Control Method, Control Device and Robot of Surgical Robot

Abstract

The embodiments of the present application provide a control method, a control device and a surgical robot for a surgical robot. By monitoring in real time the pose states of a first controlled instrument and a second controlled instrument arranged on the surgical robot, it is determined whether the endoscope has flipped relative to the initial moment. Thus, after the endoscope flips and correspondingly the image displayed on the display screen flips, the control relationship between the control device and the corresponding controlled instrument is switched in a timely manner, that is, the master-slave mapping relationship between the control device and the controlled instrument can be switched as the relative positions of the controlled instruments under the endoscope field of view are exchanged, thereby ensuring the hand-eye coordination consistency and operation intuitiveness during the doctor's operation.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a control method, a control device, and a surgical robot for a surgical robot. Background Art

[0002] A surgical robot is a device that can assist a doctor in performing a surgery. Generally, a surgical robot has a master-slave teleoperation structure. The doctor controls the movement of controlled instruments such as surgical instruments (including harmonic scalpels, retractors, medicine knives, irrigators, probes, and surgical scissors) and endoscopes by operating control devices (such as a main input device and an auxiliary input device) to complete the expected surgical actions.

[0003] Conventional surgical robots usually establish a control relationship between a control device and a controlled instrument that meets the intuitive operation conditions. During a surgery, the doctor observes the image displayed on the display screen of the surgical robot and operates the controlled instrument through the control device to perform the surgery. For example, the doctor can control the left controlled instrument to work through the left control device (the position of the left controlled instrument in the image meets the left-hand and left-eye coordination and consistency operation when the doctor operates the left control device), and the doctor can use the right control device to control the right controlled instrument to work (the position of the right controlled instrument in the image meets the right-hand and right-eye coordination and consistency operation when the doctor operates the right control device).

[0004] However, during a surgery, when the endoscope is flipped, the image displayed on the display screen also changes. Then, there will be a situation where the left controlled instrument is displayed on the right side of the image, and the right controlled instrument is displayed on the left side of the image, resulting in the control of the controlled instrument by the control device no longer meeting the intuitive operation conditions, thus affecting the safety and smoothness of the surgical operation. Summary of the Invention

[0005] The embodiments of the present application provide a control method, a device, and a robot for a surgical robot, which can ensure that the control of the controlled instrument by the control device still meets the intuitive operation conditions after the endoscope is flipped, that is, after the image displayed on the display screen changes, thus ensuring the safety and smoothness of the surgical operation.

[0006] The first aspect of the embodiments of the present application provides a control method for a surgical robot. The surgical robot includes a first control device, a first controlled instrument, a second control device, a second controlled instrument, and an endoscope. The method includes:

[0007] Obtain the initial poses of the first controlled instrument and the second controlled instrument at an initial moment;

[0008] Obtain the current poses of the first controlled instrument and the second controlled instrument at a current moment;

[0009] Based on the initial pose and the current pose, determine whether the endoscope has flipped at the current moment relative to the initial moment;

[0010] If a flip has occurred, obtain the current control relationship of the surgical robot;

[0011] If the current control relationship is the first control relationship or the second control relationship, switch the current control relationship to the second control relationship or the first control relationship; the first control relationship is that the first control device controls the first controlled instrument to work, and the second control device controls the second controlled instrument to work; the second control relationship is that the first control device controls the second controlled instrument to work, and the second control device controls the first controlled instrument to work.

[0012] A second aspect of the embodiments of the present application provides a control device for a surgical robot. The control device is applied to the robot. The surgical robot includes a first control device, a first controlled instrument, a second control device, a second controlled instrument, and an endoscope. The control device includes:

[0013] A first acquisition module, configured to acquire the initial poses of the first controlled instrument and the second controlled instrument at the initial moment;

[0014] A second acquisition module, configured to acquire the current poses of the first controlled instrument and the second controlled instrument at the current moment;

[0015] A determination module, configured to determine whether the endoscope has flipped at the current moment relative to the initial moment based on the initial pose and the current pose;

[0016] A third acquisition module, configured to acquire the current control relationship of the surgical robot after a flip has occurred;

[0017] A switching module, configured to switch the current control relationship to the second control relationship or the first control relationship when the current control relationship is the first control relationship or the second control relationship; the first control relationship is that the first control device controls the first controlled instrument to work, and the second control device controls the second controlled instrument to work; the second control relationship is that the first control device controls the second controlled instrument to work, and the second control device controls the first controlled instrument to work.

[0018] A third aspect of the embodiments of the present application provides a surgical robot, including: a processor and a memory for storing instructions executable by the processor;

[0019] The processor is configured to read the executable instructions from the memory and execute the instructions to implement the control method as described in the first aspect of the present application.

[0020] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, including: when the computer program is executed by a processor, the control method as described in the first aspect is implemented.

[0021] A fifth aspect of the embodiments of the present application provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the control method as described in the first aspect is implemented.

[0022] The technical solutions provided by the embodiments of the present application can at least achieve the following beneficial effects:

[0023] The control method, control device and surgical robot provided by the embodiments of the present application monitor the pose states of the first controlled instrument and the second controlled instrument arranged on the surgical robot to determine whether the endoscope has flipped relative to the initial moment. Accordingly, after the endoscope flips and the image displayed on the display screen flips, the control relationship between the control device and the corresponding controlled instrument is switched in a timely manner. For example, at the initial moment, the control relationship of the surgical robot is that the first control device controls the first controlled instrument to work, and the second control device controls the second controlled instrument to work, ensuring that at the initial moment, the control relationship of the surgical robot meets the doctor's hand-eye coordination and consistent operation. When the endoscope flips, accordingly, after the positions of the first controlled instrument and the second controlled instrument in the displayed image change, the control relationship of the surgical robot is switched to that the first control device controls the second controlled instrument to work, and the second control device controls the first controlled instrument to work, so that the switched control relationship still meets the doctor's hand-eye coordination and consistent operation, that is, the master-slave mapping relationship between the control device and the controlled instrument can be exchanged as the relative positions of the controlled instruments under the endoscope field of view are exchanged, thereby ensuring the hand-eye coordination and operation intuitiveness during the doctor's operation. Description of the Drawings

[0024] Figure 1 is an application environment diagram of a control method of a surgical robot shown in an exemplary embodiment of the present application;

[0025] Figure 2 is a flowchart of a control method of a surgical robot shown in an exemplary embodiment of the present application;

[0026] Figure 3a is an image displayed on the display screen at the initial moment shown in an exemplary embodiment of the present application;

[0027] Figure 3bis the image displayed by the display screen shown in an exemplary embodiment of the present application at the current moment;

[0028] Figure 3c is Figure 3b the corresponding image after reconstructing the lens coordinate system;

[0029] Figure 4 is a schematic flowchart of another control method for a surgical robot shown in an exemplary embodiment of the present application;

[0030] Figure 5 is a schematic flowchart of yet another control method for a surgical robot shown in an exemplary embodiment of the present application;

[0031] Figure 6 is a schematic flowchart of another control method for a surgical robot shown in an exemplary embodiment of the present application;

[0032] Figure 7 is a schematic flowchart of yet another control method for a surgical robot shown in an exemplary embodiment of the present application;

[0033] Figure 8 is a schematic diagram of a control device for a surgical robot shown in an exemplary embodiment of the present application;

[0034] Figure 9 is a schematic diagram of the internal structure of a surgical robot shown in an exemplary embodiment of the present application.

[0035] Reference numerals:

[0036] 10, the first surgical cart; 20, the master control device; 30, the second surgical cart;

[0037] 11, the first control device; 12, the second control device; 13, the controlled instrument; 14, the display screen; 15, the processor;

[0038] 111, the first main input device; 112, the first auxiliary input device; 121, the second main input device; 122, the second auxiliary input device; 131, the first controlled instrument; 132, the second controlled instrument; 133, the endoscope;

[0039] 1312, the first traction hook; 1322, the second traction hook. Detailed implementation manners

[0040] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0041] The terms used in the present application are for the purpose of describing particular embodiments only and are not intended to limit the present application. The singular forms "a", "the", and "said" used in the present application and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0042] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0043] The terms used in the present application are for the purpose of describing particular embodiments only and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should be of the ordinary meaning as understood by those of ordinary skill in the art to which the present application pertains. The terms "first", "second", and the like used in the specification and claims of the present application do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "Plurality" or "several" means two or more. Unless otherwise specified, the terms such as "front", "rear", "lower", and / or "upper" are for convenience of description only and are not limited to one position or a spatial orientation. The terms "comprising" or "including" and the like are intended to mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0044] Embodiments of the present disclosure can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate together with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0045] Terminal devices, computer systems, servers and other electronic devices can be described in the general context of computer system-executable instructions (such as program modules) executed by a computer system. Generally, program modules can include routines, programs, target programs, components, logics, data structures, etc., which perform specific tasks or implement specific abstract data types. The computer system / server can be implemented in a distributed cloud computing environment, where tasks are executed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0046] A surgical robot is a device that can assist doctors in performing surgeries. Generally, a surgical robot has a master-slave teleoperation structure. Doctors control the movement of controlled instruments 13 such as surgical instruments (which can include harmonic scalpels, retractors, medicine knives, irrigators, probes, and surgical scissors, etc.) and endoscopes 133 by operating the master input device to complete the expected surgical actions. In addition, doctors control the surgical instruments to perform additional auxiliary functions such as single / double-pole energy supply, aspiration, cutting, or suturing, etc. by operating the master input device and the corresponding auxiliary input devices (such as foot pedals, finger clutches, photoelectric sensors, etc.) simultaneously.

[0047] Generally, in order to ensure that doctors can operate the controlled instrument 13 in a coordinated manner between hand and eye during the surgery process, so as to improve the safety and smoothness of the surgical operation, the master input device and the auxiliary input device are bound to serve as a control device, and a control relationship is established with the controlled instrument 13 that meets the intuitive operation conditions.

[0048] In practice, there may be multiple controlled instruments 13. For example, the controlled instrument 13 includes a left controlled instrument 13 and a right controlled instrument 13. Correspondingly, the control device includes a left control device and a right control device. During the operation, the doctor observes the image displayed on the display screen 14 of the surgical robot and operates the controlled instrument 13 through the control device to perform the operation. For example, the doctor can control the movement of the left controlled instrument 13 through the left control device (the left controlled instrument 13 is located on the left side of the image displayed on the display screen 14), so that the position of the left controlled instrument 13 in the image meets the left hand and left eye coordination operation when the doctor operates the left control device. The doctor can use the right control device to control the right controlled instrument 13 to work (the right controlled instrument 13 is located on the left side of the image displayed on the display screen 14).

[0049] Among them, the image displayed on the display screen 14 is the image collected by the endoscope 133 on the surgical robot. As the endoscope 133 moves during the operation, the image displayed on the display screen 14 will change accordingly. When the endoscope 133 is flipped, the displayed image will change accordingly. This change may be that the positions of the left controlled instrument 13 and the right controlled instrument 13 are exchanged. For example, the image of the left controlled instrument 13 is displayed on the right side, and the image of the right controlled instrument 13 is displayed on the left side. In this way, after the endoscope 133 is flipped, the position of the right controlled instrument 13 does not meet the left hand and left eye coordination operation when the doctor operates the left control device, and the position of the left controlled instrument 13 does not meet the right hand and right eye coordination operation when the doctor operates the right control device. As a result, the control of the controlled instrument 13 by the control device no longer meets the intuitive operation conditions, thus affecting the safety and smoothness of the operation.

[0050] In view of this, an embodiment of the present application proposes a control method for a surgical robot. By real-time monitoring the pose states of the first controlled instrument 13 and the second controlled instrument 13 provided on the surgical robot, it is determined whether the endoscope 133 has been flipped relative to the initial moment. Thus, after the endoscope 133 is flipped, the control relationship between the control device and the controlled instrument 13 is adjusted in a timely manner, that is, the master-slave mapping relationship between the control device and the controlled instrument 13 can be exchanged as the relative positions of the controlled instruments 13 under the field of view of the endoscope 133 are exchanged, so as to ensure the hand-eye coordination and operation intuitiveness during the doctor's operation.

[0051] Please refer to Figure 1 , and the application scenario of the embodiment of the present application will be introduced below:

[0052] The embodiments of the present application are applied to a surgical robot, which includes a first surgical cart 10, a master control device 20, and a second surgical cart 30. A first control device, a second control device, and a display screen 14 are provided on the first surgical cart 10; a processor 15 is provided on the master control device 20, and the number of processors 15 can be multiple; a plurality of controlled instruments 13 are provided on the second surgical cart 30, and the plurality of controlled instruments 13 may include a first controlled instrument 131, a second controlled instrument 132, and an endoscope 133. The first surgical cart 10 can be communicatively connected to the second surgical cart 30 through the master control device 20, and both the first surgical cart 10 and the second surgical cart 30 can be wirelessly or wiredly connected to the master control device 20 to physically realize the control relationship of controlling the controlled instruments 13 on the second surgical cart 30 through the control devices on the first surgical cart 10. Other devices such as processors 15, memories, input devices, output devices, displays, and sensors may also be provided on the first surgical cart 10, the master control device 20, and the second surgical cart 30, which are not limited herein.

[0053] Among them, the first control device 11 may include a first main input device 111 and a first auxiliary input device 112, and the second control device 12 may include a second main input device 121 and a second auxiliary input device 122. The main input devices including the first main input device 111 and the second main input device 121 may be, for example, control handles provided on the first surgical cart 10, and the auxiliary input devices including the first auxiliary input device 112 and the second auxiliary input device 122 may be, for example, foot pedals, finger clutches, photoelectric sensors, etc. provided on the first surgical cart 10. When the user operates the first main input device 111 and the second main input device 121 with both hands, the first main input device 111 can control the first controlled instrument 131 or the second controlled instrument 132 to move to a specified position. Correspondingly, the second main input device 121 can control the second controlled instrument 132 or the first controlled instrument 131 to move to a specified position. That is, either the first controlled instrument 131 is controlled by the first main input device 111 to move, and the second controlled instrument 132 is controlled by the second main input device 121 to move; or the second controlled instrument 132 is controlled by the first main input device 111 to move, and the first controlled instrument 131 is controlled by the second main input device 121 to move. Similarly, when the user operates the first auxiliary input device 112 and the second auxiliary input device 122 with the feet or hands, the auxiliary functions of the first controlled instrument 131 or the second controlled instrument 132 can be activated to enable the first controlled instrument 131 or the second controlled instrument 132 to perform corresponding auxiliary operations. That is, either the first controlled instrument 131 is controlled by the first auxiliary input device 112 to perform the corresponding auxiliary operation, and the second controlled instrument 132 is controlled by the second auxiliary input device 122 to perform the corresponding auxiliary operation; or the second controlled instrument 132 is controlled by the first auxiliary input device 112 to perform the corresponding auxiliary operation, and the first controlled instrument 131 is controlled by the second auxiliary input device 122 to perform the corresponding auxiliary operation.

[0054] Specifically, based on the control relationship established at the above physical level, signals can be sent from the first control device 11 and the second control device 12 on the first surgical cart 10 to the processor 15 of the master control device 20, and then the processor 15 analyzes the signals and generates corresponding instructions to send the instructions to the interface component connected to the corresponding controlled instrument 13 in the second surgical cart 30 to manipulate the corresponding controlled instrument 13 to work.

[0055] The first controlled instrument 131 and the second controlled instrument 132 are, for example, harmonic scalpels, retractors, medicine knives, irrigators, probes, surgical scissors, endoscopes 133, etc. The first controlled instrument 131 and the second controlled instrument 132 can be used for energy supply, clamping, suturing, cutting, aspiration, irrigation, laser energy, and the endoscope 133 can be used for operations such as providing real-time graphics of remote surgical sites.

[0056] Among them, at certain moments, the first main input device 111 of the first control device 11 can be used to control multiple first controlled instruments 131 (the positional relationship between the first main input device 111 and the multiple first controlled instruments 131 on the screen 14 of the display satisfies the hand-eye coordination operation of the doctor during the operation). Then, the switching of the first main input device 111 to control the multiple first controlled instruments 131 can be performed by operating the first auxiliary input device 112 having a binding relationship with the first main input device 111 (the first auxiliary input device 112 and the first main input device 111 are on the same side of the actual position).

[0057] Similarly, the second main input device 121 of the second control device 12 can be used to control multiple second controlled instruments 132 (the positional relationship between the second main input device 121 and the multiple second controlled instruments 132 on the screen 14 of the display satisfies the hand-eye coordination operation of the doctor during the operation). Then, the switching of the second main input device 121 to control the multiple second controlled instruments 132 can be performed by operating the second auxiliary input device 122 having a binding relationship with the second main input device 121 (the second auxiliary input device 122 and the second main input device 121 are on the same side of the actual position).

[0058] Of course, after the screen displayed on the display 14 changes, the first main input device 111 and the first auxiliary input device 112 can also establish a control relationship with the second controlled instrument 132 to jointly control the second controlled instrument 132 to perform surgical operations through the first main input device 111 and the first auxiliary input device 112, and the second main input device 121 and the second auxiliary input device 122 can also establish a control relationship with the first controlled instrument 131 to jointly control the first controlled instrument 131 to perform surgical operations through the second main input device 121 and the second auxiliary input device 122. The control relationship between the control device and the controlled instrument 13 can be switched according to the requirements during the operation.

[0059] Exemplarily, the first main input device 111 and the second main input device 121 are, for example, a first control handle and a second control handle provided on the first surgical cart 10 (the first control handle is provided on the left side of the doctor, and the second control handle is provided on the right side of the doctor). The first auxiliary input device 112 can be, for example, a first foot pedal and a second foot pedal provided on the first surgical cart 10 (the first foot pedal is provided on the left side of the group of auxiliary input devices, the second foot pedal is provided on the right side of the group of auxiliary input devices, and the doctor steps on the first foot pedal and the second foot pedal with the right foot respectively).

[0060] In addition, the second surgical cart 30 is further provided with an endoscope 133. The image displayed on the display screen 14 is the image under the view of the endoscope 133, which is also the observation view of the doctor. Therefore, during the operation by the doctor, by viewing the image captured by the endoscope 133 and displayed on the display screen 14, the positions of the first controlled instrument 131 and the second controlled instrument 132 are determined, and the corresponding first control device 11 or the second control device 12 is selectively operated to control the first controlled instrument 131 and the second controlled instrument 132 to move to the corresponding positions, and then the first auxiliary input device 112 and the second auxiliary input device 122 are selectively operated to control the first controlled instrument 131 and the second controlled instrument 132 to perform the corresponding auxiliary function operations. Thus, it is possible to achieve the coordination of the doctor's hand and eye during the operation, improving the fluency of the operation.

[0061] When the doctor is performing an operation using the surgical robot according to the embodiment of the present application, while observing the display screen 14, the doctor can operate the first control handle located on the left side of the doctor's left hand with the left hand (for example, by grasping the first control handle and moving the first control handle in various directions), so as to output a control signal from the first control handle to the processor 15 of the master control device 20, and the processor 15 interprets the signal and generates a corresponding instruction, and sends the instruction to the control interface on the second surgical cart 30 for controlling the first controlled instrument 131, thereby realizing the control of the first controlled instrument 131.

[0062] Similarly, while observing the display screen 14, the doctor can operate the second control handle located on the right side of the doctor's right hand with the right hand (for example, by grasping the second control handle and moving the second control handle in various directions), so as to input a control signal from the second control handle to the processor 15 of the master control device 20, and the processor 15 interprets the signal and generates a corresponding instruction, and sends the instruction to the control interface on the second surgical cart 30 for controlling the second controlled instrument 132, thereby realizing the control of the second controlled instrument 132.

[0063] In some examples, after the doctor moves the endoscope 133 to the target position by operating the first control handle and the second control handle, it can be by stepping on the foot pedal with the left foot (the first foot pedal or the second foot pedal on the left side, continuing as Figure 1 shown) to simultaneously control the movement of the endoscope 133 by the first control handle and the second control handle and switch to the first control handle to control the movement of one of the first controlled instrument 131 and the second controlled instrument 132, and move the controlled instrument 13 to the target position.

[0064] The technical solutions of the embodiments of the present application will be described exemplarily with reference to the accompanying drawings below.

[0065] Figure 2 This is a schematic flowchart of a control method for a surgical robot shown in an exemplary embodiment of the present application. Refer to Figure 2 As shown, the method includes the following steps:

[0066] Step S100, obtaining the initial pose of the first controlled instrument 131 or the second controlled instrument 132 at the initial moment;

[0067] Among them, the initial pose of the first controlled instrument 131 represents the position and posture of the first controlled instrument 131 at the initial moment, and the initial pose of the second controlled instrument 132 represents the position and posture of the second controlled instrument 132 at the initial moment. The initial pose of the first controlled instrument 131 or the second controlled instrument 132 can be collected by a pose detection device provided on the second surgical cart 30. There is at least one pose detection device, and there can also be multiple ones. The pose detection device is, for example, an inertial measurement unit, a wheeled odometer, etc.

[0068] After the initial pose of the first controlled instrument 131 or the second controlled instrument 132 is collected by the pose detection device, it can be transmitted to and stored in the memory of the second surgical cart 30, or transmitted to the master control device 20 through the output device of the second surgical cart 30, or further transmitted to the input device of the first surgical cart 10 through the master control device 20. The present application does not limit this.

[0069] Here, it should also be noted that the endoscope 133 provided on the second surgical cart 30 at the initial moment can have moved to the target position or be in a stationary state without starting to move. The present application does not limit this. If the endoscope 133 has moved to the target position at the initial moment, it can be moved to the target position by operating the first control device 11 and the second control device 12; it can also be moved to the target position by operating the buttons provided on the holding arm connected to the endoscope 133. The present application does not limit this.

[0070] Then, in the embodiment of the present application, the moment when the first controlled instrument 131 and the second controlled instrument 132 have not started to move can be determined as the initial moment; or the moment when the first controlled instrument 131 and the second controlled instrument 132 move to the target position and then wait statically for the start of the operation can be determined as the initial moment; the initial moment can also be determined according to the endoscope 133 or other controlled instruments 13. The present application does not limit this. The initial poses of the first controlled instrument 131 and the second controlled instrument 132 can be the poses of the first controlled instrument 131 and the second controlled instrument 132 collected by the pose detection device at the initial moment.

[0071] Step S200: Obtain the current poses of the first controlled instrument 131 and the second controlled instrument 132 at the current moment.

[0072] Herein, the current poses of the first controlled instrument 131 and the second controlled instrument 132 are relative concepts. During actual operation, the poses of the first controlled instrument 131 and the second controlled instrument 132 at the current moment may not have truly changed relative to the initial moment and may be the same poses. However, if the endoscope 133 has flipped at the current moment relative to the initial moment, then the display images of the first controlled instrument 131 and the second controlled instrument 132 on the display screen 14 (i.e., the images in the doctor's field of view) at the current moment will change compared to the initial moment. Therefore, it can be determined whether the endoscope 133 has changed by comparing the current poses and the initial poses in the display images.

[0073] Figure 3a FIG. 7 is a schematic diagram of an image collected by the endoscope 133 at the initial moment in an exemplary embodiment of the present application (i.e., the image displayed on the display screen 14 at the initial moment). As can be seen from the image, the first controlled instrument 131 includes a first surgical instrument such as a first retractor 1312, and the second controlled instrument 132 includes a second surgical instrument such as a second retractor 1322. Among them, the first retractor 1312 is located on the left side of the image (i.e., the doctor's field of view), and the second retractor 1322 is located on the right side of the image (i.e., the doctor's field of view). Therefore, at this time, by controlling the first retractor 1312 to work through the first control device 11 and controlling the second retractor 1322 to work through the second control device 12, the coordinated operation of the doctor's hand and eye can be satisfied.

[0074] When the endoscope 133 flips, the image displayed on the display screen 14 will change accordingly. For example, the positions of the first controlled instrument 131 and the second controlled instrument 132 in the display image on the display screen 14 (i.e., under the doctor's field of view) may change.

[0075] Figure 3b FIG. 14 is a schematic diagram of an image collected by the endoscope 133 at the current moment in an exemplary embodiment of the present application (i.e., the image displayed on the display screen 14 at the current moment). Figure 3c is Figure 3b a schematic diagram of the corresponding image after reconstructing the lens coordinate system. As can be seen from the image, at this time, the first retractor 1312 is located on the right side of the image (i.e., the doctor's field of view), and the second retractor 1322 is located on the left side of the image (i.e., the doctor's field of view). Therefore, if the first control device 11 continues to control the first retractor 1312 to work and the second control device 12 continues to control the second retractor 1322 to work at this time, the coordinated operation of the doctor's hand and eye will not be satisfied.

[0076] Therefore, whether the endoscope 133 has flipped at the current moment relative to the initial moment can be determined based on the poses of the first controlled device 131 and the second controlled device 132 at the initial moment and the current moment, providing an accurate basis for whether to switch the control relationship between the control device and the controlled device 13.

[0077] Specifically, the current poses of the first controlled device 131 and the second controlled device 132 can be obtained in the following manner:

[0078] In one embodiment, as Figure 4 shown, Figure 4 This is an alternative method embodiment for determining the current poses of the first controlled device 131 and the second controlled device 132 provided by the first exemplary embodiment of this application. The specific steps are as follows:

[0079] Step S201: Obtain the first pose of the endoscope 133 at the initial moment and the second pose of the endoscope 133 at the current moment;

[0080] Among them, both the first pose of the endoscope 133 at the initial moment and the second pose at the current moment can be collected by the same pose detection device. Therefore, the first pose and the second pose of the endoscope 133 can be poses determined based on the same coordinate system, which facilitates quickly comparing the first pose and the second pose of the endoscope 133 after obtaining them, obtaining a comparison result, thereby achieving the purpose of improving the efficiency of determining the pose change relationship, and further improving the efficiency of the doctor performing surgical operations through the surgical robot.

[0081] Step S202: Determine the pose change relationship of the endoscope 133 at the current moment based on the initial moment according to the first pose and the second pose;

[0082] In one embodiment, the pose change relationship can also be calculated by the following method: First, it should be noted that the endoscope 133 is connected to the endoscope holding arm, and the endoscope holding arm has n joints. The coordinate transformation between adjacent joints satisfies the general homogeneous transformation matrix A.

[0083] Before the endoscope 133 moves, the joint positions of each joint are θ b1 , θ b2 , … θ b(n-1) , θ bn . The first pose of the endoscope 133 can be described as:

[0084]

[0085] After the endoscope 133 moves, the joint positions of each joint are θ a1 , θ a2 , … θa(n-1) , θ an , the second pose of the endoscope 133 can be described as:

[0086]

[0087] The following relationship holds:

[0088] T b R endo = T a

[0089]

[0090] wherein, R endo represents the pose change relationship, wherein the base coordinate system does not change with the translation or rotation of the endoscope 133.

[0091] Step S203, based on the reference coordinate system and the pose change relationship, determine the current poses of the first controlled instrument 131 and the second controlled instrument 132, and the reference coordinate system is constructed based on the first pose of the endoscope 133.

[0092] Among them, the reference coordinate system can be constructed according to the initial pose of the endoscope 133, that is, according to the position and posture of the endoscope 133 at the initial moment. For example, the plane where the mirror surface of the endoscope 133 in the initial pose is located at the initial moment can be used as the horizontal axis and the vertical axis, and further, the vertical axis is constructed based on the direction perpendicular to the plane where the horizontal axis and the vertical axis are located, so as to obtain the reference coordinate system. The reference coordinate system can also be constructed according to the world coordinate system, according to the coordinate system defined by the robot, according to the suspension plate connecting the endoscope holding arm of the endoscope 133, etc., which is not limited herein. The reference coordinate system does not change with the translation or rotation of the endoscope 133, and can provide a reliable basis for judging whether the endoscope 133 has flipped later. Refer to Figures 3a to 3c As shown, the coordinate system (o0x0y0) or the coordinate system (oxy) is the reference coordinate system.

[0093] The current poses of the first controlled instrument 131 and the second controlled instrument 132 can be obtained by transforming the pose change relationship through the reference coordinate system; it can also be obtained by performing operations on the pose change relationship and the unit vector or vector sum of the reference coordinate system, etc. This is not limited herein.

[0094] In some embodiments, as Figure 5 shown, Figure 5 This is an optional method embodiment for determining the current poses of the first controlled instrument 131 and the second controlled instrument 132 based on the reference coordinate system and the pose change relationship provided by the first exemplary embodiment of this application, including the following steps:

[0095] Step S601: Determine the vector sum of the first controlled device 131 and the second controlled device 132 in the reference coordinate system at the initial moment.

[0096] In some embodiments, as Figure 6 shown, Figure 6 An optional method embodiment for determining the vector sum provided by the first exemplary embodiment of the present application includes the following steps:

[0097] Step S701: Determine the first vector obtained by projecting the first controlled device 131 onto the target plane and the second vector obtained by projecting the second controlled device 132 onto the target plane at the initial moment. The target plane is the plane where the mirror surface of the endoscope 133 is located.

[0098] Wherein, the target plane is the plane where the mirror surface of the endoscope 133 is located. During the operation, the first controlled device 131, the second controlled device 132, and the endoscope 133 are all in the same space.

[0099] Based on the initial poses of the first controlled device 131 and the second controlled device 132 described above, which include the position information and attitude information of the first controlled device 131 and the position information and attitude information of the second controlled device 132; therefore, according to the initial poses of the first controlled device 131 and the second controlled device 132, the positions where the first controlled device 131 and the second controlled device 132 are projected onto the target plane can be determined, and thus the position equations (i.e., straight line equations) of the first controlled device 131 and the second controlled device 132 can be obtained. Then, based on the position equation of the first controlled device 131, the first vector can be determined. Similarly, the second vector can be determined based on the position equation of the second controlled device 132. That is, the three-dimensional coordinates are converted into two-dimensional coordinates, which is convenient for subsequent calculations.

[0100] Step S702: Determine the vector sum of the first controlled device 131 and the second controlled device 132 in the reference coordinate system based on the first vector and the second vector.

[0101] Among them, the vector sum of the first controlled device 131 and the second controlled device 132 in the reference coordinate system can be obtained by performing vector addition calculation on the first vector and the second vector It is also possible to first calculate the unit vectors of the first vector and the second vector, and then perform vector addition calculation on the unit vector of the first vector and the unit vector of the second vector to obtain the vector sum of the first controlled device 131 and the second controlled device 132 in the reference coordinate system Wherein, referring to Figures 3a to 3c shown, is the vector sum or the sum of unit vectors, is the first vector, is the second vector. In the present application, it is possible to determine whether the endoscope 133 has flipped by the initial pose and the current pose of the first instrument and the second instrument, or to determine whether the endoscope 133 has flipped by the unit vectors of the first controlled instrument 131 and the second controlled instrument 132, regardless of the magnitude of the vectors.

[0102] Step S602: Based on the relationship between the vector sum and the pose change, determine the current poses of the first controlled instrument 131 and the second controlled instrument 132.

[0103] Exemplarily, it can be multiplying the pose change relationship by the vector sum to obtain the current poses of the first controlled instrument 131 and the second controlled instrument 132; it can also be multiplying the pose change relationship by the unit vector to obtain the current poses of the first controlled instrument 131 and the second controlled instrument 132. The present application does not limit this.

[0104] Step S300: Based on the initial pose and the current pose, determine whether the endoscope 133 has flipped at the current moment relative to the initial moment.

[0105] Among them, in the embodiments of the present application, it can be determined whether the endoscope 133 has flipped at the current moment relative to the initial moment based on the differences and changes between the initial poses and the current poses of the first controlled instrument 131 and the second controlled instrument 132. Specifically, it can be determined that the endoscope 133 has flipped when the poses (i.e., angles) of the initial pose and the current pose differ by a preset value. However, in the actual process, the present application does not limit whether the positions of the initial pose and the current pose have changed.

[0106] Based on the above process, the initial poses and the current poses of the first controlled instrument 131 and the second controlled instrument 132 are obtained. It can be comparing the initial pose and the current pose, and then comparing the comparison result with a preset threshold, and determining whether the endoscope 133 has flipped at the current moment relative to the initial moment according to the comparison result; it can also be inputting the initial pose and the current pose into an analysis and comparison model, and determining whether the endoscope 133 has flipped at the current moment relative to the initial moment based on the output result of the model, etc. This is not limited here.

[0107] In one embodiment, as Figure 7 shown, Figure 7 This is an optional method embodiment provided by the embodiments of the present application for determining that the endoscope 133 has flipped at the current moment relative to the initial moment. This method embodiment includes the following steps:

[0108] Step S801: Obtain the reference components of the pose data in the initial pose in the reference coordinate system and the target components of the pose data in the current pose in the reference coordinate system;

[0109] Among them, the target component and the reference component are components on the same coordinate axis. For example, they are both components on the horizontal axis. Based on the initial poses and current poses of the first controlled instrument 131 and the second controlled instrument 132 obtained above, the specific data of each component can be easily obtained, so the efficiency of determining whether the endoscope 133 has flipped can be improved.

[0110] Step S802, if the directions of the target component and the reference component are opposite, it is determined that the endoscope 133 has flipped at the current moment relative to the initial moment.

[0111] Among them, after obtaining the target component and the reference component through the initial poses and current poses of the first controlled instrument 131 and the second controlled instrument 132, it can be determined whether the endoscope 133 has flipped at the current moment relative to the initial moment by comparing the directions of the target component and the reference component. Exemplarily, the target component and the reference component are, for example, components on the vertical axis. If the target component is 1 and the reference component is -1, after comparison, the direction of the target component relative to the reference component has changed, then it is determined that the endoscope 133 has flipped at the current moment relative to the initial moment.

[0112] Step S400, if a flip occurs, obtain the current control relationship of the surgical robot;

[0113] Among them, after determining that the endoscope 133 has flipped based on the above process, it is also necessary to determine the current control relationship of the surgical robot to determine whether a control relationship switch is required, so as to enable the doctor to observe the display screen 14 while controlling the controlled instrument 13 to move or perform corresponding auxiliary function operations through the control device to meet the doctor's hand-eye coordination.

[0114] Then, the current control relationship of the surgical robot can be, for example, that the first control device 11 has a control relationship with the first controlled instrument 131 (that is, when the doctor manipulates the first control device 11, the first controlled instrument 131 moves or performs corresponding auxiliary function operations), and the second control device 12 has a control relationship with the second controlled instrument 132 (that is, when the doctor manipulates the second control device 12, the second controlled instrument 132 moves or performs corresponding auxiliary function operations). Of course, the current control relationship of the surgical robot can also be that the first control device 11 has a control relationship with the second controlled instrument 132, and the second control device 12 has a control relationship with the first controlled instrument 131. Specifically, it can be determined according to the current detection results, and this application does not make a limitation here. The embodiments of this application only list and show the current control relationship of the surgical robot for the convenience of subsequent description and are not specific limitations.

[0115] For example, at the previous moment of the current moment, while observing the display screen 14, the doctor can operate the first control device 11 located on the left side of the doctor's left hand with the left hand to control the first controlled instrument 1311, such as the first traction hook 1312, located on the left side in the picture displayed on the display screen 14, and instruct the first traction hook 1312 to move to the target position or perform the corresponding auxiliary function operation. Similarly, while observing the display screen 14, the doctor can operate the second control device 12 located on the right side of the doctor's right hand with the right hand to control the second controlled instrument 132, such as the second traction hook 1322, located on the right side in the picture displayed on the display screen 14, and instruct the second traction hook 1322 to move to the target position or perform the corresponding auxiliary function operation. Among them, the position of the first controlled instrument 131 on the left side of the picture satisfies the left hand and left eye coordinated operation when the doctor operates the first control device 11, and the position of the second controlled instrument 132 on the right side of the picture satisfies the right hand and right eye coordinated operation when the doctor operates the second control device 12. The control relationship that the surgical robot had at the previous moment can satisfy the doctor's hand-eye coordinated operation. However, at the current moment, the endoscope 133 has flipped. If the surgical robot still maintains such a control relationship at the current moment, it will not satisfy the doctor's hand-eye coordinated operation.

[0116] Step S500, if the current control relationship is the first control relationship or the second control relationship, then switch the current control relationship to the second control relationship or the first control relationship; the first control relationship is that the first control device 11 controls the first controlled instrument 131 to work, and the second control device 12 controls the second controlled instrument 132 to work; the second control relationship is that the first control device 11 controls the second controlled instrument 132 to work, and the second control device 12 controls the first controlled instrument 131 to work.

[0117] Among them, based on the currently obtained control relationship of the surgical robot, it can be continuously determined whether this relationship satisfies the hand-eye coordination when the doctor continues to perform the surgical operation. If not, then the control relationship needs to be switched; if it is satisfied, then the current control relationship is continued to be maintained.

[0118] The first control relationship is, for example, that the first control device 11 controls the first controlled instrument 131, and the second control device 12 controls the second controlled instrument 132; of course, the first control relationship can also be that the first control device 11 controls the second controlled instrument 132, and the second control device 12 controls the first controlled instrument 131, which is not limited here; then correspondingly, the second control relationship is, for example, that the first control device 11 controls the second controlled instrument 132, and the second control device 12 controls the first controlled instrument 131, or the first control device 11 controls the first controlled instrument 131, and the second control device 12 controls the second controlled instrument 132.

[0119] Exemplarily, at the previous moment of the current moment, during the operation performed by the doctor, through the display screen 14, it can be observed that the first controlled instrument 131 is located on the right side of the screen, and the second controlled instrument 132 is located on the left side of the screen; and at this time, the control relationship of the surgical robot is that the first controlled instrument 131 is controlled to work through the first control device 11, and the second controlled instrument 132 is controlled to work through the second control device 12; in this way, while observing the display screen 14, the doctor operates the first control device 11 on the left side of the doctor's left hand with the left hand to control the first controlled instrument 131 to work through the first control device 11, and, while observing the display screen 14, the doctor operates the second control device 12 on the right side of the doctor's right hand with the right hand to control the second controlled instrument 132 to work through the second control device 12, which can meet the doctor's hand-eye coordination and consistency operation.

[0120] However, due to the flip of the endoscope 133 at the current moment, it may cause that during the operation performed by the doctor, through the display screen 14, it can be observed that the position of the first controlled instrument 131 has switched to the left side of the screen, and the position of the second controlled instrument 132 has switched to the right side of the screen; then, if the doctor continues to perform the surgical operation according to the above control relationship, it will not be able to meet the doctor's hand-eye coordination and consistency operation, and further the smoothness of the operation will be blocked, and then the efficiency of the operation will decrease accordingly.

[0121] Therefore, it is necessary to switch the control relationship between the control device and the corresponding controlled instrument 13 to ensure that the doctor meets the hand-eye coordination and consistency during the corresponding surgical operation.

[0122] Then, after the endoscope 133 flips, the position of the second controlled instrument 132 switched to the left side of the screen meets the left hand and left eye coordination and consistency operation when the doctor operates the first control device 11, and the position of the first controlled instrument 131 switched to the right side of the screen meets the right hand and right eye coordination and consistency operation when the doctor operates the second control device 12. Therefore, at this time, by switching the control relationship of the surgical robot, the doctor can continue to perform the hand-eye coordination and consistent surgical operation. That is, the master-slave mapping relationship between the control device and the controlled instrument 13 can be switched with the exchange of the relative positions of the controlled instruments 13 under the field of view of the endoscope 133, so as to ensure the hand-eye coordination and consistency and operation intuitiveness during the doctor's operation. Therefore, if the current control relationship of the surgical robot is the first control relationship, if the control relationship needs to be switched, then it can be switching the first control relationship to the second control relationship; if the current control relationship of the surgical robot is the second control relationship, if the control relationship needs to be switched, then it can be switching the second control relationship to the first control relationship.

[0123] It can be understood that the above switching processes are all automatically completed during the operation, without the doctor frequently manually switching the operations of the first control device 11 and the second control device 12, or frequently stepping on the foot pedal to switch the control right, which increases the safety and smoothness of the operation and also improves the operation efficiency.

[0124] In one embodiment, the first control device 11 includes a first main input device 111 and a first auxiliary input device 112, the second control device 12 includes a second main input device 121 and a second auxiliary input device 122. The first main input device 111 can control the movement of the first controlled instrument 131 or the second controlled instrument 132, the second main input device 121 can control the movement of the second controlled instrument 132 or the first controlled instrument 131, the first auxiliary input device 112 can activate the auxiliary function of the first controlled instrument 131 or the second controlled instrument 132, and the second auxiliary input device 122 can activate the auxiliary function of the second controlled instrument 132 or the first controlled instrument 131. The method includes:

[0125] If a flip occurs and it is detected that the first main input device 111 or the second main input device 121 controls the first controlled instrument 131, and the second main input device 121 or the first main input device 111 controls the second controlled instrument 132, selectively allocate the control of the auxiliary function of the first controlled instrument 131 to any one of the first auxiliary input device 112 and the second auxiliary input device 122, and allocate the control of the auxiliary function of the second controlled instrument 132 to any one of the second auxiliary input device 122 and the first auxiliary input device 112.

[0126] Among them, the above-introduced first control device 11 includes a first main input device 111 and a first auxiliary input device 112, and the second control device 12 includes a second main input device 121 and a second auxiliary input device 122. Among them, the first main input device 111 can control the first controlled instrument 131 to move to a corresponding position, or control the second controlled instrument 132 to move to a corresponding position; correspondingly, the second main input device 121 can control the second controlled instrument 132 to move to a corresponding position, or control the first controlled instrument 131 to move to a corresponding position. The first main input device 111 can be bound to the first auxiliary input device 112 to jointly control the first controlled instrument 131 or the second controlled instrument 132; the second main input device 121 can be bound to the second auxiliary input device 122 to jointly control the second controlled instrument 132 or the first controlled instrument 131. Therefore, if the first main input device 111 controlling the first controlled instrument 131 is switched to the first main input device 111 controlling the second controlled instrument 132, correspondingly, the second auxiliary input device 122 for activating the auxiliary function of the second controlled instrument 132 needs to be switched to the first auxiliary input device 112, so as to activate the auxiliary function of the second controlled instrument 132 through the first auxiliary input device 112, and realize controlling the second controlled instrument 132 to execute the corresponding auxiliary function operation through the first auxiliary input device 112. The reason for this is that: the auxiliary input device may generally be arranged at the bottom of the first surgical cart 10, which is convenient for doctors to operate with their feet or other lower limb parts. Therefore, switching the control relationship between the auxiliary input device and the controlled instrument 13 can also meet the eye-foot operation consistency of doctors, further improving the efficiency of doctors performing surgeries and ensuring the smoothness of the surgical process.

[0127] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0128] Based on the same inventive concept, an embodiment of the present application further provides a control device for a surgical robot for implementing the control method of the surgical robot involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the data backup device provided below can refer to the limitations on the control method of the surgical robot in the above text, and will not be repeated here.

[0129] In one embodiment, as Figure 8 shown, a control device 900 for a surgical robot is provided. This control device is applied to a surgical robot and includes: a first acquisition module 901, a second acquisition module 902, a determination module 903, a third acquisition module 904, and a switching module 905;

[0130] The first acquisition module 901 is configured to acquire the initial poses of the first controlled instrument 131 and the second controlled instrument 132 at the initial moment.

[0131] The second acquisition module 902 is configured to acquire the current poses of the first controlled instrument 131 and the second controlled instrument 132 at the current moment.

[0132] The determination module 903 is configured to determine whether the endoscope 133 has flipped at the current moment relative to the initial moment based on the initial pose and the current pose.

[0133] The third acquisition module 904 is configured to acquire the current control relationship of the surgical robot after the flip occurs.

[0134] The switching module 905 is configured to switch the current control relationship to the second control relationship or the first control relationship when the current control relationship is the first control relationship or the second control relationship; the first control relationship is that the first control device controls the first controlled instrument 131 to work, and the second control device 12 controls the second controlled instrument 132 to work; the second control relationship is that the first control device 11 controls the second controlled instrument 132 to work, and the second control device 12 controls the first controlled instrument 131 to work.

[0135] In one embodiment, the determination module 903 is specifically configured to compare the initial pose with the current pose, determine the pose change relationship based on the comparison result; and determine whether the endoscope 133 has flipped at the current moment relative to the initial moment based on the pose change relationship.

[0136] In one embodiment, the second acquisition module 902 is further specifically configured to acquire the first pose of the endoscope 133 at the initial moment and the second pose of the endoscope 133 at the current moment; determine the pose change relationship of the endoscope 133 at the current moment based on the initial moment according to the first pose and the second pose; and determine the current poses of the first controlled instrument 131 and the second controlled instrument 132 based on a reference coordinate system and the pose change relationship, where the reference coordinate system is constructed based on the first pose of the endoscope 133.

[0137] In one embodiment, the second acquisition module 902 further includes a determination unit (not shown in the figure).

[0138] The determination unit is configured to determine the vector sum of the first controlled instrument 131 and the second controlled instrument 132 in the reference coordinate system at the initial moment; and determine the current poses of the first controlled instrument 131 and the second controlled instrument 132 based on the vector sum and the pose change relationship.

[0139] In one embodiment, the determination unit is further configured to determine a first vector obtained by projecting the first controlled instrument 131 at the initial moment onto a target plane and a second vector obtained by projecting the second controlled instrument 132 onto the target plane, where the target plane is the plane where the mirror surface of the endoscope 133 is located; and determine the vector sum of the first controlled instrument 131 and the second controlled instrument 132 in the reference coordinate system based on the first vector and the second vector.

[0140] In one embodiment, the determination module 903 is specifically configured to acquire a reference component of the attitude data in the initial pose in the reference coordinate system and a target component of the attitude data in the current pose in the reference coordinate system; and if the directions of the target component and the reference component are opposite, determine that the endoscope 133 has flipped at the current moment relative to the initial moment.

[0141] In one embodiment, the above control device further includes an allocation module (not shown in the figure).

[0142] The allocation module is configured to, if a flip occurs and it is detected that the first main input device 111 or the second main input device 121 controls the first controlled instrument 131, and the second main input device 121 or the first main input device 111 controls the second controlled instrument 132, selectively allocate the control of the auxiliary function of the first controlled instrument 131 to any one of the first auxiliary input device 112 or the second auxiliary input device 122 and allocate the control of the auxiliary function of the second controlled instrument 132 to any one of the second auxiliary input device 122 or the first auxiliary input device 112.

[0143] Each module in the control device of the above surgical robot can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0144] In one embodiment, a surgical robot is provided. The internal structure diagram of the surgical robot can be as Figure 9 shown. The surgical robot includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the surgical robot is used to provide computing and control capabilities. The memory of the surgical robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the surgical robot is used to store the pose of the controlled instrument. The network interface of the surgical robot is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes a control method of a surgical robot.

[0145] Those skilled in the art can understand that Figure 9 the structure shown in

[0146] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the surgical robot to which the solution of this application is applied. The specific surgical robot may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0147] In one embodiment, a surgical robot is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it realizes any step of the control method of the above surgical robot.

[0148] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it realizes any step of the control method of the above surgical robot.

[0149] It is easy to understand that those skilled in the art can combine, split, and reorganize the embodiments of this application on the basis of several embodiments provided by this application to obtain other embodiments, and none of these embodiments exceeds the protection scope of this application.

[0150] The above specific implementation manners have further elaborated in detail the objectives, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only the specific implementation manners of the embodiments of the present application, and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included within the protection scope of the embodiments of the present application.

Claims

1. A control method for a surgical robot, characterized in that, The surgical robot includes a first control device, a first controlled instrument, a second control device, a second controlled instrument, and an endoscope; the method includes: Obtain the initial poses of the first controlled instrument and the second controlled instrument at the initial moment; Obtain the current poses of the first controlled instrument and the second controlled instrument at the current moment; Based on the initial pose and the current pose, determine whether the endoscope has flipped at the current moment relative to the initial moment; If a flip has occurred, obtain the current control relationship of the surgical robot; If the current control relationship is the first control relationship or the second control relationship, switch the current control relationship to the second control relationship or the first control relationship; the first control relationship is that the first control device controls the first controlled instrument to work, and the second control device controls the second controlled instrument to work; the second control relationship is that the first control device controls the second controlled instrument to work, and the second control device controls the first controlled instrument to work; The obtaining the current poses of the first controlled instrument and the second controlled instrument at the current moment includes: Obtain the first pose of the endoscope at the initial moment and the second pose of the endoscope at the current moment; According to the first pose and the second pose, determine the pose change relationship of the endoscope at the current moment based on the initial moment; Based on the reference coordinate system and the pose change relationship, determine the current poses of the first controlled instrument and the second controlled instrument, where the reference coordinate system is constructed based on the first pose of the endoscope; The determining the current poses of the first controlled instrument and the second controlled instrument based on the reference coordinate system and the pose change relationship includes: Determine the target vectors of the first controlled instrument and the second controlled instrument in the reference coordinate system at the initial moment; Based on the target vectors and the pose change relationship, determine the current poses of the first controlled instrument and the second controlled instrument.

2. The control method according to claim 1, wherein The determining the target vectors of the first controlled instrument and the second controlled instrument in the reference coordinate system at the initial moment includes: Determine the first vector obtained by projecting the first controlled instrument at the initial moment onto the target plane and the second vector obtained by projecting the second controlled instrument onto the target plane, where the target plane is the plane where the mirror surface of the endoscope is located; Based on the first vector and the second vector, determine the vector sum of the first controlled instrument and the second controlled instrument in the reference coordinate system.

3. The control method according to claim 2, characterized in that The determining whether the endoscope has flipped at the current moment relative to the initial moment based on the initial pose and the current pose includes: Obtain the reference components of the attitude data in the initial pose in the reference coordinate system and the target components of the attitude data in the current pose in the reference coordinate system; If the directions of the target components and the reference components are opposite, determine that the endoscope has flipped at the current moment relative to the initial moment.

4. The control method according to any one of claims 1-3, characterized in that, The first control device includes a first main input device and a first auxiliary input device, the second control device includes a second main input device and a second auxiliary input device, the first main input device can control the movement of the first controlled instrument or the second controlled instrument, the second main input device can control the movement of the second controlled instrument or the first controlled instrument, the first auxiliary input device can activate the auxiliary function of the first controlled instrument or the second controlled instrument, the second auxiliary input device can activate the auxiliary function of the second controlled instrument or the first controlled instrument, and the method includes: If a flip occurs and it is detected that the first main input device or the second main input device controls the first controlled instrument, and the second main input device or the first main input device controls the second controlled instrument, selectively allocate the control of the auxiliary function of the first controlled instrument to any one of the first auxiliary input device or the second auxiliary input device and allocate the control of the auxiliary function of the second controlled instrument to any one of the second auxiliary input device or the first auxiliary input device.

5. A control device for a surgical robot, characterized in that, The control device is applied to the surgical robot, and the surgical robot includes a first control device, a first controlled instrument, a second control device, a second controlled instrument, and an endoscope. The control device includes: A first acquisition module for acquiring the initial poses of the first controlled instrument and the second controlled instrument at the initial moment; A second acquisition module for acquiring the current poses of the first controlled instrument and the second controlled instrument at the current moment; A determination module for determining whether the endoscope has flipped at the current moment relative to the initial moment based on the initial pose and the current pose; A third acquisition module for acquiring the current control relationship of the surgical robot after a flip occurs; A switching module for switching the current control relationship to the second control relationship or the first control relationship when the current control relationship is the first control relationship or the second control relationship; the first control relationship is that the first control device controls the first controlled instrument to work, and the second control device controls the second controlled instrument to work; the second control relationship is that the first control device controls the second controlled instrument to work, and the second control device controls the first controlled instrument to work.

6. A surgical robot, characterized in that, The robot includes: a processor and a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the control method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method according to any one of claims 1 to 4.

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