional position of the orifice 2 changes, the fixed point of the robotic arm 110 is no longer at the orifice 2. In this case, the motion path involves the movement of both the adjustment arm 111 and the tool arm 112. In this case, when planning the motion path, a third convergence condition is established: the deviation between the actual fixed point of the robotic arm 110 and the orifice 2 (i.e., the expected fixed point of the robotic arm 110) is less than a second predetermined value. This ensures that when the robotic arm 110 is in the expected position, the fixed point of the robotic arm 110 completely or substantially coincides with the orifice 2.

[0093] Typically, before adjusting the position of the object 1, the operator may also consider whether the surgical instrument 200 and / or the robotic arm 110 will collide with the object during the process of adjusting the position of the object 1 and cause unnecessary damage. In this case, the control unit 120 is also configured to determine whether the operator is allowed to change the position of the object to ensure safety. When the control unit determines that the position of the object 1 is allowed to be changed, and the operator has changed the position of the object 1, the control unit then plans the expected posture of the robotic arm 110, and plans the motion path based on the expected posture and the initial posture of the robotic arm 110, and drives the robotic arm 110 to move according to the motion path.

[0094] Please refer to Figure 10 The orifice 2 is provided with a stamp 300, and the surgical instrument 200 is used to pass through the stamp 300 and enter the body of the subject. Before changing the position of the subject, the control unit 120 is configured to determine whether the end of the surgical instrument 200 is located inside the stamp 300, so as to determine whether the change of the subject's position is allowed. Specifically, Figure 11 As shown, the control unit can be configured to perform the following steps:

[0095] Step S1: Obtain the coordinates of the distal end of the surgical instrument and the distal end of the corresponding probing card, and calculate a vector with one of the distal end of the surgical instrument and the distal end of the corresponding probing card as the starting point and the other as the end point. The distal end of the probing card refers to the end of the probing card located within the body of the patient.

[0096] Step S2: Determine whether the direction of the vector is the expected direction. If so, the distal end of the surgical instrument is determined to be inside the poking card, allowing the patient's position to be changed. If not, the distal end of the surgical instrument is determined to be outside the poking card, preventing the patient's position from being changed. In this embodiment, the control unit calculates the vector using the distal end of the surgical instrument 200 as the starting point and the distal end of the poking card 300 as the end point. The expected direction is determined based on the coordinate system of the surgical instrument 200 and the poking card 300. It will be understood that if the vector is positive when the distal end of the surgical instrument 200 is inside the poking card 300, it will necessarily be negative when the distal end of the surgical instrument 200 is outside the poking card 300. Therefore, whether the distal end of the surgical instrument 200 is inside the poking card 300 can be determined based on the vector from the distal end of the surgical instrument 200 to the distal end of the poking card 300. It should be noted that the end of the surgical instrument 200 described herein is located outside the stamping card 300 , which means that the end of the surgical instrument 200 is located outside the end of the stamping card 300 , and at this time, the surgical instrument 200 is located inside the body of the object 1 .

[0097] The control unit can obtain the position of the distal end of the surgical instrument 200 according to the position of the distal joint of the robotic arm 110 , and obtain the position of the distal end of the puncture card 300 according to the position of the orifice 2 and the structure and size of the puncture card 300 .

[0098] It is understandable that when the distal end of the surgical instrument 200 is located outside the stamp card 300 , the control unit 120 may be configured to drive the robotic arm 110 to move so as to retract the surgical instrument 200 into the stamp card 300 .

[0099] Furthermore, after determining that the position of the subject 1 is permitted to be changed, the control unit 120 is further configured to plan the initial position of the robotic arm 110. When the robotic arm 110 is in the initial position, the surgical instrument 200 is separated from the stamping card 300 and is located outside the body of the subject 1. Furthermore, during the process of changing the position of the subject 1, the distance between the subject 1 and the robotic arm 110 is always greater than zero. The robotic arm 110 is then driven to move to the initial position (this process can be referred to as resetting the robotic arm 110). This operation can prevent collisions between the robotic arm 110 and the subject during the process of changing the subject's position, thereby improving safety.

[0100] It is understood that in some cases (e.g., when any joint of the robotic arm 110 and the surgical instrument are both relatively far from the patient), the operator does not need to consider whether the robotic arm 110 and the surgical instrument 200 will collide with the patient 1 during the process of changing the patient's position before changing the patient's position. In this case, the position of the robotic arm 110 remains unchanged before, during, and after the patient's position is adjusted, and this position is referred to as the initial position.

[0101] In this article, the process of changing the body position of the object 1 and adjusting the posture of the robotic arm 110 accordingly is referred to as operation space adjustment. Preferably, the surgical robot system also includes an input device for inputting adjustment instructions to trigger the control unit to execute corresponding steps to complete the operation space adjustment of the robot body 20. In addition, the surgical robot system may also include a display for displaying the status of the robotic arm 110 and the surgical instrument 200. Optionally, the surgical robot system includes a human-machine interaction device 400 (such as Figures 12a to 12c The human-computer interaction system has a virtual key for inputting adjustment instructions.

[0102] If so, please refer to Figure 13 ,The process of adjusting the operating space of the surgical robot system during ,surgery is as follows:

[0103] Step S101: Confirm the operation space adjustment on the human-computer interaction system. Figure 12a and Figure 12b First, the operator triggers the virtual button on the human-machine interaction device 400 to trigger the operation space adjustment instruction. Then the control unit determines whether it is allowed to change the position of the object being operated on. If not, the control unit drives the robot arm 110 to move so that the surgical instrument 200 is retracted into the inside of the stamp card 300. During this process, the human-machine interaction device 400 can display that the surgical instrument 200 is being retracted (such as Figure 12b After the surgical instrument 200 completely enters the inside of the stamp card 300, the control unit controls the robotic arm 110 to reset to the initial position. At this time, the human-machine interaction device 400 can display that the robotic arm 110 is in the reset state (as shown). Figure 12b As shown in FIG. 1 , the recovery of the surgical instrument 200 and the resetting of the robotic arm 110 are performed sequentially. Therefore, the human-machine interaction device may indicate the ongoing process using different colors, for example, displaying the ongoing process in green and the pending or completed operation in gray. Alternatively, the human-machine interaction device 400 may only display the ongoing operation.

[0104] Subsequently, step S102 is performed: changing the body position of the object, for example, by changing the pose of the operating table.

[0105] Next, step S110 is performed: obtaining the current pose of the orifice, and the initial positions of the joints of the robot arm in the world coordinate system (i.e., obtaining the initial pose of the robot arm in the world coordinate system).

[0106] Next, step S120 is performed: obtaining the positions of the joints of the robot arm relative to the operating table according to the initial positions of the joints of the robot arm in the world coordinate system and the movement information of the operating table, for example, the tilt angle of the operating table. That is, the initial pose of the robot arm in the world coordinate system is converted into the initial pose relative to the operating table.

[0107] Next, step S200 and step S300 are performed in sequence.

[0108] It should be noted that since the robot arm 110 has reached the initial pose before the operating table moves, the step of obtaining the initial positions of the joints of the robot arm 110 in the world coordinate system can also be performed before step 102 or simultaneously with step 102, which is not limited by the present application.

[0109] In the present embodiment, the iterative method such as Jacobian method can be used to plan the motion path. When starting the iteration, first solve the iteration step S:

[0110]

[0111] In the formula, counts is the step frequency of the driving mechanism such as motor of the robot arm 110, which is set according to actual needs, usually set when the motor is factory.

[0112] Please continue to refer to Figure 13 , the step S200 specifically includes:

[0113] Step S210: calculate the iteration step and calculate the movement position of the joint of the robot arm according to the step. The distance between the adjacent two movement positions of the joint of the robot arm is a step, and the movement direction is determined by the path.

[0114] Step S220: traverse all possible paths.

[0115] Step S230: select the expected path from all possible paths.

[0116] Step S240: Determine whether the expected path has converged. If so, the expected path is the motion path. If not, the current expected path is recorded and the process returns to step S210.

[0117] During the entire motion path planning process, the control unit is configured to construct a cost function g(n) and a heuristic function h(n) to traverse all possible paths, and to construct a weight function w(n) to screen the expected path, and finally to use the cost function g(n), the heuristic function h(n) and the weight function w(n) to calculate the convergence judgment function f(n) to determine whether the expected path converges. The constraints of the above functions include the aforementioned first constraint, second constraint and third constraint; the convergence conditions of the above functions include the aforementioned first convergence condition, second convergence condition and third convergence condition. Those skilled in the art know how to construct the cost function g(n), the heuristic function h(n) and the weight function w(n) to calculate the convergence judgment function f(n).

[0118] That is, please refer to Figure 14 When planning the motion path, the control unit performs the following steps:

[0119] Step S220: constructing a cost function g(n) and a heuristic function h(n) to traverse all possible paths.

[0120] Step S230: constructing a weight function w(n) to screen the expected path.

[0121] Step S240: Constructing a convergence judgment function f(n) to judge whether each joint of the manipulator is located at its respective expected position. The expected position is the position of each joint corresponding to the expected posture of the manipulator.

[0122] The surgical robot system provided by the embodiment of the present invention plans the movement path of the robotic arm according to the current position of the orifice on the surface of the object and the initial position of the robotic arm when the position of the object does not match the position of the robotic arm. This allows the robotic arm to quickly and accurately move to an expected position along the movement path, so that the robotic arm can re-match the position of the object at the expected position. Furthermore, by setting constraints and convergence conditions during path planning, collision detection and limit detection are implemented during the path planning process to ensure that when the robotic arm moves along the planned movement path, no collision occurs between the multiple robotic arms, thereby ensuring safety. Furthermore, when the robotic arm moves to the expected position, the surgical instrument connected to the end joint of the robotic arm has a suitable operating range to meet the actual needs of the surgical operation.

[0123] In addition, during the execution of step S102 to step S300, the human-computer interaction device 400 may also display prompt information, such as the state of the operation space adjustment being performed (such as Figure 12c ) prompt information.

[0124] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium having a program stored thereon. When the program is executed, all the steps performed by the aforementioned control unit can be executed.

[0125] Furthermore, an embodiment of the present invention further provides a method for adjusting the posture of a robotic arm, which includes the step of planning the expected posture of the robotic arm and the motion path performed by the control unit. Preferably, the method for adjusting the posture of the robotic arm also includes the step of planning the initial posture of the robotic arm.

[0126] 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, it is used to implement the following steps: The expected posture of the robotic arm is planned based on the current posture of the orifice on the surface of the object and the target area in the object, so that when the robotic arm is in the expected posture, the fixed point of the robotic arm is located at the orifice, and when the robotic arm rotates around the fixed point, the end of the surgical instrument connected to the robotic arm can reach the target area, so that the operating range of the surgical instrument covers the target area; the current posture of the orifice refers to the posture of the orifice after the position adjustment of the object is completed; The motion path of the robotic arm is planned according to the initial position of the robotic arm and the expected position, so that the robotic arm can reach the expected position when moving along the motion path; the initial position of the robotic arm refers to the position of the robotic arm when the position of the object of action is adjusted. When the robotic arm is in the initial position, any joint of the robotic arm and the surgical instrument are far away from the object of action.

2. The computer-readable storage medium according to claim 1, wherein The number of the robotic arms is at least two; When planning the motion path, a constraint condition is that when at least two of the robotic arms move along their respective motion paths, the distance between any two of the robotic arms is greater than zero.

3. The computer-readable storage medium according to claim 1, wherein Each joint of the robotic arm has a first limit position and a second limit position, and the distance between the first limit position and the second limit position is the expected range of motion of the corresponding joint of the robotic arm; When planning the motion path, a constraint condition is that when the robotic arm is in the expected position, the distance from any joint to the corresponding first limit position and the distance from the joint to the corresponding second limit position are both greater than a predetermined value.

4. The computer-readable storage medium according to claim 3, wherein: When planning the motion path, a constraint condition is that when the robotic arm is in the expected position, the distance from any joint of the robotic arm to the corresponding first extreme position is equal to the distance from the joint to the corresponding second extreme position.

5. The computer-readable storage medium according to claim 1, wherein The robotic arm has a plurality of joints, each of the joints having an expected joint position corresponding to an expected pose of the robotic arm; When planning the motion path, the ability of the plurality of joints to reach their respective expected joint positions is used as a convergence condition.

6. The computer-readable storage medium according to claim 1, wherein The number of the robotic arms is at least three; When planning the motion path, the convergence condition is that the distances between corresponding joints of any two adjacent robotic arms among the at least three robotic arms are equal and greater than zero.

7. The computer-readable storage medium according to any one of claims 1 to 6, wherein: The program performs the following steps to plan the motion path: Traversing all possible paths of the robotic arm from the initial position to the expected position, and screening out the expected path; It is determined whether the expected path converges, and if so, the expected path is determined to be the motion path.

8. The computer-readable storage medium according to any one of claims 1 to 6, wherein: The orifice is provided with a poking card, and the surgical instrument is used to pass through the poking card and enter the body of the object; The program also performs the following steps: determining whether the distal end of the surgical instrument is located within the puncture card, and if so, allowing the position of the subject to be changed; If the position of the object being operated on is allowed to change, and the position of the object being operated on is changed, the motion path is planned and the robotic arm is driven to move.

9. The computer-readable storage medium according to claim 8, wherein: The program performs the following steps: Acquiring the coordinates of the end of the surgical instrument and the coordinates of the end of the puncture card; Whether the end of the surgical instrument is located inside the puncture card is determined according to the coordinates of the end of the surgical instrument and the coordinates of the end of the puncture card.

10. The computer-readable storage medium according to claim 8, wherein When the distal end of the surgical instrument is outside the puncture card, the program further performs the following steps: The robotic arm is driven to move so that the distal end of the surgical instrument moves into the interior of the puncture card.

11. The computer-readable storage medium according to claim 8, wherein If it is determined that the distal end of the surgical instrument is located inside the puncture clamp and before the position of the subject is changed, the program further performs the following steps: Planning the initial position of the robotic arm so that when the robotic arm is in the initial position, the surgical instrument is separated from the poking card and is located outside the body of the operated object, and during the process of changing the position of the operated object, the distance between the operated object and the robotic arm is greater than zero; as well as The robotic arm is driven to move to the initial position.

12. A surgical robot system, characterized in that: The system comprises a control unit and the robotic arm communicatively connected to the control unit, wherein the control unit is configured to execute a program stored on the computer-readable storage medium according to any one of claims 1 to 11.

13. The surgical robot system according to claim 12, wherein: The system further comprises an input device for inputting adjustment instructions so that the control unit executes the program.

14. The surgical robot system according to claim 12, wherein: It also includes a display for displaying the status of the robotic arm and / or the surgical instrument.

15. The surgical robot system according to claim 14, wherein: The state of the robotic arm includes a state in which the robotic arm is being recovered or reset; the state of the surgical instrument includes a state in which an operating space is being adjusted.

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