Remote motion center monitoring method, robot system and readable storage medium

Abstract

The present invention provides a distal motion center monitoring method, a robotic system, and a readable storage medium. The distal motion center monitoring method acquires the measured coordinate data of the distal motion center of a surgical robot in real time; fits the measured coordinate data to obtain the geometric center coordinates of a circle or sphere; and performs a risk assessment based on the deviation between the geometric center coordinates and the theoretical coordinates of the distal motion center. If the assessment result indicates a risk, a prompt action is issued. With this configuration, the motion trajectory of the distal motion center is accurately detected, solving the problem in the prior art of being unable to effectively confirm whether the distal motion center of a surgical robot has deviated. This improves the safety of clinical surgery and avoids surgical safety hazards caused by distal motion center deviation.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a remote motion center monitoring method, a robot system and a readable storage medium. Background Art

[0002] Medical surgical robots are increasingly being used in clinical settings. They not only enable doctors to perform more precise, complex, and flexible surgeries, but also reduce surgical risks and the chance of postoperative complications.

[0003] Laparoscopic robotic surgery requires pre-operative drilling of holes in the patient's body. These holes serve as passageways for surgical instruments, ensuring they enter the patient's body for the procedure. During the operation, the robotic surgery must ensure the instruments maneuver around these holes, forming the distal center of motion during clinical surgery.

[0004] Figure 1 The figure is a schematic diagram of a robotic arm structure. The robotic arm structure includes a base 51, a first robotic arm 52, and a second robotic arm 53 that are rotatably connected relative to each other; the robotic arm structure also includes a puncture device 54 that is detachably fixed to the distal end of the second robotic arm 53. Figure 1 In the embodiment, a certain point on the puncture device 54 is the distal motion center 55. Figure 1 In the robotic arm structure shown, the rotation axis of the first robotic arm 52, the rotation axis of the second robotic arm 53 and the axis of the puncture device 54 are arranged at the same point to ensure that the distal end motion center 55 can be fixed no matter how the robotic arm structure rotates. However, other surgical robot robotic arm structures are not based on this method. Figure 1 Or other surgical robots cannot be set up in the same way to ensure flexibility. Figure 1 At this time, how to ensure that the position of the distal motion center 55 remains fixed has become a difficult problem.

[0005] To ensure the fixed position of the distal center of motion, the coordinates of the distal center of motion must be monitored in real time. Current surgical robots lack methods for monitoring the distal center of motion, and clinicians cannot accurately determine whether the distal center of motion has shifted visually. This lack of real-time monitoring and clinical adjustment of the distal center of motion can lead to displacement during surgery, causing stretching of the patient's incision, unnecessary surgical injuries, and prolonged postoperative recovery time.

[0006] That is to say, the prior art cannot effectively confirm whether the distal motion center of the surgical robot has shifted. Summary of the Invention

[0007] The purpose of the present invention is to provide a distal motion center monitoring method, a robot system and a readable storage medium to solve the problem in the prior art that it is impossible to effectively confirm whether the distal motion center of the surgical robot has shifted, thereby improving the safety of clinical surgery and avoiding surgical safety hazards caused by distal motion center deviation.

[0008] In order to solve the above technical problems, according to a first aspect of the present invention, a method for monitoring a distal motion center is provided, the method comprising:

[0009] Obtain the measurement coordinate data of the distal motion center of the surgical robot in real time;

[0010] Selecting a preset number of the measurement coordinate data from the acquired measurement coordinate data;

[0011] Performing circular fitting or spherical fitting on the selected measurement coordinate data to obtain a circle or a sphere;

[0012] Obtaining the geometric center coordinates of the circle or the sphere;

[0013] A risk assessment is performed based on the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center. If the assessment result shows that there is a risk, a prompt action is issued.

[0014] Optionally, after selecting a preset number of measurement coordinate data, the distal motion center monitoring method further includes: obtaining a relative distance between two measurement coordinate data with the largest distance among the selected measurement coordinate data to perform risk assessment.

[0015] Optionally, the prompt action includes at least one of: sound alarm, light alarm and display of prompt information.

[0016] Optionally, if the assessment result shows that there is a risk, the distal motion center monitoring method further includes: outputting a deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center to drive the distal motion center of the surgical robot to move toward the theoretical coordinates of the distal motion center.

[0017] Optionally, the step of obtaining measurement coordinate data of the distal motion center of the surgical robot includes: photographing the distal motion center from different angles using at least two photographing devices.

[0018] Optionally, the step of obtaining the measurement coordinate data of the distal motion center of the surgical robot further includes:

[0019] adjusting the shooting angle of the shooting device in real time so that the distal end motion center is located at the shooting center of the shooting device;

[0020] Obtaining a second relative positional relationship between the distal end motion center and the shooting devices based on a first relative positional relationship between at least two of the shooting devices and shooting angles of the shooting devices;

[0021] The measured coordinate data of the distal end motion center is acquired according to the second relative position relationship.

[0022] Optionally, the step of acquiring the measurement coordinate data of the distal motion center according to the second relative position relationship includes:

[0023] Establishing a reference coordinate system based on the photographing device;

[0024] Establishing a base coordinate system of the surgical robot;

[0025] Acquiring a conversion relationship between the reference coordinate system and the base coordinate system of the surgical robot;

[0026] Obtaining measurement coordinate data of the distal end motion center in the reference coordinate system according to the second relative position relationship;

[0027] The measured coordinate data of the distal motion center in the base coordinate system of the surgical robot are obtained according to the conversion relationship and the measured coordinate data of the distal motion center in the reference coordinate system.

[0028] Optionally, the step of selecting a preset number of measurement coordinate data includes:

[0029] sorting the measured coordinate data by acquisition time;

[0030] A continuous preset number of the measured coordinate data are selected.

[0031] In order to solve the above technical problem, according to a second aspect of the present invention, a readable storage medium is provided, wherein the readable storage medium stores a program, and when the program is executed, the above-mentioned distal motion center monitoring method is implemented.

[0032] In order to solve the above technical problems, according to the third aspect of the present invention, a robot system is provided, which includes a control device and a prompt device; the control device is used to implement the above-mentioned remote motion center monitoring method and control the prompt device to issue a prompt action.

[0033] Compared to the prior art, the present invention provides a distal motion center monitoring method, robotic system, and readable storage medium. The method acquires the measured coordinate data of the surgical robot's distal motion center in real time; fits the measured coordinate data to obtain the geometric center coordinates of a circle or sphere; and performs a risk assessment based on the deviation between the geometric center coordinates and the theoretical coordinates of the distal motion center. If the assessment indicates a risk, a prompt action is issued. This configuration accurately detects the trajectory of the distal motion center, resolving the prior art issue of being unable to effectively confirm whether the surgical robot's distal motion center has shifted. This improves the safety of clinical surgery and avoids the surgical safety hazards caused by distal motion center deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Those skilled in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0035] Figure 1 This is a schematic diagram of a robotic arm structure;

[0036] Figure 2 is a schematic diagram of a surgical scene according to an embodiment of the present invention;

[0037] Figure 3 1 is a flow chart of a method for monitoring the distal end motion center according to an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of a tool arm moving in space according to an embodiment of the present invention;

[0039] Figure 5 is a schematic diagram of measurement coordinate data of the distal motion center according to an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram showing the principle of obtaining measurement coordinate data of the distal motion center of a surgical robot according to an embodiment of the present invention;

[0041] Figure 7 is a schematic diagram of a robot system according to an embodiment of the present invention;

[0042] Figure 8 1 is a schematic diagram of the workflow of a robot system according to an embodiment of the present invention;

[0043] Figure 9 FIG. 4 is a schematic diagram of the execution logic of the prompting device according to an embodiment of the present invention.

[0044] In the attached figure:

[0045] 10-Doctor's console; 20-Patient surgical platform; 30-Binocular vision device; 40-Auxiliary equipment; 51-Base; 52-First robotic arm; 53-Second robotic arm; 54-Puncture device; 55-Distal motion center; 60-Patient; 70-Surgical robot; 80-Tool arm; 90-Coordinate acquisition device; 91-Reference coordinate system; 92-Base coordinate system of the surgical robot. DETAILED DESCRIPTION

[0046] To make the objects, advantages, and features of the present invention more clearly apparent, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale. They are only used to conveniently and clearly assist in illustrating the purposes of the embodiments of the present invention. In addition, the structures shown in the drawings are often part of the actual structure. In particular, different drawings may need to illustrate different focuses and sometimes use different scales.

[0047] As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of such features. The term "proximal end" generally refers to the end closest to the operator, and the term "distal end" generally refers to the end closest to the patient. "One end" and "the other end" as well as "proximal end" and "distal end" generally refer to two corresponding parts, which include not only endpoints. The terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrated; they can be mechanically connected or electrically connected; they can be directly connected or indirectly connected through an intermediate medium; they can be internal communication between two elements or an interactive relationship between two elements. In addition, as used in the present invention, "one element is arranged on another element" generally only means that there is a connection, coupling, cooperation, or transmission relationship between the two elements, and the connection, coupling, cooperation, or transmission between the two elements can be direct or indirect through an intermediate element, and it should not be understood to indicate or imply a spatial positional relationship between the two elements, that is, one element can be in any position such as inside, outside, above, below, or to the side of another element, unless the content clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The core idea of ​​the present invention is to provide a distal motion center monitoring method, a robot system and a readable storage medium to solve the problem in the existing technology that it is impossible to effectively confirm whether the distal motion center of the surgical robot has shifted, thereby improving the safety of clinical surgery and avoiding surgical safety hazards caused by distal motion center deviation.

[0049] The following description is given with reference to the accompanying drawings.

[0050] Please refer to Figures 2 to 9 ,in, Figure 2 is a schematic diagram of a surgical scene according to an embodiment of the present invention; Figure 3 1 is a flow chart of a method for monitoring the distal end motion center according to an embodiment of the present invention; Figure 4 is a schematic diagram of a tool arm moving in space according to an embodiment of the present invention; Figure 5 is a schematic diagram of measurement coordinate data of the distal motion center according to an embodiment of the present invention; Figure 6 This is a schematic diagram showing the principle of obtaining measurement coordinate data of the distal motion center of a surgical robot according to an embodiment of the present invention; Figure 7 is a schematic diagram of a robot system according to an embodiment of the present invention; Figure 8 1 is a schematic diagram of the workflow of a robot system according to an embodiment of the present invention; Figure 9 FIG. 4 is a schematic diagram of the execution logic of the prompting device according to an embodiment of the present invention.

[0051] like Figure 2 As shown, the surgical scene of one embodiment of the present invention includes a doctor's console 10, a patient surgical platform 20, a binocular vision device 30, and auxiliary equipment 40. The design concept of this embodiment is to use the binocular vision device 30 to collect real-time three-dimensional coordinate data of the distal motion center position of the surgical robot 70 in the binocular vision coordinate system during surgery. The mapping relationship between the robot base coordinate system and the binocular vision coordinate system is calculated and analyzed, and the position data of the distal motion center in the binocular vision coordinate system is converted into three-dimensional position data in the robot base coordinate system. The deviation is calculated and fed back to the prompt device.

[0052] Specifically, a distal motion center monitoring method according to an embodiment of the present invention is as follows: Figure 3 As shown, the distal motion center monitoring method includes:

[0053] S10 acquires the measured coordinate data of the distal motion center of the surgical robot 70 in real time;

[0054] S20: selecting a preset number of the measurement coordinate data from the measurement coordinate data that has been acquired;

[0055] S30 performs circular fitting or spherical fitting on the selected measurement coordinate data to obtain a circle or a sphere;

[0056] S40 obtains the geometric center coordinates of the circle or the sphere;

[0057] S50 performs risk assessment based on the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center.

[0058] S60: If the result of the risk assessment is that there is a risk, a prompt action is issued, and the prompt action includes: at least one of a sound alarm, a light alarm, and a display of prompt information.

[0059] S70 If the result of the risk assessment is that there is a risk, output the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center to drive the distal motion center of the surgical robot 70 to move toward the theoretical coordinates of the distal motion center.

[0060] Such configuration can achieve the following beneficial effects:

[0061] 1) timely reminding by acquiring the measured coordinate data of the distal motion center in real time to ensure that the distal motion center does not deviate from the theoretical coordinates of the distal motion center;

[0062] 2) Improve measurement accuracy and eliminate noise interference through circular fitting or spherical fitting;

[0063] 3) capable of providing relevant data to guide the subsequent movement process of the surgical robot 70;

[0064] 4) Through the above beneficial effects, the safety of clinical surgery is improved and the surgical safety risks caused by the deviation of the distal motion center are avoided.

[0065] In step S60, a risk exists when the distal end's center of motion deviates from its original position and could potentially cause stretching or damage to the patient's incision. In actual judgment, the relevant logic must consider both whether the current measurement value already presents a risk and whether the current measurement value is reliable. The specific judgment logic can be understood by referring to the following content of this manual.

[0066] Please refer to Figure 4 In an exemplary embodiment, a tool arm moves in space and its position may be as follows Figure 4 As shown in the solid line part or the dotted line part in FIG, at different positions, the position of the distal motion center of the tool arm may be Q1, Q2, ... Q m The purpose of the distal motion center monitoring method of the present invention is to make the above Q1, Q2, ... Q m The coordinates remain unchanged. From the perspective of engineering application, it is best to make the above Q1, Q2, ... Q m Move within a smaller range.

[0067] In order to achieve the above-mentioned goal, first, the distal motion center Q of the surgical robot 70 should be measured in real time. i The coordinates of the surgical robot 70 are accurately measured. In order to eliminate measurement errors, the measured coordinate data need to be preprocessed. In this embodiment, the preprocessing method includes steps S20, S30 and S40. The above-mentioned measurement coordinate data processing method is designed in combination with the motion law of the distal motion center of the surgical robot 70. Figure 5 As shown, even if the distal motion center of the surgical robot 70 is fixed, when measuring the distal motion center, the coordinates obtained after measurement (i.e. Figure 5 P1, P2, ... P n ) cannot completely match the true coordinates of the distal motion center. The inventors found through research and analysis that the obtained measurement coordinate data is distributed in a spherical shape with the coordinates of the actual distal motion center as the center. Therefore, after performing spherical fitting on the measurement data, the center of the sphere obtained by fitting is calculated, which can eliminate at least most of the measurement errors and obtain more accurate coordinates of the actual distal motion center.

[0068] In a preferred embodiment, spherical fitting is used for fitting. In other embodiments, the measured coordinates of the distal end's center of motion may be relatively concentrated on a plane due to the structural characteristics of the robotic arm of the surgical robot 70. In this case, a circular fitting approach may also be used. It should be understood that the normal direction of the plane containing the circle to be fitted can be arbitrarily selected based on actual needs and does not necessarily need to be in the x-, y-, or z-direction.

[0069] The spherical fitting process can be completed by the following steps:

[0070] S100, establish evaluation function

[0071]

[0072] Wherein, N is the preset number, r is the center of the sphere to be fitted, and R is the radius of the sphere to be fitted.

[0073] S101, solve the extreme value of the evaluation function. When the evaluation function reaches the extreme value, calculate the fitting result. The fitting result at this time is optimal. The method for solving the extreme value of the evaluation function is to calculate the following partial derivative equation:

[0074]

[0075] Where x, y, and z are the x-, y-, and z-components of the center coordinates of the sphere to be fitted, respectively. The r and R obtained by solving the above equations are the parameters of the fitted sphere, where r is also the geometric center of the sphere.

[0076] It should be understood that the above fitting method is only one possible fitting method. In other embodiments, for different considerations, different evaluation functions can be set in the fitting process, and other methods can be used to solve the extreme value.

[0077] Obtaining the geometric center requires a predetermined number of measurement coordinate data. To obtain sufficient measurement coordinate data and to detect the distal end's center of motion in real time, the measurement coordinate data may be obtained at predetermined intervals. In a specific embodiment, the intervals between each acquisition of the measurement coordinate data may be different.

[0078] Furthermore, in this embodiment, the step of selecting a preset number of measurement coordinate data includes:

[0079] sorting the measured coordinate data by acquisition time;

[0080] A continuous preset number of the measured coordinate data are selected.

[0081] In a preferred embodiment, each selection can start from the data after the last measurement coordinate data selected in the previous selection, and select a continuous preset number of measurement coordinate data (for example, the 1st to 10th are selected for the first time; the 11th to 20th are selected for the second time). In other embodiments, the selection can also start from the data after the first measurement coordinate data selected in the previous selection (for example, the 1st to 10th are selected for the first time; the 2nd to 11th are selected for the second time). Or the selection can be made according to other rules, for example, starting from the second data after the first measurement coordinate data selected in the previous selection. The preset number is preferably 35. In other embodiments, the preset number can also be between 35 and 50. Such a configuration, on the one hand, ensures the scale of the sample space so that the fitting result is not too greatly affected by a single data, and on the other hand, ensures the real-time performance of the distal motion center monitoring method.

[0082] In step S10, the method for obtaining the measured coordinate data of the distal motion center of the surgical robot can be arbitrary. In one embodiment, the distal motion center can be photographed from different angles using at least two cameras. For example, the images captured by the two cameras can be subjected to image recognition, and the relative distance between the distal motion center and the cameras can be obtained using AI technology, neural network algorithms, etc., and the measured coordinate data can then be calculated based on the relative distance.

[0083] In a preferred embodiment, the step of obtaining the measurement coordinate data of the distal motion center of the surgical robot further includes:

[0084] S200: adjusting the shooting angle of the shooting device in real time so that the distal end motion center is located at the shooting center of the shooting device;

[0085] S201: obtaining a second relative positional relationship between the distal end motion center and the shooting devices based on a first relative positional relationship between at least two of the shooting devices and shooting angles of the shooting devices;

[0086] S202 obtains measurement coordinate data of the distal motion center according to the second relative position relationship.

[0087] In step S200, the method for adjusting the photographing device can be set according to common knowledge. A preferred solution is to use a laser light source to illuminate the distal motion center, so that the photographing device can identify the distal motion center more simply and accurately.

[0088] A photographing device should be understood as follows: if a device has multiple cameras, and each camera can rotate relatively independently based on control logic, then each camera can be understood as a photographing device; if multiple cameras can be divided into at least one group, and the cameras in each group can only rotate simultaneously while remaining relatively stationary, then a group can be understood as a photographing device. For example, a device includes cameras numbered 1, 2, 3, 4, 5, and 6, where camera 1 can rotate independently, camera 2 and camera 3 can rotate relatively fixedly, and camera 4, camera 5, and camera 6 can rotate relatively fixedly; then camera 1 should be understood as a photographing device; the whole of camera 2 and camera 3 should be understood as a photographing device; and the whole of camera 4, camera 5, and camera 6 should be understood as a photographing device.

[0089] It should be understood that in step S201, there are at least two shooting angles, with each camera corresponding to an independent shooting angle. The shooting angle is a spatial angle, and in any coordinate system, the shooting angle has three components in the x-, y-, and z-directions. The first relative position relationship includes information describing the distance between each camera, and the second relative position relationship includes information describing the distance between the distal end's center of motion and each camera.

[0090] Please refer to Figure 6 ,exist Figure 6 In the figure, each of the two solid points represents a camera device, and in the xoz plane, the following equation is given:

[0091] The meaning of each parameter in the formula is detailed in Figure 6 .

[0092] From the above formula, we can see that

[0093]

[0094] Wherein, b is a system parameter (also the first relative position relationship), and f is a system parameter, both of which are known. l and x r All of these can be achieved through the shooting angle θ of the shooting device l and θ r (Or other technical means can be used to directly measure x l and x r ).

[0095] According to the rotation symmetry, Figure 6 Replace all x with y. Now we can get

[0096] That is to say, according to the shooting angle of the shooting device, the as well as The aforementioned x, y and z are the second relative position relationship.

[0097] It should be understood that, in different embodiments, different parameters may be measured to infer the actual second relative position relationship when implementing the above steps, or the shooting angle of the camera may not be directly measured. However, the measured parameters will change with changes in the shooting angle of the camera. In other words, the information contained in the measured parameters is actually equivalent to the information contained in the shooting angle of the camera. Variations of the above embodiments should be considered to be within the scope of the present embodiment.

[0098] In this embodiment, step S202 includes:

[0099] S203 establishes a reference coordinate system 91 based on the photographing device;

[0100] S204 establishes the base coordinate system 92 of the surgical robot;

[0101] S205: Acquire the conversion relationship between the reference coordinate system 91 and the base coordinate system 92 of the surgical robot 70;

[0102] S206: obtaining measurement coordinate data of the distal end motion center in the reference coordinate system 91 according to the second relative position relationship;

[0103] S207 obtains the measured coordinate data of the distal motion center in the base coordinate system 92 of the surgical robot according to the conversion relationship and the measured coordinate data of the distal motion center in the reference coordinate system 91 .

[0104] The phrase "establishing a coordinate system based on..." should be understood as follows: since all the cameras have been adjusted to their proper positions in step S200, none of them will move again (until a new measurement instruction is issued). Therefore, at this point, any point within the set of cameras can be used as the coordinate origin to establish the reference coordinate system 91; a point outside the set of cameras can also be used as the coordinate origin to establish the reference coordinate system 91, but in this case, a specific positional relationship exists between the coordinate origin and the cameras.

[0105] Since the shooting device only needs to adjust the shooting angle in step S200. Preferably, each of the shooting devices rotates only along one rotation center. Therefore, the relative position relationship between the rotation centers of the shooting devices is unchanged at any time. At this time, the reference coordinate system 91 can be established in advance, thereby reducing the corresponding amount of calculation. In some other embodiments, there may be some shooting devices that rotate along at least two of their own rotation centers for shooting (for example, a shooting device is connected to a base through a shooting mechanical arm, and the shooting mechanical arm has at least two rotation joints). At this time, the reference coordinate system 91 can still be established based on any one of the shooting devices. Although the reference coordinate systems 91 established based on different shooting devices will be different, the second position relationship obtained at this time will also change accordingly. In this process, the final result obtained is still the same.

[0106] like Figure 7As shown, the coordinate origin of the reference coordinate system 91 is located outside the two shooting devices and maintains the same distance from the rotation centers of the two shooting devices. Such a configuration can simplify calculations and facilitate intuitive understanding by operators when setting relevant parameters.

[0107] Steps S203 to S207 can be understood as follows. Figure 7 ,exist Figure 7 In the embodiment, the reference coordinate system 91 based on the photographing device and the base coordinate system 92 of the surgical robot are established. At the same time, a coordinate system is marked in the following form: [M a |P], where M a is a 3*3 matrix representing the attitude angle, and P is a transposed vector whose elements are x-coordinate, y-coordinate and z-coordinate from top to bottom. a The specific form of can be derived and calculated based on common mathematical knowledge, and the result is used directly in this specification. In the formula, the "|" symbol indicates that the matrices on the left and right sides are simply placed side by side to form a larger matrix, and are distinguished from multiplication to avoid misunderstanding.

[0108] A distal motion center is represented in the reference coordinate system 91 as [A|P A ],in The base coordinate system 92 of the surgical robot is represented in the reference coordinate system 91 as [B|P B ],in Therefore, the distal end motion center is represented as B in the base coordinate system 92 of the surgical robot. -1 [A|(P B -P A )]. It can be calculated by the following formula:

[0109]

[0110] The [B|P B ], that is, the representation matrix of the base coordinate system 92 of the surgical robot in the reference coordinate system 91, can be obtained by inverse deduction of several reference points of the coordinate data in the two coordinate systems.

[0111] The coordinates of the distal motion center in the base coordinate system 92 of the surgical robot obtained through the above steps can provide a direct reference for the operating system of the surgical robot 70, making it convenient for the operating system of the surgical robot 70 to calculate a control scheme for moving the distal motion center toward the theoretical coordinates of the distal motion center.

[0112] As mentioned above, the risk assessment process must consider both whether the current measurement value already has risks and whether the current measurement value is credible. Therefore, a better solution is: after selecting a preset number of measurement coordinate data, the remote motion center monitoring method also includes: obtaining the relative distance between the two measurement coordinate data with the largest distance among the selected measurement coordinate data for risk assessment.

[0113] That is, in a preferred embodiment, when performing risk assessment, not only the deviation between the geometric center coordinates and the theoretical coordinates of the distal end motion center is considered, but also the relative distance. For example, when the relative distance is small, the current measurement accuracy is considered high, and therefore the allowable deviation value for triggering risk can be large. However, when the relative distance is large, the current measurement accuracy is considered low, and for safety reasons, the allowable deviation value for triggering risk should be small.

[0114] Please refer to Figure 7 This embodiment also provides a robot system, which includes a control device, a prompting device (not shown) and a surgical robot 70; the control device is used to implement the above-mentioned distal motion center monitoring method and control the prompting device to issue a prompting action. The control device includes a coordinate acquisition device 90 and a data analysis device (not shown). Figure 7 In the figure, a patient 60 is also shown to facilitate understanding of the robot system. The surgical robot 70 includes a tool arm 80.

[0115] The coordinate acquisition device 90 is used to acquire the measured coordinate data of the distal motion center of the surgical robot 70 in real time and send it to the data analysis device; the coordinate acquisition device 90 can be a binocular vision device.

[0116] The data analysis device is used to select a preset number of measurement coordinate data from the measurement coordinate data that have been obtained; perform circular fitting or spherical fitting on the selected measurement coordinate data to obtain a circle or a sphere; obtain the geometric center coordinates of the circle or the sphere; and perform risk assessment based on the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center.

[0117] The data analysis device is further configured to obtain the relative distance between two pieces of measurement coordinate data with the largest distance among the selected measurement coordinate data.

[0118] The data analysis device is also used to output a preset signal to the prompt device to drive the prompt device to execute at least one of sound alarm, light alarm and display prompt information if the result of the risk assessment is that there is a risk; and output the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center to drive the distal motion center of the surgical robot 70 to move toward the theoretical coordinates of the distal motion center.

[0119] Please refer to Figure 8 , the robot system is in accordance with Figure 8 The process shown here includes:

[0120] S301 intraoperative tool arm with 80 joints;

[0121] S302: the coordinate acquisition device 90 (which may be a binocular vision device) collects measurement coordinate data;

[0122] S303: measuring coordinate data fitting analysis, that is, fitting the collected coordinate data into a circle or a sphere, and obtaining the geometric center coordinates of the circle or the sphere;

[0123] S304: Far-end motion center accuracy evaluation, i.e., obtaining the relative distance between the two selected measurement coordinate data with the largest distance, and using the relative distance as the far-end motion center accuracy evaluation index;

[0124] S305: Evaluate whether the distal motion center meets the requirements;

[0125] S306: If the judgment result of step S305 is no, then control the prompt device to issue a prompt action.

[0126] If the judgment result of step S305 is yes, the process returns to S302 to continue the detection.

[0127] The execution logic of the prompt device is as follows: Figure 9 As shown, when the judgment result of S305 is yes, the relevant data (mainly the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center and the relative distance, which can be understood by referring to the relevant content of the aforementioned distal motion center monitoring method) is transmitted to the prompt device, and the prompt device allocates risk levels according to the size of the deviation, which are divided into three risk levels of high, medium and low. The built-in sound and light alarm system uses different colors of lights to alarm for the three risk levels of high, medium and low, and displays reminder information on the display interface.

[0128] Other components of the robot system to ensure smooth implementation of the surgery can be configured by those skilled in the art based on actual needs and common knowledge, and will not be described in detail here.

[0129] This embodiment further provides a readable storage medium, wherein the readable storage medium stores a program, and when the program is executed, the above-mentioned distal motion center monitoring method is implemented.

[0130] In summary, the distal motion center monitoring method, robotic system, and readable storage medium provided in the embodiments involve acquiring real-time measured coordinate data of the distal motion center of a surgical robot; fitting the measured coordinate data to obtain the geometric center coordinates of a circle or sphere; and performing a risk assessment based on the deviation between the geometric center coordinates and the theoretical coordinates of the distal motion center. If the assessment indicates a risk, a prompt action is issued. This configuration accurately detects the motion trajectory of the distal motion center, resolving the prior art issue of being unable to effectively confirm whether the distal motion center of a surgical robot has deviated. This improves the safety of clinical surgery and avoids surgical safety hazards caused by distal motion center deviation.

[0131] The above description is only a description of the preferred embodiment of the present invention and does not limit the scope of the present invention. Any changes and modifications made by ordinary technicians in the field of the present invention based on the above disclosure are within the scope of protection of the technical solution of the present invention.

Claims

1. A readable storage medium, characterized in that: The readable storage medium stores a program. When the program is executed, a remote motion center monitoring method is implemented. The remote motion center monitoring method includes: Acquire the measurement coordinate data of the distal motion center of the surgical robot in real time at every preset time interval; Selecting a preset number of the measurement coordinate data from the acquired measurement coordinate data; Performing circular fitting or spherical fitting on the selected measurement coordinate data to obtain a circle or a sphere; Obtaining the geometric center coordinates of the circle or the sphere; A risk assessment is performed based on the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center. If the assessment result shows that there is a risk, a prompt action is issued.

2. The readable storage medium according to claim 1, wherein After selecting a preset number of measurement coordinate data, the distal motion center monitoring method further includes: obtaining a relative distance between two measurement coordinate data with the largest distance among the selected measurement coordinate data to perform risk assessment.

3. The readable storage medium according to claim 1 or 2, characterized in that The prompt action includes: at least one of sound alarm, light alarm and display of prompt information.

4. The readable storage medium according to claim 1 or 2, characterized in that If the assessment result indicates that there is a risk, the distal motion center monitoring method further includes: The deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center is output to drive the distal motion center of the surgical robot to move toward the theoretical coordinates of the distal motion center.

5. The readable storage medium according to claim 1 or 2, characterized in that: The step of obtaining the measurement coordinate data of the distal motion center of the surgical robot includes: At least two photographing devices are used to photograph the distal motion center from different angles.

6. The readable storage medium according to claim 5, wherein: The step of obtaining the measurement coordinate data of the distal motion center of the surgical robot further includes: adjusting the shooting angle of the shooting device in real time so that the distal end motion center is located at the shooting center of the shooting device; Obtaining a second relative positional relationship between the distal end motion center and the shooting devices based on a first relative positional relationship between at least two of the shooting devices and shooting angles of the shooting devices; The measured coordinate data of the distal end motion center is acquired according to the second relative position relationship.

7. The readable storage medium according to claim 6, wherein: The step of obtaining the measurement coordinate data of the distal motion center according to the second relative position relationship includes: Establishing a reference coordinate system based on the photographing device; Establishing a base coordinate system of the surgical robot; Acquiring a conversion relationship between the reference coordinate system and the base coordinate system of the surgical robot; Obtaining measurement coordinate data of the distal end motion center in the reference coordinate system according to the second relative position relationship; The measured coordinate data of the distal motion center in the base coordinate system of the surgical robot are obtained according to the conversion relationship and the measured coordinate data of the distal motion center in the reference coordinate system.

8. The readable storage medium according to claim 1 or 2, characterized in that: The step of selecting a preset number of measurement coordinate data comprises: sorting the measured coordinate data by acquisition time; A continuous preset number of the measured coordinate data are selected.

9. A robot system, characterized in that: The invention comprises a control device and a prompting device, wherein the control device is used to implement a distal motion center monitoring method, wherein the distal motion center monitoring method comprises: Acquire the measurement coordinate data of the distal motion center of the surgical robot in real time at every preset time interval; Selecting a preset number of the measurement coordinate data from the acquired measurement coordinate data; Performing circular fitting or spherical fitting on the selected measurement coordinate data to obtain a circle or a sphere; Obtaining the geometric center coordinates of the circle or the sphere; A risk assessment is performed based on the deviation value between the geometric center coordinates and the theoretical coordinates of the distal motion center. If the assessment result shows that there is a risk, the prompt device is controlled to issue a prompt action.

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