Positioning method, device and computer equipment of surgical robot

Abstract

The application relates to a positioning method and device of a surgical robot and a computer device. The method comprises the following steps: controlling a mirror holding arm and an endoscope sleeve to be connected, acquiring target joint values of each joint of the mirror holding arm and each joint of a trolley arm of a surgical trolley according to current joint values of each joint of the mirror holding arm, respectively, controlling each joint of the mirror holding arm and each joint of the trolley arm to move from the current joint values to the target joint values, determining an optimal configuration of a tool holding arm according to the target joint values of each joint of the mirror holding arm and current joint values of each joint of the tool holding arm, and controlling each joint of the tool holding arm to move from the current joint values to the optimal configuration. The method can determine the optimal configuration of each mechanical arm of the surgical robot through visual guidance and interactive control, and realize positioning processing of the mechanical arm based on the optimal configuration, so that collision between the mechanical arms can be avoided when the surgical robot performs a surgical operation, and the accuracy of the positioning result is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical services, in particular to a positioning method and device of a surgical robot and a computer device. BACKGROUND

[0002] With the application and development of robot technology, minimally invasive surgical robots are increasingly widely used in clinical practice. Generally, before a minimally invasive surgery, the mechanical arm of the minimally invasive surgical robot needs to be positioned so that the operating instrument (such as an endoscope and a surgical instrument) held by the mechanical arm is connected to the corresponding operating surgical instrument cannula provided on the patient's body.

[0003] In the traditional technology, images of the mechanical arm and the operating surgical instrument cannula are collected at intervals, the mechanical arm joints and the operating surgical instrument cannula in the collected images are recognized to determine the target position of the mechanical arm joints and the position of the operating surgical instrument cannula, and the positioning of the mechanical arm before the minimally invasive surgery is realized through the target position of the mechanical arm joints and the position of the operating surgical instrument cannula.

[0004] However, since the endoscope cannula and the surgical instrument cannula are similar in shape, a large number of images need to be collected to correctly identify the endoscope cannula and the surgical instrument cannula in the process of realizing the positioning of the mechanical arm, which increases the amount of calculation and in turn increases the time consumption of the positioning of the surgical robot. SUMMARY

[0005] Therefore, it is necessary to provide a positioning method, device and computer device of a surgical robot with less positioning calculation amount and shorter time consumption in view of the above technical problems.

[0006] In a first aspect, an embodiment of the present application provides a positioning method of a surgical robot, the surgical robot comprising a surgical trolley, a mirror holding arm and an instrument holding arm, the surgical trolley comprising a trolley arm, and the method comprising:

[0007] connecting the mirror holding arm and an endoscope cannula, the endoscope cannula being arranged on the surface of a target object;

[0008] obtaining target joint values of each joint of the mirror holding arm and each joint of the trolley arm according to current joint values of each joint of the mirror holding arm and each joint of the trolley arm;

[0009] controlling each joint of the mirror holding arm and each joint of the trolley arm to move from the current joint values to the target joint values;

[0010] determining an optimal configuration of the instrument holding arm according to the target joint values of each joint of the mirror holding arm and current joint values of each joint of the instrument holding arm, and controlling each joint of the instrument holding arm to move from the current joint values to the optimal configuration.

[0011] In one of the embodiments, the connecting the mirror holding arm and the endoscope cannula comprises:

[0012] acquiring an operation signal according to an identification signal emitted by the surgical robot;

[0013] after acquiring the operation signal, controlling the mirror holding arm to be connected with the endoscope sleeve, and adjusting the endoscope to face the lesion area of the target object.

[0014] In one of the embodiments, the acquiring of the operation signal according to the identification signal emitted by the surgical robot comprises: if the identification signal emitted by the surgical robot is located within a preset range of the lesion area of the target object, the operation signal is emitted.

[0015] In one of the embodiments, the target joint values of the joints of the mirror holding arm and the joints of the trolley arm are respectively acquired according to the current joint values of the joints of the mirror holding arm and the joints of the trolley arm, comprising:

[0016] the position of the fixed point of the endoscope sleeve and the direction of the endoscope are calculated according to the current joint values of the joints of the mirror holding arm and the joints of the trolley arm by using forward kinematics;

[0017] the target joint values of the joints of the mirror holding arm and the joints of the trolley arm are calculated according to the position of the fixed point of the endoscope sleeve and the direction of the endoscope.

[0018] In one of the embodiments, the target joint values of the joints of the mirror holding arm and the joints of the trolley arm are calculated according to the position of the fixed point of the endoscope sleeve and the direction of the endoscope, comprising:

[0019] the target joint values of the joints of the mirror holding arm and the joints of the trolley arm are calculated according to the position of the fixed point of the endoscope sleeve and the direction of the endoscope by using forward kinematics with the constraint condition that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope sleeve and the suspension disc of the surgical robot is aligned with the direction of the endoscope.

[0020] In one of the embodiments, the movement of the joints of the mirror holding arm and the joints of the trolley arm from the current joint values to the target joint values is controlled, comprising:

[0021] the movement trajectories of the joints of the mirror holding arm and the joints of the trolley arm are planned according to the target joint values of the joints of the mirror holding arm and the joints of the trolley arm;

[0022] the movement of the joints of the mirror holding arm and the joints of the trolley arm from the current joint values to the target joint values is autonomously controlled according to the movement trajectories of the joints of the mirror holding arm and the joints of the trolley arm.

[0023] In one of the embodiments, after the movement trajectories of the joints of the mirror holding arm and the joints of the trolley arm are planned according to the target joint values of the joints of the mirror holding arm and the joints of the trolley arm, the method further comprises: if the movement trajectories of the joints of the mirror holding arm and the joints of the trolley arm fail to be planned, the movement of the joints of the mirror holding arm and the joints of the trolley arm from the current joint values to the target joint values is controlled by a user.

[0024] In one embodiment, the optimal configuration of the instrument holding arm is determined according to the target joint values of the joints of the mirror holding arm and the current joint values of the joints of the instrument holding arm, including:

[0025] The optimal configuration of the instrument holding arm is calculated using a positioning configuration optimization method based on kinematics and collision detection, with the configuration corresponding to the target joint values of the joints of the mirror holding arm as a reference.

[0026] In a second aspect, the embodiments of the present application provide a positioning device of a surgical robot, the surgical robot including a surgical trolley, a mirror holding arm and an instrument holding arm, the surgical trolley including a trolley arm; the device includes:

[0027] An interaction module is configured to connect the mirror holding arm and an endoscope sleeve, and the endoscope sleeve is arranged on the surface of a target object;

[0028] A processing module is configured to obtain target joint values of the joints of the mirror holding arm and the joints of the trolley arm of the surgical trolley according to the current joint values of the joints of the mirror holding arm and the joints of the trolley arm;

[0029] A motion control module is configured to control the joints of the mirror holding arm and the joints of the trolley arm to move from the current joint values to the target joint values;

[0030] An optimal configuration obtaining module is configured to determine an optimal configuration of the instrument holding arm according to the target joint values of the joints of the mirror holding arm and the current joint values of the joints of the instrument holding arm, and control the joints of the instrument holding arm to move from the current joint values to the optimal configuration.

[0031] In a third aspect, the embodiments of the present application provide a computer device including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the method in any of the embodiments of the first aspect when executing the computer program.

[0032] The positioning method, device and computer equipment of the surgical robot are provided in the embodiments of the present application. The surgical robot can control the connection between the mirror holding arm and the endoscope sleeve. The endoscope sleeve is arranged on the surface of the target object. The target joint values of the joints of the mirror holding arm and the joints of the trolley arm of the surgical trolley are obtained respectively according to the current joint values of the joints of the mirror holding arm and the joints of the trolley arm of the surgical trolley. The joints of the mirror holding arm and the joints of the trolley arm are controlled to move from the current joint values to the target joint values. The optimal configuration of the tool holding arm is determined according to the target joint values of the joints of the mirror holding arm and the current joint values of the joints of the tool holding arm, and the joints of the tool holding arm are controlled to move from the current joint values to the optimal configuration. The method can control the connection between the mirror holding arm and the endoscope sleeve in an interactive manner, which can avoid the situation that the connection between the mirror holding arm and the endoscope sleeve fails multiple times when the surgical robot directly controls the connection, thereby improving the connection efficiency of the mirror holding arm and the endoscope sleeve, shortening the time required for the connection between the mirror holding arm and the endoscope sleeve, and further shortening the time spent for the positioning of the mechanical arm of the surgical robot. In addition, the optimal configuration of the mechanical arms of the surgical robot can be determined through visual guidance and interactive control before the surgical robot performs the surgical operation, and the mechanical arms are controlled to move to the optimal configuration, so that the collision between the mechanical arms can be avoided when the surgical robot performs the surgical operation, thereby reducing the burden of medical staff, saving labor cost, shortening the time spent for the positioning of the mechanical arms of the surgical robot, and further improving the precision and effect of the surgery. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 An application environment diagram of the positioning method of the surgical robot in an embodiment;

[0034] Figure 2 A flowchart of the positioning method of the surgical robot in an embodiment;

[0035] Figure 3 A system axial diagram between the trolley of the surgical robot, the mirror holding arm and the tool holding arm in an embodiment;

[0036] Figure 4 An axial diagram between the mirror holding arm and the tool holding arm in an embodiment;

[0037] Figure 5 A scene diagram of the positioning method of the surgical robot in an embodiment;

[0038] Figure 6 A flowchart of the positioning method of the surgical robot in another embodiment;

[0039] Figure 7 A position relationship diagram between the adjusting joint of the mirror holding arm and the adjusting joint on the projection surface of the target object in another embodiment;

[0040] Figure 8 a flowchart of a positioning method of a surgical robot in another embodiment;

[0041] Figure 9 a structural block diagram of a positioning device of a surgical robot in an embodiment;

[0042] Figure 10 an internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0043] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0044] In a clinical operation, when a surgical operation needs to be performed on a target object, a surgical robot can be used to perform the surgical operation on the target object. Before the surgical operation, the mirror holding arm and the instrument holding arm of the surgical robot need to be properly positioned. The processing module in the surgical robot can achieve the positioning of the mirror holding arm and the instrument holding arm through a series of algorithms. Generally, the sleeve corresponding to the mirror holding arm and the instrument holding arm is obtained, and then the optimal target pose of the mirror holding arm and the instrument holding arm is calculated, so that the surgical robot has the maximum movement space in the process of performing the surgical operation while avoiding collision between the mirror holding arm and the instrument holding arm. However, during the positioning process, the endoscope sleeve and the surgical instrument sleeve on the surface of the target object are very similar, and it is difficult to distinguish the endoscope sleeve and the surgical instrument sleeve during image recognition. In order to ensure that the mirror holding arm and the instrument holding arm of the surgical robot are accurately connected with the corresponding sleeves, a large amount of image data needs to be collected and processed to correctly identify the endoscope sleeve and the surgical instrument sleeve, which increases the positioning calculation amount and prolongs the positioning process.

[0045] Please refer to Figure 1 , Figure 1An application environment of a surgical robot is provided in the embodiments of the present application, and the application environment comprises the surgical robot and a surgical bed. The surgical robot comprises a surgical trolley, a master trolley and a vision trolley. The surgical trolley is used to perform a surgical operation on a patient, the master trolley is used for a doctor to control the surgical trolley to perform a surgical operation on a target object, and the vision trolley is used to display an image during the surgical operation. The surgical trolley comprises a plurality of mechanical arms, which are used to carry an endoscope and surgical instruments to perform a surgical operation on the target object. The surgical trolley comprises at least one mirror holding arm and at least one instrument holding arm, and the total number of the mirror holding arms and the instrument holding arms in the surgical trolley can be set according to the requirements of the surgical operation. In an embodiment of the present application, the total number of the mirror holding arms is one, and the total number of the instrument holding arms is three. The mirror holding arms and the instrument holding arms both comprise a plurality of joints and can support multi-degree-of-freedom movement. The surgical trolley further comprises a trolley arm, the trolley arm comprises joints that can realize movement in multiple directions and can realize movement such as lifting, translation and rotation. The trolley arm is connected to each mechanical arm through a suspension mechanism, and the movement of each joint of the trolley arm can drive the entire mechanical arm structure to move.

[0046] In the present application, the positioning refers to movement of the trolley arm of the surgical trolley and the plurality of mechanical arms, so that the plurality of mechanical arms complete pre-surgical movement and reach a suitable placement position, to ensure that there is no collision between the mechanical arms during the surgical operation. In order to facilitate the operation of the endoscope and the surgical instruments on the target object, a plurality of cannulas are arranged on the surface of the target object, which are used for the endoscope and the surgical instruments to extend into the target object to perform a surgical operation. The cannulas are connected to the mirror holding arms and the instrument holding arms respectively, and the endoscope and the surgical instruments are installed on the corresponding mechanical arms and extend into the target object through the cannulas.

[0047] The embodiments of the present application provide a positioning method of a surgical robot, which can shorten the time length spent in positioning before the surgical robot performs a surgical operation. The positioning method of the surgical robot provided in the present application can be applied to an interactive pre-surgical positioning system of the surgical robot, and the interactive pre-surgical positioning system of the surgical robot comprises an interactive module, a data acquisition module, a processing module, a motion control module and an acquisition device. The interactive module, the data acquisition module, the processing module, the motion control module and the acquisition device can be communicatively connected, and the connection mode can be wifi, Bluetooth, mobile data and the like.

[0048] The interaction module can be used to control the user to connect the mirror holding arm with the endoscope sleeve. The user can control the connection of the mirror holding arm with the endoscope sleeve to quickly and efficiently realize the preferred positioning of the mirror holding arm, and then automatically position the mirror holding arm on this basis. In one embodiment, the user manually drags the mirror holding arm to connect with the endoscope sleeve, and the interaction module can realize the corresponding action of the mirror holding arm according to the user's action. In other embodiments, the user can also control the connection of the mirror holding arm with the endoscope sleeve by inputting the pose of the endoscope sleeve through the interaction module, and then automatically moving the mirror holding arm to the position of the endoscope sleeve and completing the connection.

[0049] The data acquisition module can be a device for acquiring the pose of the mirror holding arm and the surgical trolley arm. For example, the data acquisition module can be a pose sensor such as an encoder, a laser tracker, etc. for each joint of the robot arm and each joint of the trolley arm. The data acquisition module can be a device for measuring the value of each joint of the robot arm and each joint of the trolley arm, or a device for collecting the pose values measured by each sensor.

[0050] The processing module can be an electronic device with computing and data processing capabilities, including but not limited to a central processing unit, a data signal processor, a programmable logic device, etc. The embodiments of the present application do not limit the processing module. The processing module can be used to calculate the target joint value of each joint of the mirror holding arm and each joint of the trolley arm. Further, the processing module can also be used to plan the motion path of each joint of the robot arm and each joint of the trolley arm.

[0051] The optimal configuration acquisition module can be used to calculate the optimal configuration of the tool holding arm according to the target joint value of each joint of the mirror holding arm and each joint of the trolley arm obtained by the processing module and the current target joint value of each joint of the tool holding arm. The optimal configuration can be understood as the pose state of the surgical trolley when performing the surgical operation, in which the tool holding arm does not collide with the mirror holding arm, and in which pose state, each tool holding arm has the maximum activity space for the surgical operation.

[0052] The motion control module is configured to control the motion of each joint of the mechanical arm and each joint of the trolley arm, and can control the motion of each joint of the mechanical arm and each joint of the trolley arm according to the input parameters. Specifically, the motion control module can control each joint of the mirror holding arm and each joint of the trolley arm to move to a target joint value, and further can control each joint of the mechanical arm to move from the current target joint value to an optimal configuration. The motion control module can include at least one controller. It should be noted that if the motion control module of the surgical robot includes one controller, the controller can control the motion of each mechanical arm of the surgical trolley and the trolley arm; if the motion control module of the surgical robot includes two controllers, one controller can control the motion of each mechanical arm of the surgical robot, and the other controller can control the motion of the trolley arm of the surgical trolley; if the surgical robot includes multiple controllers, one controller can control the motion of the surgical trolley of the surgical robot, another controller can control the motion of the mirror holding arm, and the other controllers can control the motion of each mechanical arm of the surgical trolley.

[0053] The acquisition device can be an electronic device with data acquisition and data transceiving capabilities. For example, the acquisition device can include an electronic device capable of acquiring three-dimensional information in the surgical environment, such as a depth camera, a laser scanner, a CT / MR, etc., wherein the depth camera can further include a camera based on time-of-flight (TOF), structured light, binocular depth vision, etc. The present application does not limit this. The acquisition device is configured to acquire three-dimensional data of the environment. The acquisition device can be installed on the surgical trolley as shown, of course, the acquisition device can also be installed on the surgical lamp, the vision trolley or any other position that can be aligned with the cannula, and the present application does not limit this. The acquisition device can be installed on the surgical trolley, the surgical lamp, the vision trolley or any other position that can operate the surgical operating area through a degree of freedom holder, so as to adjust the acquisition field of view of the acquisition device. Figure 1

[0054] Further, the suspension mechanism is further provided with a transmitting module for transmitting an identification signal, wherein the operation signal is obtained according to the identification signal, and the operation signal is used to indicate the control of the mirror holding arm and the endoscope cannula connection.

[0055] In an embodiment of the present application, when the user controls the mirror holding arm to connect with the endoscope cannula, the acquisition device acquires the image of the endoscope cannula and sends the image to the processing module. The processing module can obtain the pose of the endoscope cannula according to the acquired image of the endoscope cannula, and then the interactive module controls the automatic connection of the mirror holding arm and the endoscope cannula.

[0056] ​Further, the processing module can output the relevant information of successful connection after determining that the holding mirror arm and the endoscope sleeve are successfully connected. After the medical staff receives the relevant information of successful connection, the vertical lifting device start button or control of the operating trolley can be triggered. After the controller of the operating trolley receives the vertical lifting device start instruction triggered by the medical staff, the vertical lifting device is started to fix the position of the operating trolley. It should be noted that, because the surgical robot and the operating bed are independently arranged, the vertical lifting device of the operating trolley is started to avoid affecting the operation due to sliding of the operating trolley during the operation.

[0057] Although the method operation steps as shown in the following embodiments or drawings are provided in the present application, more or fewer operation steps can be included in the method based on conventional or non-creative labor. The positioning method of the surgical robot provided in the present application is described below in combination with the drawings, and the specific process of the positioning method of the surgical robot is introduced taking the operating trolley interactive preoperative positioning system as the execution subject. Figure 2 is a flow diagram of a positioning method of a surgical robot provided in the present application. The method can include the following steps:

[0058] S100, control the holding mirror arm and the endoscope sleeve to be connected.

[0059] In the embodiments of the present application, the endoscope sleeve is arranged on the surface of the target object, which is used to connect the holding mirror arm, so that the endoscope installed on the holding mirror arm can extend into the target object through the endoscope sleeve. The endoscope extends into the target object through the endoscope sleeve to collect visual images of the lesion area. In one more specific embodiment, the control of the holding mirror arm and the endoscope sleeve to be connected is manually dragged by the operator to connect the holding mirror arm and the endoscope sleeve arranged on the surface of the target object. In this way, quick and convenient connection between the holding mirror arm and the endoscope sleeve can be achieved, avoiding the problem that the holding mirror arm and the endoscope sleeve cannot be effectively recognized during automatic connection between the holding mirror arm and the endoscope sleeve. Therefore, the positioning time of the holding mirror arm is shortened, and the positioning efficiency of the holding mirror arm is improved.

[0060] During the operation of the surgical robot, the medical staff can observe the lesion area and the subsequent extension of the surgical instrument sleeve through the endoscope. Therefore, during the operation, the endoscope needs to be extended into the target object to collect relevant images of the operation site.

[0061] S200, according to the current joint values of each joint of the holding mirror arm and each joint of the trolley arm, the target joint values of each joint of the holding mirror arm and each joint of the trolley arm of the operating trolley are obtained respectively.

[0062] Specifically, the mirror holding arm is connected by a plurality of joints, and adjacent joints are movably connected; the trolley arm is also provided with a plurality of joints, and adjacent joints are also movably connected, wherein the joint at the end of the trolley arm is connected with the joint of the mechanical arm through a suspension mechanism. Figure 3 A system axial view between the trolley arm and the mechanical arm of the surgical robot is shown, wherein the axial structure between the mirror holding arm and the tool holding arm is as shown in Figure 4 .

[0063] It should be noted that the current joint value of each joint of the mirror holding arm can be understood as the initial pose of each joint of the mirror holding arm after the mirror holding arm is connected with the endoscope sleeve, that is, the initial position and initial attitude of each joint of the mirror holding arm. In the embodiments of the present application, in order to avoid collision between the mirror holding arm and the tool holding arm during the execution of the surgical operation, and to ensure that the mechanical arm has the largest operable space, after the mirror holding arm is connected with the endoscope sleeve, the current joint value of all or part of the joints of the mirror holding arm needs to be adjusted. At the same time, in order to make the mechanical arm of the surgical robot and the lesion region of the target object maintain a reasonable positional relationship as much as possible, to improve the operation convenience of the surgical robot, the joints of the trolley arm need to be adjusted to ensure that the relative position between the mechanical arm and the target object on the operating table is reasonable.

[0064] In an embodiment of the present application, the surgical robot obtains the joint values of each joint of the mirror holding arm and each joint of the trolley arm through a data acquisition module. Further, an angle sensor such as an encoder is arranged at each joint of the mirror holding arm and each joint of the trolley arm, for measuring the joint values of each joint of the mirror holding arm and each joint of the trolley arm, and the data acquisition module can collect the above joint value information. In another embodiment of the present application, the surgical robot can also obtain the information of each joint of the mirror holding arm and each joint of the trolley arm through a collection device, and then calculate the corresponding joint values by a processing module.

[0065] Further, after obtaining the current joint values of each joint of the mirror holding arm and each joint of the trolley arm, the processing module calculates the target joint values of each joint of the mirror holding arm and the target joint values of each joint of the trolley arm based on the principle of forward kinematics, according to the current joint values of each joint of the mirror holding arm, the current joint values of each joint of the trolley arm, and the position of the lesion region of the target object.

[0066] S300, control each joint of the mirror holding arm and each joint of the trolley arm to move from the current joint value to the target joint value.

[0067] Based on the obtained target joint values of the joints of the mirror holding arm and the joints of the trolley arm, the motion control module can control the joints of the mirror holding arm and the joints of the trolley arm to move to the positions of the target joint values. Those skilled in the art should know that this control can be automatically controlled or completed by guiding the user. In an embodiment of the present application, before controlling the joints of the mirror holding arm and the joints of the trolley arm to move from the current joint values to the target joint values, the processing module further plans a motion path according to the current joint values and the target joint values of the joints of the mirror holding arm and the joints of the trolley arm.

[0068] The processing module controls the joints of the mirror holding arm and the joints of the trolley arm to move to the target joint values after planning the motion paths of the joints of the mirror holding arm and the joints of the trolley arm. It should be noted that the path planned by the processing module should be a path to reach the target joint values without collision between the mirror holding arm and the medical instrument holding arm. After obtaining the target joint values of the joints of the mirror holding arm and the joints of the trolley arm and planning the motion paths, the processing module sends a control instruction to the motion control module, and the motion control module controls the joints of the mirror holding arm and the joints of the trolley arm to move to the target joint value positions according to the planned paths.

[0069] S400, determining an optimal configuration of the medical instrument holding arm according to the target joint values of the joints of the mirror holding arm and the current joint values of the joints of the medical instrument holding arm, and controlling the joints of the medical instrument holding arm to move from the current joint values to the optimal configuration.

[0070] Specifically, the processing module can use a collision avoidance algorithm to determine the optimal configuration of the medical instrument holding arm according to the target joint values of the joints of the mirror holding arm and the current joint values of the joints of the medical instrument holding arm, and can generate a medical instrument holding arm motion control instruction based on the optimal configuration of the medical instrument holding arm and send the medical instrument holding arm motion control instruction to the motion control module that controls the motion of the medical instrument holding arm, so that the motion control module receives and responds to the medical instrument holding arm motion control instruction to control the joints of the medical instrument holding arm to move from the current joint values to the optimal configuration. It should be noted that when the joints of the medical instrument holding arm move from the current joint values to the optimal configuration, it can be ensured that the mirror holding arm does not collide with the mirror holding arm during the movement of the joints of the mirror holding arm, and at the same time, when the medical instrument holding arm reaches the optimal configuration position, it can be ensured that there is enough movement space between the mirror holding arm and the medical instrument holding arm during the operation, so that the medical instrument holding arm and the mirror holding arm do not collide during the operation of the surgical robot.

[0071] In the embodiments of the present application, angle sensors are also arranged at each joint of the instrument holding arm to obtain joint values of each joint of the instrument holding arm. Specifically, the angle sensors can be encoders or the like. In the process of determining the optimal configuration of the instrument holding arm according to the target joint values of each joint of the mirror holding arm and the current joint values of each joint of the instrument holding arm, the instrument sleeve corresponding to the instrument holding arm needs to be determined. In an embodiment of the present application, the position of the sleeve is obtained by the acquisition device, and the sleeve is matched with the instrument holding arm, and then the optimal configuration of the instrument holding arm is calculated based on the kinematics principle and the collision detection algorithm. In order to distinguish different instrument sleeves, in an embodiment of the present application, markers can also be arranged on the sleeves, and the information is collected by the acquisition device for identification. Figure 5 The scenario graph is exemplified by taking any mechanical arm of a surgical robot, a surgical bed and a target object lying on the surgical bed as an example, Figure 5 The mechanical arm in the scenario graph can be a mirror holding arm or an instrument holding arm, the body surface of the target object is provided with an endoscope sleeve and an instrument sleeve, and the surgical instrument sleeve is provided with a marker. In order to improve the identification of different instrument sleeves, the markers can be different markers, such as different colors, different sizes, etc.

[0072] The positioning method of the surgical robot provided in the embodiments of the present application can control the connection of the mirror holding arm and the endoscope sleeve, the endoscope sleeve is a sleeve arranged on the body surface of the target object, the target joint values of each joint of the mirror holding arm and each joint of the trolley arm are obtained according to the current joint values of each joint of the mirror holding arm and each joint of the trolley arm, the current joint values of each joint of the mirror holding arm and each joint of the trolley arm are controlled to move to the target joint values, the optimal configuration of the instrument holding arm is determined according to the target joint values of each joint of the mirror holding arm and the current joint values of each joint of the instrument holding arm, and each joint of the instrument holding arm is controlled to move from the current joint value to the optimal configuration. The method can control the connection of the mirror holding arm and the endoscope sleeve in an interactive manner, which can avoid the situation that the connection of the mirror holding arm and the endoscope sleeve fails multiple times when the surgical robot directly controls the connection, reduces the image acquisition amount and the positioning calculation amount, further improves the connection efficiency of the mirror holding arm and the endoscope sleeve, shortens the time required for the connection of the mirror holding arm and the endoscope sleeve, and further shortens the time spent for the positioning of the mechanical arm of the surgical robot. In addition, the optimal configuration of each mechanical arm of the surgical robot can be determined through visual guidance and interactive control before the surgical robot performs a surgical operation, and each mechanical arm is controlled to move to the optimal configuration, so that the surgical robot can avoid collision between the mechanical arms when performing the surgical operation, thereby reducing the burden of medical staff, saving labor cost, shortening the time spent for the positioning of each mechanical arm of the surgical robot, and further improving the precision and effect of the surgery.

[0073] In the embodiment of the present application, the surgical robot works in a sterile operating room, and therefore, in order to maintain the sterile environment of the operating room, the embodiment of the present application needs to install a sterile cover on the surgical robot before performing the above S100, and the specific installation process is as follows:

[0074] (1) Obtain the sterile processing prompt information output on the display of the surgical robot to instruct medical staff to install a sterile cover on the surgical robot;

[0075] (2) The medical staff triggers the unfolding button or unfolding control on the surgical robot, and the controller of the surgical robot receives and responds to the triggering instruction to control the surgical robot to unfold. After the unfolding action is completed, the surgical robot will output related information of unfolding success on the display screen, or the surgical robot will output voice prompt related information of unfolding success; wherein, if the controller of the surgical robot does not receive the triggering instruction corresponding to the unfolding, the surgical robot will be in a prohibited movement mode;

[0076] (3) After receiving the related information of unfolding success or the voice prompt related information of unfolding success, the medical staff starts to manually install the sterile cover on the surgical robot;

[0077] (4) After the sterile cover is installed, the medical staff starts to trigger the shrinking button or shrinking control on the surgical robot, and the controller of the surgical robot receives and responds to the triggering instruction to control the surgical robot to shrink. After the shrinking action is completed, the surgical robot will output related information of shrinking success on the display screen, or the surgical robot will output voice prompt related information of shrinking success, and then the medical staff can move the surgical robot trolley to make the surgical robot extend into the step in the above S100; wherein, if the control module of the surgical robot does not receive the triggering instruction corresponding to the shrinking, the surgical robot will also be in a prohibited movement mode.

[0078] The embodiment of the present application will introduce how to control the connection process of the holding arm and the endoscope sleeve. In an embodiment, the step in the above S100 can specifically include: obtaining an operation signal according to an identification signal emitted by the surgical robot; after obtaining the operation signal, controlling the holding arm to be connected with the endoscope sleeve, and adjusting the endoscope to face the lesion area of the target object.

[0079] Specifically, the identification signal emitted by the surgical robot can be a visual signal or other forms of signals. Before performing the surgical operation, the medical staff needs to install a sterile cover on the surgical trolley and move it to the operation position. It can be understood that the operation position refers to the position of the surgical trolley performing the surgical operation.

[0080] The step of obtaining the operation signal according to the identification signal emitted by the surgical robot can include: if the identification signal emitted by the surgical robot is located within a preset range of the lesion area of the target object, an operation signal is sent.

[0081] In an embodiment of the present application, a transmission module for emitting an identification signal is arranged on a suspension mechanism connecting the cart arm of the surgical cart and the mechanical arm. When the identification signal emitted by the transmission module is located within a preset range of the lesion area of the target object, it is considered that the surgical cart has moved to the operating position, and an operation signal is sent to the user. The identification signal can be a cross laser or other forms of visual signals, and can also be other signals capable of identification.

[0082] In actual processing, the medical staff can move the surgical robot cart so that the mapping position corresponding to the identification signal emitted by the surgical robot is within a preset distance of the lesion position of the target object. When it is determined that the mapping position corresponding to the identification signal is within a certain preset range around the lesion position, the processing module of the surgical robot can output an operation signal to the interactive module, instructing the medical staff to control the scope holding arm to be connected with the endoscope sleeve and adjust the endoscope to face the lesion area of the target object after the scope holding arm is connected with the endoscope sleeve.

[0083] The way of controlling each joint of the cart arm to move from the current joint value to the target joint value through the interactive mode will be described below.

[0084] In an embodiment, the medical staff can also trigger the automatic docking of the scope holding arm and the endoscope through the interactive module. The acquisition device can acquire the pose of the endoscope sleeve, the processing module can plan a path for the scope holding arm to move from the current position to the docking position with the sleeve, the motion control module can control the scope holding arm to move according to the path and dock with the endoscope. In another embodiment, the medical staff can also manually drag the scope holding arm to dock it with the endoscope sleeve.

[0085] The way of determining that the mapping position corresponding to the identification signal is within a certain preset range around the lesion position will be described below.

[0086] In an embodiment, the acquisition device acquires a first image, the first image including the image of the lesion area of the target object lying on the operating bed and the identification signal emitted by the surgical robot, and sends the acquired first image to the processing module. The processing module can use a target recognition algorithm to recognize the mapping position of the identification signal and a certain preset range around the lesion position of the target object in the first image sent by the acquisition device, and further determine whether there is a mapping position of the identification signal within the preset range according to the recognition result of the identification signal and the preset range. If there is, it is determined that the mapping position corresponding to the identification signal is within a certain preset range around the lesion position.

[0087] It should be noted that before the acquisition device acquires the first image, the following processing needs to be performed first: the acquisition device first acquires the second image and sends the second image to the processing module, the processing module can use a target recognition algorithm to perform target recognition processing on the second image to determine whether there is a lesion area of the target object in the second image, if not, the processing module can send a view angle adjustment instruction to the controller of the acquisition device to instruct the controller of the acquisition device to adjust the acquisition field of view of the acquisition device, further, the acquisition device determines whether the lesion area of the target object is in the acquisition field of view of the acquisition device by repeating the process of acquiring the second image and target recognition processing.

[0088] The positioning method of the surgical robot in the embodiment of the application can obtain an operation signal according to the identification signal emitted by the surgical robot, so that medical staff controls the mirror holding arm connected with the endoscope sleeve according to the received operation signal, thereby controlling the mirror holding arm and the endoscope sleeve in a connected manner through interaction, avoiding the situation that the surgical robot directly controls the mirror holding arm and the endoscope sleeve to connect multiple times, improving the connection efficiency of the mirror holding arm and the endoscope sleeve, and shortening the time required for the connection of the mirror holding arm and the endoscope sleeve.

[0089] The embodiment of the application will introduce how to obtain the target joint values of the joints of the mirror holding arm and the joints of the trolley arm according to the current joint values of the joints of the mirror holding arm and the joints of the trolley arm. In an embodiment, as shown in Figure 6 The steps in S200 can be implemented by the following steps:

[0090] S210, calculating the position of the endoscope sleeve fixed point and the direction of the endoscope according to the current joint values of the joints of the mirror holding arm by using forward kinematics.

[0091] During the positioning of the mirror holding arm, only the joints J5-J8 of the mirror holding arm will move, and the joints of the remote center mechanism (RCM) of the mirror holding arm will not move, so the joints of the remote center mechanism can be regarded as a whole. Therefore, adjusting the joints J5-J8 on the target object projection plane is degenerated into a three-degree-of-freedom mirror holding arm, as shown in Figure 7 As shown in the figure, the adjusting joints of the mirror holding arm and the position relationship of the adjusting joints on the target object projection plane. According to rigid body kinematics, the target joint value of the planar rigid body has only three degrees of freedom (X, Y, and Z axes), so when the target joint value of the planar rigid body is determined, the joint angles J5-J7 of the three-degree-of-freedom mirror holding arm can be uniquely determined. Therefore, in order to determine the target joint value of the mirror holding arm, the coordinates of the endoscope sleeve fixed point and the direction of the endoscope on the target object projection plane (rotation around Z) need to be determined first, that is, the direction of the endoscope.

[0092] The position of the fixed point of the endoscope sleeve can be understood as the position of the endoscope sleeve on the surface of the target object. In the embodiments of the present application, the processing module can use the forward kinematics of the mechanical arm of the robot to calculate the position of the fixed point of the endoscope sleeve and the direction of the endoscope according to the current joint values of the joints of the mirror holding arm. In the embodiments of the present application, the direction of the endoscope can be understood as the pose of the endoscope, i.e., the direction angle of the endoscope.

[0093] S220, calculating target joint values of the joints of the mirror holding arm and the joints of the trolley arm according to the position of the fixed point of the endoscope sleeve and the direction of the endoscope.

[0094] Based on the obtained position of the fixed point of the endoscope sleeve and the direction of the endoscope, the processing module can use forward kinematics to calculate the target joint values of the joints of the mirror holding arm and the joints of the trolley arm according to the position of the fixed point of the endoscope sleeve and the direction of the endoscope.

[0095] In one embodiment of the present application, the steps in S220 can include: using the forward kinematics to calculate the target joint values of the joints of the mirror holding arm and the joints of the trolley arm according to the position of the fixed point of the endoscope sleeve and the direction of the endoscope, with the constraint conditions that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope sleeve and the suspension disc of the surgical robot is aligned with the direction of the endoscope.

[0096] The positioning method of the surgical robot in the embodiments of the present application can use the forward kinematics to calculate the position of the fixed point of the endoscope sleeve and the direction of the endoscope according to the current joint values of the joints of the mirror holding arm, and then calculate the target joint values of the joints of the mirror holding arm and the joints of the trolley arm according to the position of the fixed point of the endoscope sleeve and the direction of the endoscope, and then realize the positioning of the joints of the mirror holding arm and the joints of the trolley arm based on the target joint values of the joints of the mirror holding arm and the joints of the trolley arm, and complete the calculation of the optimal configuration of the mirror holding arm based on the configuration of the joints of the mirror holding arm, and finally realize the automatic positioning of the mirror holding arm. This process does not require manual adjustment of the positions of the mechanical arms of the surgical robot, and can realize the positioning of the mechanical arms of the surgical robot, thereby reducing the burden on medical personnel, saving labor costs, shortening the time spent on the positioning of the mechanical arms of the surgical robot, and improving the accuracy of the positioning of the mechanical arms.

[0097] In the actual positioning process, the joints of the trolley arm and the joints of the mirror holding arm of the surgical robot are first positioned, and then the positioning process of the tool holding arm is further realized. Based on this, the following embodiments of the present application will introduce how to complete the automatic positioning of the joints of the mirror holding arm and the joints of the trolley arm. In one embodiment, as shown in Figure 8 The step of controlling the joints of the mirror holding arm and the joints of the trolley arm to move from the current joint values to the target joint values in S300 can include:

[0098] S310, plan the motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm according to the target joint values of the joints of the mirror holding arm and the joints of the trolley arm.

[0099] In an embodiment of the present application, the surgical robot acquires the joint values of the joints of the mirror holding arm and the joints of the trolley arm through a data acquisition module, and further, angle sensors such as encoders are arranged at the joints of the mirror holding arm and the joints of the trolley arm to measure the joint values of the joints of the mirror holding arm and the joints of the trolley arm, and the data acquisition module can aggregate the joint value information. In another embodiment of the present application, the surgical robot can also acquire the information of the joints of the mirror holding arm and the joints of the trolley arm through a collection device, and then calculate the corresponding current joint values by a processing module. Based on the acquired current joint values of the joints of the mirror holding arm and the current joint values of the joints of the trolley arm, the processing module can plan the motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm from the current joint values to the target joint values according to the current joint values and the target joint values of the joints of the mirror holding arm and the joints of the trolley arm.

[0100] S320, control the joints of the mirror holding arm and the joints of the trolley arm to autonomously move from the current joint values to the target joint values according to the planned motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm.

[0101] In the embodiment of the present application, the processing module can generate mirror holding arm joint motion trajectory control instructions according to the motion trajectories of the joints of the mirror holding arm, and then send the mirror holding arm joint motion trajectory control instructions corresponding to the joints of the mirror holding arm to the motion control module. It should be noted that the motion control module receives and responds to the mirror holding arm joint motion trajectory control instructions corresponding to the joints of the mirror holding arm to control the joints of the mirror holding arm to move from the current joint values of the joints of the mirror holding arm to the target joint values of the joints of the mirror holding arm according to the corresponding motion trajectories.

[0102] Correspondingly, the processing module can also generate trolley joint motion trajectory control instructions according to the motion trajectories of the joints of the trolley arm, and then send the trolley joint motion trajectory control instructions corresponding to the joints of the trolley arm to the motion control module. It should be noted that the motion control module receives and responds to the trolley joint motion trajectory control instructions corresponding to the joints of the trolley arm to control the joints of the trolley arm to move from the current joint values of the joints of the trolley arm to the target joint values of the joints of the trolley arm according to the corresponding motion trajectories. It should be noted that the trolley joint motion trajectory control instructions can carry the motion trajectories of the corresponding joints of the trolley, i.e., the motion direction and the motion displacement of the corresponding joints of the trolley.

[0103] In an embodiment of the present application, after the step of planning the motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm according to the target joint values of the joints of the mirror holding arm and the joints of the trolley arm in the above S310, the positioning method of the surgical robot can further include: if the planning of the motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm fails, manually controlling the joints of the mirror holding arm and the joints of the trolley arm to move from the current joint values to the target joint values.

[0104] Specifically, if the planning of the motion trajectories of the joints of the mirror holding arm and the motion trajectories of the joints of the trolley arm both fail, the processing module can output prompt information of the failure of the planning of the motion trajectories, to remind the medical staff that the planning of the motion trajectories of the joints of the mirror holding arm and the motion trajectories of the joints of the trolley arm both fail, and the medical staff needs to control the joints of the mirror holding arm and the joints of the trolley arm to move from the current joint values to the target joint values through an interactive mode.

[0105] The way of controlling the joints of the mirror holding arm to move from the current joint values to the target joint values through the interactive mode will be described below.

[0106] In an embodiment, the medical staff can automatically control the joints of the mirror holding arm to move from the current joint values to the target joint values through a triggered mode. Specifically, the processing module plans the motion trajectories according to the current joint values and the target joint values of the joints of the mirror holding arm, and the motion control module automatically controls the joints of the mirror holding arm to move from the current joint values of the joints of the mirror holding arm to the corresponding target joint values according to the received motion trajectories. In another embodiment, the medical staff can also manually operate the mirror holding arm to move from the current joint values of the joints of the mirror holding arm to the corresponding target joint values according to the current joint values and the target joint values of the joints of the mirror holding arm. The trolley arm can also be controlled in the same way as the joints of the mirror holding arm.

[0107] In an embodiment of the present application, the control of the joints of the mirror holding arm and the joints of the trolley to autonomously move to the target joint values according to the corresponding motion trajectories includes: if the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope sleeve, and the trolley suspension disc is aligned with the direction of the endoscope, it is determined that the joints of the mirror holding arm and the joints of the trolley have moved to the target joint values according to the corresponding motion trajectories.

[0108] The acquisition device can acquire a third image including the identification signal emitted by the surgical robot and the fixed point of the endoscope sleeve, and send the third image to the processing module. Further, the processing module can perform target recognition processing on the third image by using a target recognition algorithm, to obtain the mapping position of the identification signal and the position of the fixed point of the endoscope sleeve in the third image respectively, and determine whether the mapping position of the identification signal and the position of the fixed point of the endoscope sleeve are the same. If they are the same, the processing module can determine that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope sleeve.

[0109] Meanwhile, the collection device can also collect a fourth image including the suspension tray of the surgical robot and the endoscope, and send the fourth image to the processing module. Further, the processing module can perform target recognition processing on the fourth image using a target recognition algorithm to obtain the direction of the suspension tray and the direction of the endoscope in the fourth image, respectively, and determine whether the direction of the suspension tray and the direction of the endoscope are the same. If they are the same, the processor can determine that the suspension tray of the surgical robot is aligned with the direction of the endoscope.

[0110] In the actual processing process, after the processing module determines that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope sleeve, and the suspension tray of the trolley is aligned with the direction of the endoscope, it can be determined that the joints of the mirror holding arm and the joints of the trolley have been autonomously moved to the target joint values according to the corresponding motion trajectories.

[0111] The positioning method of the surgical robot in the embodiments of the present application can plan the motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm, and then control the joints of the mirror holding arm and the joints of the trolley arm to autonomously move from the current joint values to the target joint values according to the corresponding trajectories. This process can avoid manual participation in the positioning process of the joints of the mirror holding arm and the joints of the trolley arm, can shorten the time spent in positioning the joints of the mirror holding arm and the joints of the trolley arm, improve the positioning efficiency of the joints of the mirror holding arm and the joints of the trolley arm, and on the basis of avoiding manual participation in the positioning process, can also improve the accuracy of the positioning result.

[0112] In the actual processing process, the surgical robot controls the holding arm to realize automatic positioning, which needs to first determine the optimal configuration of the joints of the holding arm, and then control the joints of the holding arm to move from the current joint values of the joints of the holding arm to the optimal configuration. The following embodiments of the present application will introduce the process of how to determine the optimal configuration of the holding arm according to the target joint values of the joints of the mirror holding arm and the current joint values of the holding arm. In an embodiment, the step of determining the optimal configuration of the holding arm according to the target joint values of the joints of the mirror holding arm and the current joint values of the holding arm in S400 above can include: taking the configuration corresponding to the target joint values of the joints of the mirror holding arm as a reference, and using a positioning configuration optimization method based on kinematics and collision detection to calculate the optimal configuration of the holding arm.

[0113] In the embodiments of the present application, the optimal configuration acquisition module takes the configuration corresponding to the target joint values of the joints of the mirror holding arm as a reference, uses a positioning configuration optimization method based on kinematics and collision detection, uses hierarchical bounding boxes to realize collision detection between the holding arms, and takes the maximum motion range between the three holding arms without mutual collision as the optimal target to calculate the optimal configuration of the holding arm of the surgical robot.

[0114] The positioning method of the surgical robot in the embodiments of the present application can take the target joint value of the mirror holding arm as a reference, calculate the optimal configuration of the instrument holding arm using a positioning configuration optimization method based on kinematics and collision detection, and further control each joint of the instrument holding arm to move from the current joint value to the optimal configuration, so that the surgical robot can avoid the problem of collision between the mirror holding arm and the instrument holding arm and between two adjacent instrument holding arms during the execution of the surgical operation, thereby improving the accuracy and effect of the surgery.

[0115] In an embodiment of the present application, in order to facilitate the understanding of those skilled in the art, the execution subject is taken as the surgical robot to introduce the positioning method of the surgical robot provided by the present application. Specifically, the surgical robot includes a surgical trolley, a mirror holding arm and an instrument holding arm, and the surgical trolley includes a trolley arm. The positioning method of the surgical robot includes the following processes:

[0116] (1) An operation signal is obtained according to an identification signal emitted by the surgical robot. The operation signal is used to indicate that a user controls the mirror holding arm holding an endoscope to be connected with an endoscope sleeve, and adjusts the endoscope to face a lesion area of a target object. The endoscope sleeve is arranged on the body surface of the target object.

[0117] (2) The position of the endoscope sleeve fixed point and the direction of the endoscope are calculated according to the current joint values of each joint of the mirror holding arm using forward kinematics.

[0118] (3) The target joint values of each joint of the mirror holding arm and each joint of the trolley arm are calculated according to the position of the endoscope sleeve fixed point and the direction of the endoscope using forward kinematics, with the constraint conditions that the identification signal emitted by the surgical robot coincides with the endoscope sleeve fixed point and the suspension disc of the surgical robot is aligned with the direction of the endoscope.

[0119] (4) The motion trajectories of each joint of the mirror holding arm and each joint of the trolley arm are planned according to the target joint values of each joint of the mirror holding arm and each joint of the trolley arm.

[0120] (5) If the motion trajectories of each joint of the mirror holding arm and each joint of the trolley arm are successfully planned, each joint of the mirror holding arm and each joint of the trolley arm are controlled to autonomously move from the current joint value to the target joint value according to the motion trajectories of each joint of the mirror holding arm and each joint of the trolley arm.

[0121] (6) If the motion trajectories of each joint of the mirror holding arm and each joint of the trolley arm fail to be planned, each joint of the mirror holding arm and each joint of the trolley arm are controlled to move to the target joint value.

[0122] (7) The optimal configuration of the instrument holding arm is calculated using a positioning configuration optimization method based on kinematics and collision detection, with the configuration corresponding to the target joint value of each joint of the mirror holding arm as a reference, and each joint of the instrument holding arm is controlled to move from the current joint value to the optimal configuration.

[0123] The execution processes of (1) to (7) above can refer to the descriptions of the above embodiments for details, and have similar implementation principles and technical effects, which will not be described here again.

[0124] It should be understood that, although Figure 2 , 6 the steps in the flowcharts of 1, 2, 3, 4, 5, 6 and 8 are displayed in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, Figure 2 , 6 At least part of the steps in 1, 2, 3, 4, 5, 6 and 8 can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately executed with at least part of other steps or steps or stages in other steps.

[0125] In one embodiment, as Figure 9 indicated, a positioning device of a surgical robot is provided, the surgical robot comprising a trolley, a mirror holding arm and a tool holding arm, the surgical trolley comprising a trolley arm, comprising: an interaction module 11, a processing module 12, a motion control module 13 and an optimal configuration acquisition module 14, wherein:

[0126] The interaction module 11 is used to realize the connection of the mirror holding arm and the endoscope sleeve, and the endoscope sleeve is arranged on the surface of the target object;

[0127] The processing module 12 is used to obtain target joint values of each joint of the mirror holding arm and each joint of the trolley arm of the surgical trolley respectively according to current joint values of each joint of the mirror holding arm and each joint of the trolley arm;

[0128] The motion control module 13 is used to control each joint of the mirror holding arm and each joint of the trolley arm to move from the current joint value to the target joint value;

[0129] The optimal configuration acquisition module 14 is used to determine an optimal configuration of the tool holding arm according to the target joint values of each joint of the mirror holding arm and the current joint values of each joint of the tool holding arm, and control each joint of the tool holding arm to move from the current joint value to the optimal configuration.

[0130] The implementation principle and technical effect of the positioning device of the surgical robot provided in the embodiment are similar to those of the above-mentioned positioning method of the surgical robot, which will not be described here again.

[0131] In one embodiment, the interaction module 11 comprises an operation signal acquisition unit, wherein:

[0132] The operation signal acquisition unit is configured to acquire an operation signal according to an identification signal emitted by the surgical robot, and the operation signal is used to indicate that the user controls the mirror holding arm holding the endoscope to be connected with the endoscope sleeve and adjusts the endoscope to be directed to the lesion area of the target object.

[0133] The implementation principle and technical effects of the positioning device of the surgical robot provided in the embodiment are similar to those of the above-mentioned positioning method of the surgical robot, and will not be repeated here.

[0134] In one of the embodiments, the processing module 12 includes a position direction calculation unit and a target joint value calculation unit, wherein:

[0135] The position direction calculation unit is configured to calculate the position of the endoscope sleeve fixed point and the direction of the endoscope according to the current joint values of the joints of the mirror holding arm by using forward kinematics.

[0136] The target joint value calculation unit is configured to calculate the target joint values of the joints of the mirror holding arm and the joints of the trolley arm according to the position of the endoscope sleeve fixed point and the direction of the endoscope.

[0137] The implementation principle and technical effects of the positioning device of the surgical robot provided in the embodiment are similar to those of the above-mentioned positioning method of the surgical robot, and will not be repeated here.

[0138] In one of the embodiments, the target joint value calculation unit is specifically configured to calculate the target joint values of the joints of the mirror holding arm and the joints of the trolley arm according to the position of the endoscope sleeve fixed point and the direction of the endoscope by using forward kinematics, with the constraint conditions that the identification signal emitted by the surgical robot coincides with the endoscope sleeve fixed point and the suspension disc of the surgical robot is aligned with the direction of the endoscope.

[0139] The implementation principle and technical effects of the positioning device of the surgical robot provided in the embodiment are similar to those of the above-mentioned positioning method of the surgical robot, and will not be repeated here.

[0140] In one of the embodiments, the motion control module 13 includes a motion trajectory planning unit and a first motion control unit, wherein:

[0141] The motion trajectory planning unit is configured to plan the motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm according to the target joint values of the joints of the mirror holding arm and the joints of the trolley arm.

[0142] The first motion control unit is configured to control the joints of the mirror holding arm and the joints of the trolley arm to autonomously move from the current joint values to the target joint values according to the motion trajectories of the joints of the mirror holding arm and the joints of the trolley arm.

[0143] The implementation principle and technical effects of the positioning device of the surgical robot provided in the embodiment are similar to those of the above-mentioned positioning method of the surgical robot, and will not be repeated here.

[0144] In one of the embodiments, the motion control module 13 further comprises a second motion control unit, wherein:

[0145] The second motion control unit is configured to control the joints of the mirror-holding arm and the joints of the trolley to move to the target joint values when it is determined that the motion trajectory planning of the joints of the mirror-holding arm and the joints of the trolley fails.

[0146] The implementation principle and technical effects of the positioning device of the surgical robot provided in the embodiments are similar to those of the positioning method of the surgical robot, and will not be repeated here.

[0147] In one of the embodiments, the first motion control unit is specifically configured to determine that the joints of the mirror-holding arm and the joints of the trolley have autonomously moved to the target joint values from the current joint values when it is determined that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope sleeve and the trolley suspension disc is aligned with the direction of the endoscope.

[0148] The implementation principle and technical effects of the positioning device of the surgical robot provided in the embodiments are similar to those of the positioning method of the surgical robot, and will not be repeated here.

[0149] In one of the embodiments, the optimal configuration acquisition module 14 comprises an optimal configuration acquisition unit, wherein:

[0150] The optimal configuration acquisition unit is configured to use a positioning configuration optimization method based on kinematics and collision detection to calculate the optimal configuration of the instrument-holding arm with reference to the configuration corresponding to the target joint values of the joints of the mirror-holding arm.

[0151] The implementation principle and technical effects of the positioning device of the surgical robot provided in the embodiments are similar to those of the positioning method of the surgical robot, and will not be repeated here.

[0152] For specific limitations of the positioning device of the surgical robot, refer to the limitations of the positioning method of the surgical robot described above, which will not be repeated here. Each module in the positioning device of the surgical robot described above can be realized by software, hardware, and a combination thereof, in whole or in part. Each module described above can be embedded in or independent of the processor of the surgical robot in hardware form, or stored in the memory in the surgical robot in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0153] In one embodiment, a computer device is provided, and an internal structure diagram of the computer device can be as shown in Figure 10As shown in the figure. The computer device includes a processor, a memory and a network interface connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium, 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 network interface of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement a positioning method of a surgical robot.

[0154] Those skilled in the art can understand that, Figure 10 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0155] In one embodiment, a surgical robot is provided, comprising a surgical trolley, a mirror holding arm, a tool holding arm, a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0156] Controlling the mirror holding arm and the endoscope sleeve connection, and the endoscope sleeve is arranged on the body surface of the target object;

[0157] According to the current joint values of each joint of the mirror holding arm and each joint of the trolley arm, the target joint values of each joint of the mirror holding arm and each joint of the trolley arm of the surgical trolley are obtained respectively;

[0158] Controlling each joint of the mirror holding arm and each joint of the trolley arm to move from the current joint value to the target joint value;

[0159] According to the target joint values of each joint of the mirror holding arm and the current joint values of each joint of the tool holding arm, the optimal configuration of the tool holding arm is determined, and each joint of the tool holding arm is controlled to move from the current joint value to the optimal configuration.

[0160] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0161] Controlling the mirror holding arm and the endoscope sleeve connection, and the endoscope sleeve is arranged on the body surface of the target object;

[0162] According to the current joint values of each joint of the mirror holding arm and each joint of the trolley arm, the target joint values of each joint of the mirror holding arm and each joint of the trolley arm of the surgical trolley are obtained respectively;

[0163] Controlling each joint of the mirror holding arm and each joint of the trolley arm to move from the current joint value to the target joint value;

[0164] According to the target joint values of the joints of the mirror holding arm and the current joint values of the joints of the instrument holding arm, an optimal configuration of the instrument holding arm is determined, and the joints of the instrument holding arm are controlled to move from the current joint values to the optimal configuration.

[0165] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0166] The mirror holding arm and the endoscope sleeve are connected, and the endoscope sleeve is arranged on the surface of the target object;

[0167] According to the current joint values of the joints of the mirror holding arm and the joints of the trolley arm, target joint values of the joints of the mirror holding arm and the joints of the trolley arm are respectively obtained;

[0168] The joints of the mirror holding arm and the joints of the trolley arm are controlled to move from the current joint values to the target joint values;

[0169] According to the target joint values of the joints of the mirror holding arm and the current joint values of the joints of the instrument holding arm, an optimal configuration of the instrument holding arm is determined, and the joints of the instrument holding arm are controlled to move from the current joint values to the optimal configuration.

[0170] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0171] Any combination of the technical features of the above embodiments can be made. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0172] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The processor executes the computer program to implement the steps of a surgical robot positioning method, wherein the surgical robot includes a surgical cart, an endoscope arm, and a surgical arm, and the surgical cart includes a cart arm, characterized in that the method includes: Control the connection between the endoscope arm and the endoscope sleeve, with the endoscope sleeve positioned on the surface of the target object; Using positive kinematics, the position of the fixed point of the endoscope cannula and the direction of the endoscope are calculated based on the current joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm. Based on the position of the fixed point of the endoscope cannula and the direction of the endoscope, the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm are calculated. Control each joint of the mirror-holding arm and each joint of the trolley arm to move from the current joint value to the target joint value; Based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the mechanical arm, the optimal configuration of the mechanical arm is determined, and each joint of the mechanical arm is controlled to move from the current joint value to the optimal configuration.

2. The computer device according to claim 1, characterized in that, The control of the connection between the endoscope arm and the endoscope cannula includes: The operation signal is obtained based on the identification signal emitted by the surgical robot; After receiving the operation signal, the endoscope arm is connected to the endoscope cannula, and the endoscope is adjusted to face the lesion area of ​​the target object.

3. The computer device according to claim 2, characterized in that, The step of obtaining the operation signal based on the identification signal emitted by the surgical robot includes: if the identification signal emitted by the surgical robot is located within a preset range of the lesion area of ​​the target object, then an operation signal is issued.

4. The computer device according to any one of claims 1-3, characterized in that, The step of calculating the target joint values ​​of each joint of the endoscope-holding arm and each joint of the trolley arm based on the position of the fixed point of the endoscope cannula and the direction of the endoscope includes: With the constraint that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula and the suspension plate of the surgical robot is aligned with the direction of the endoscope, the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm are calculated using the positive kinematics based on the position of the fixed point of the endoscope cannula and the direction of the endoscope.

5. The computer device according to claim 1, characterized in that, The control of each joint of the lens-holding arm and each joint of the trolley arm to move from the current joint value to the target joint value includes: Based on the target joint values ​​of each joint of the lens-holding arm and each joint of the trolley arm, the motion trajectory of each joint of the lens-holding arm and each joint of the trolley arm is planned. Based on the movement trajectories of each joint of the lens-holding arm and each joint of the trolley arm, control each joint of the lens-holding arm and each joint of the trolley arm to autonomously move from the current joint value to the target joint value.

6. The computer device according to claim 5, characterized in that, After planning the motion trajectory of each joint of the lens-holding arm and each joint of the trolley arm according to the target joint values ​​of each joint of the lens-holding arm and each joint of the trolley arm, the method further includes: if the motion trajectory planning of each joint of the lens-holding arm and each joint of the trolley arm fails, the user controls each joint of the lens-holding arm and each joint of the trolley arm to move from the current joint value to the target joint value.

7. The computer device according to claim 1, characterized in that, The step of determining the optimal configuration of the robotic arm based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the robotic arm includes: Based on the configuration corresponding to the target joint values ​​of each joint of the arm, the optimal configuration of the arm is calculated using a kinematic and collision detection-based positioning configuration optimization method.

8. The computer device according to claim 1, characterized in that, The method further includes: if the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula, and the suspension plate of the surgical robot is aligned with the direction of the endoscope, then it is determined that each joint of the endoscope-holding arm and each joint of the trolley arm have moved to the target joint value according to the corresponding motion trajectory.

9. A positioning device for a surgical robot, characterized in that, The surgical robot includes a surgical cart, a scope-holding arm, and a surgical arm; the surgical cart includes a cart arm; the device includes: The interaction module is used to connect the endoscope arm and the endoscope sleeve, wherein the endoscope sleeve is set on the surface of the target object; The processing module is used to calculate the position of the fixed point of the endoscope cannula and the direction of the endoscope based on the current joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm using positive kinematics, and to calculate the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm based on the position of the fixed point of the endoscope cannula and the direction of the endoscope. A motion control module is used to control the movement of each joint of the lens-holding arm and each joint of the trolley arm from the current joint value to the target joint value; The optimal configuration acquisition module is used to determine the optimal configuration of the mechanical arm based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the mechanical arm, and to control each joint of the mechanical arm to move from the current joint value to the optimal configuration.

10. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of a surgical robot positioning method. The surgical robot includes a surgical cart, an endoscope arm, and a surgical instrument arm. The surgical cart includes a cart arm. The method includes: Control the connection between the endoscope arm and the endoscope sleeve, with the endoscope sleeve positioned on the surface of the target object; Using positive kinematics, the position of the fixed point of the endoscope cannula and the direction of the endoscope are calculated based on the current joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm. Based on the position of the fixed point of the endoscope cannula and the direction of the endoscope, the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm are calculated. Control each joint of the mirror-holding arm and each joint of the trolley arm to move from the current joint value to the target joint value; Based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the mechanical arm, the optimal configuration of the mechanical arm is determined, and each joint of the mechanical arm is controlled to move from the current joint value to the optimal configuration.

Images