Surgical robot adjustment method, readable storage medium and surgical robot system

Abstract

The application provides a surgical robot adjustment method, a readable storage medium and a surgical robot system. The surgical robot adjustment method comprises the following steps: when the position of a joint of a mechanical arm of a surgical robot reaches a limit position, triggering the surgical robot to perform pose adjustment; wherein an instrument connected to the mechanical arm is used to move through a fixed point; driving the surgical robot to perform pose adjustment according to a preset logic, so that the position of the joint reaching the limit position is adjusted to be within the limit position, while ensuring that the pose of the fixed point remains unchanged. In this way, by driving the surgical robot to perform pose adjustment according to the preset logic, the position of the limited joint is adjusted to be within the limit position, the relative pose of the mechanical arm and a surgical bed is adjusted, the instrument movement range can be adjusted without interrupting the current surgical process, the surgical time is saved, and the patient is prevented from being caused secondary injury due to the change of the position of the fixed point.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot-assisted surgery, and in particular to a surgical robot adjustment method, a readable storage medium and a surgical robot system. BACKGROUND

[0002] The emergence of surgical robots conforms to the development trend of precision surgery. Surgical robots have become a powerful tool to help doctors complete surgery, and have been developed in multiple departments and multiple fields for various surgical robots suitable for different indications.

[0003] The design concept of surgical robots is to accurately and skillfully implement complex surgical procedures in a minimally invasive manner, which has high precision and safety. In the face of various limitations of traditional surgery, surgical robots have been developed to replace traditional surgery. Surgical robots break through the limitations of the human eye and use stereoscopic imaging technology to present internal organs more clearly to the operator. In areas where the hand cannot reach, the mechanical arm can complete 360-degree rotation, movement, swing or clamping, and can avoid shaking. The patient has a small incision, less bleeding, and faster recovery, which greatly shortens the patient's postoperative hospital stay, and the postoperative survival rate and recovery rate can be significantly improved, and is favored by the majority of doctors and patients. As a high-end medical device, it has been widely used in various clinical surgeries.

[0004] Unlike traditional laparoscopic surgery, the surgical robot system has a fixed point mechanism that can ensure that the movement of the mechanical arm during surgery revolves around a fixed point. The fixed point will coincide with the surgical hole on the patient's abdomen, ensuring that the mechanical arm will not cause harm to the patient during movement. The existence of the fixed point also limits the instrument operating space of the surgical robot. The mechanical volume of the surgical robot is several to dozens of times that of ordinary laparoscopic instruments, and there will be interference between the mechanical arms, further reducing the operable range of the instrument. When the fixed point of the surgical robot system matches the surgical hole of the patient, the position of the surgical robot and the patient's body position cannot be adjusted, otherwise the fixed point will move and cause harm to the patient.

[0005] When using a surgical robot for minimally invasive surgery, an important step is to place each mechanical arm and each joint of the surgical robot in a reasonable position before surgery to ensure that the robot has sufficient space for movement during the subsequent surgery. However, due to changes in the patient's position during surgery, the doctor's operation, and other reasons, it is difficult to ensure that the robot still has sufficient movement space during surgery just by adjusting the position of each joint of the robot before surgery. At this time, some adjustments must be made to ensure that the surgery proceeds smoothly. However, the intraoperative adjustment of the existing surgical robot is usually cumbersome. SUMMARY

[0006] The application aims to provide a surgical robot adjustment method, a readable storage medium and a surgical robot system to solve the problem of inconvenient intraoperative adjustment of the existing surgical robot system.

[0007] To solve the above technical problems, according to a first aspect of the application, a surgical robot adjustment method is provided, which comprises:

[0008] When the position of a joint of a mechanical arm of the surgical robot reaches a limit position, triggering the surgical robot to perform pose adjustment; wherein the instrument connected to the mechanical arm is used to move through a fixed point;

[0009] Driving the surgical robot to perform pose adjustment according to a preset logic, so that the position of the joint reaching the limit position is adjusted to within the limit position, while ensuring that the pose of the fixed point remains unchanged.

[0010] Optionally, the preset logic comprises active adjustment logic, and the active adjustment logic comprises:

[0011] Adjusting the positions of two or more joints of the mechanical arm of the surgical robot including the joint reaching the limit position to optimal positions as the adjustment target, to obtain an adjustment path of the base of the surgical robot;

[0012] Based on the adjustment path, compensating and adjusting other joints of the mechanical arm where the joint reaching the limit position is located and other mechanical arms on the base.

[0013] Optionally, the preset logic comprises passive adjustment logic, and the passive adjustment logic comprises:

[0014] Adjusting the joint reaching the limit position to within the limit position by a predetermined adjustment amount as the adjustment target, to obtain an adjustment path of the base of the surgical robot;

[0015] Based on the adjustment path, compensating and adjusting other joints of the mechanical arm where the joint reaching the limit position is located and other mechanical arms on the base.

[0016] Optionally, the step of compensating and adjusting other joints of the mechanical arm where the joint reaching the limit position is located and other mechanical arms on the base comprises:

[0017] The adjustment path of the mechanical arm is obtained by an iterative solution method, an analytical method or a Jacobian method.

[0018] Optionally, the step of obtaining the adjustment path of the mechanical arm by the iterative solution method comprises:

[0019] Obtaining pose information of the fixed point and position information of each joint on the mechanical arm;

[0020] The adjustment path of the robot arm is calculated according to a preset algorithm based on the pose information of the fixed point and the position information of each joint.

[0021] The optimal adjustment path of the robot arm is screened.

[0022] Optionally, the preset algorithm comprises:

[0023] According to the full stroke movement range of the joint, the iteration step of each joint is obtained, so as to obtain all possible adjustment paths of the robot arm.

[0024] Optionally, the method for screening the optimal adjustment path of the robot arm comprises:

[0025] Based on all possible adjustment paths of the robot arm, the optimal adjustment path of the robot arm is obtained according to a cost function, a heuristic function, a weight function and a convergence judgment function.

[0026] Optionally, the convergence judgment function comprises a convergence condition and a constraint condition.

[0027] The convergence condition comprises that the position of the joint reaching the limit position is within a first preset position range.

[0028] The constraint condition comprises at least one of:

[0029] No collision occurs between the robot arms, the pose of the fixed point does not change, the pose change of the robot arm end is less than a preset threshold, and the position of each joint is within a second preset position range.

[0030] Optionally, the step of obtaining the adjustment path of the robot arm by the analytical method comprises:

[0031] Based on the expected joint position increment, the Cartesian pose change amount of the fixed point is obtained.

[0032] According to the Cartesian pose change amount of the fixed point, the adjustment amount of the base of the surgical robot is obtained.

[0033] The adjustment amount of the base of the surgical robot is converted into the allowance of the fixed point.

[0034] Based on the allowance of the fixed point, the position adjustment amount of each joint of the robot arm of the surgical robot is converted, so as to obtain the adjustment path of the robot arm.

[0035] Optionally, the step of obtaining the adjustment path of the robot arm by the Jacobian method comprises:

[0036] The movement speed of each joint is obtained.

[0037] mapping the motion velocity of the end of the robot arm to a motion velocity of the end of the robot arm by a Jacobian matrix;

[0038] solving the adjustment path of the robot arm by using the constraint that the motion velocity of the end of the robot arm is zero.

[0039] Optionally, the active adjustment logic comprises: retracting an instrument connected to the robot arm before performing the pose adjustment.

[0040] Optionally, the passive adjustment logic comprises: keeping an instrument connected to the robot arm indwelled in a predetermined object before performing the pose adjustment.

[0041] To solve the above technical problems, according to a second aspect of the present application, there is also provided a readable storage medium having a program stored thereon, which, when executed, implements the adjustment method of the surgical robot as described above.

[0042] To solve the above technical problems, according to a third aspect of the present application, there is also provided a surgical robot system comprising a detection unit, an action unit and a control unit; the action unit comprises a robot arm, the robot arm being used to connect an instrument; the control unit is used to drive the surgical robot to perform a pose adjustment according to a preset logic when the position of a joint of the robot arm reaches a limit position, so as to adjust the position of the joint reaching the limit position to be within the limit position, while ensuring that the pose of the fixed point is unchanged.

[0043] Optionally, the detection unit is used to detect action information of the action unit, the control unit is communicatively connected with the detection unit and the action unit, and the control unit is configured to form a closed-loop control with the action unit and the detection unit.

[0044] In summary, in the adjustment method of the surgical robot, the readable storage medium and the surgical robot system provided by the present application, the adjustment method of the surgical robot comprises: triggering the surgical robot to perform a pose adjustment when the position of a joint of a robot arm of the surgical robot reaches a limit position; wherein an instrument connected to the robot arm is used to move through a fixed point; and driving the surgical robot to perform a pose adjustment according to a preset logic, so as to adjust the position of the joint reaching the limit position to be within the limit position, while ensuring that the pose of the fixed point is unchanged.

[0045] Thus configured, by driving the surgical robot to perform the pose adjustment according to the preset logic, the position of the restricted joint is adjusted to be within the limit position, the adjustment of the relative pose of the mechanical arm and the surgical bed is realized, and the instrument movement range can be adjusted without interrupting the current surgical process, saving the surgical time; meanwhile, the change of the fixed point position caused by the manual adjustment process can be avoided, and the secondary injury to the patient caused by the change of the fixed point during the surgical process can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0046] Those skilled in the art will understand that the provided drawings are for the purpose of better illustrating the present application and do not constitute any limitation on the scope of the present application. Among them:

[0047] Figure 1 is a schematic diagram of a surgical scene of a surgical robot system according to an embodiment of the present application;

[0048] Figure 2 is a flowchart of an adjustment method of a surgical robot according to an embodiment of the present application;

[0049] Figure 3 is a schematic diagram of a mechanical arm according to an embodiment of the present application;

[0050] Figure 4a is a schematic diagram of a rotating joint in a maximum stroke position according to an embodiment of the present application;

[0051] Figure 4b is a schematic diagram of a rotating joint in a minimum stroke position according to an embodiment of the present application;

[0052] Figure 5 is a schematic diagram of joint restriction and base adjustment according to an embodiment of the present application;

[0053] Figure 6 is a schematic diagram of a punch card according to an embodiment of the present application;

[0054] Figure 7 is a flowchart of an adjustment path obtained by an iterative solution method according to an embodiment of the present application;

[0055] Figure 8 is a flowchart of a preset algorithm and optimal adjustment path screening according to an embodiment of the present application;

[0056] Figure 9 is a schematic diagram of movement rules of each joint according to an embodiment of the present application;

[0057] Figure 10 is a modular schematic diagram of a surgical robot system according to an embodiment of the present application;

[0058] Figure 11 is a module schematic diagram of an action unit and a control unit according to an embodiment of the present application;

[0059] Figures 12 to 17 FIG. 1 is a schematic diagram of a display unit displaying various stages in a pose adjustment process of a surgical robot according to an embodiment of the present application.

[0060] In the drawings:

[0061] 100 - physician end control device; 101 - master manipulator; 102 - imaging device; 103 - foot-operated surgical control device;

[0062] 200 - patient end control device; 201 - base; 210 - mechanical arm; 211 - adjustment arm; 212 - tool arm; 213 - revolute joint; 214 - constrained joint; 220 - instrument;

[0063] 300 - image cart; 302 - display device; 400 - surgical bed; 410 - patient;

[0064] 900 - punch card; 910 - detection unit; 920 - action unit; 930 - control unit; 931 - position limit comparison unit; 932 - path planning unit; 933 - motion controller; 940 - display unit; DETAILED DESCRIPTION

[0065] In order to make the objects, advantages and features of the present application clearer, the following will further describe the present application in detail with reference to the accompanying drawings and specific embodiments. It should be noted that all the drawings are very simplified and not drawn according to scale, and are only used to facilitate and clarify the purpose of assisting the description of the embodiments of the present application. In addition, the structures shown in the drawings are often part of the actual structures. In particular, the emphasis of each drawing needs to be different, and sometimes different scales are used.

[0066] As used in this specification, the singular forms "a," "an" and "the" include plural referents unless the context clearly dictates otherwise. The term "or" is generally employed in its sense including "and / or" unless the context clearly dictates otherwise. The term "a number of" is generally employed in its sense including "at least one" unless the context clearly dictates otherwise. The term "at least two" is generally employed in its sense including "two or more" unless the context clearly dictates otherwise. Furthermore, the terms "first," "second," "third," etc. are used only to describe different instances, and do not imply or suggest relative importance or an implied number of the technical features indicated. Thus, features defined with "first," "second," "third" can explicitly or implicitly include one or at least two of the features. The term "proximal" generally refers to the end closer to the operator, and the term "distal" generally refers to the end closer to the patient or closer to the lesion. The terms "one end" and "the other end" and "proximal" and "distal" generally refer to two parts corresponding to each other, which include not only the end points, and the terms "mounting," "connecting," "connection" should be understood broadly, for example, can be fixedly connected, or detachably connected, or integrated; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. In addition, as used in this specification, a component disposed in another component generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two components, and the connection, coupling, cooperation or transmission between the two components can be direct or indirect through an intermediate component. The specific meaning of the above terms in this specification can be understood according to the specific circumstances by those skilled in the art.

[0067] The purpose of the present application is to provide an intraoperative fixed point adjustment method, a surgical bed fixed point follow-up adjustment system, a surgical robot adjustment method, a readable storage medium and a surgical robot system to solve the problem that the position of the surgical robot and the patient's body position cannot be adjusted during the operation of the existing surgical robot system.

[0068] The following is described with reference to the accompanying drawings.

[0069] Please refer to Figures 1 to 17 , wherein, Figure 1 is a schematic diagram of a surgical scene of a surgical robot system according to an embodiment of the present application; Figure 2 is a flowchart of a surgical robot adjustment method according to an embodiment of the present application; Figure 3 is a schematic diagram of a mechanical arm according to an embodiment of the present application; Figure 4a is a schematic diagram of a rotating joint in a maximum stroke position according to an embodiment of the present application; Figure 4b is a schematic diagram of a rotating joint in a minimum stroke position according to an embodiment of the present application; Figure 5 is a schematic diagram of joint restriction and base adjustment according to an embodiment of the present application; Figure 6 is a schematic diagram of a punch card according to an embodiment of the present application;Figure 7 is a flowchart of adjusting path obtained by iterative solution method according to an embodiment of the present application; Figure 8 is a flowchart of preset algorithm and screening optimal adjusting path according to an embodiment of the present application; Figure 9 is a schematic diagram of movement rules of each joint according to an embodiment of the present application; Figure 10 is a modular schematic diagram of a surgical robot system according to an embodiment of the present application; Figure 11 is a modular schematic diagram of an action unit and a control unit according to an embodiment of the present application; Figures 12 to 17 is a schematic diagram of displaying each stage in the pose adjustment process of a surgical robot by a display unit according to an embodiment of the present application.

[0070] Figure 1 An application scenario of a surgical robot system is shown, which includes a master-slave teleoperation surgical robot, i.e., the surgical robot system includes a physician end control device 100, a patient end control device 200, a master controller (not shown) and a surgical bed 400. It should be noted that in some embodiments, the surgical bed 400 can also be replaced by other surgical operation platforms, and the present application is not limited thereto.

[0071] The physician end control device 100 is an operation end of the teleoperation surgical robot, and includes a master operating hand 101 installed thereon. The master operating hand 101 is used to receive hand movement information of an operator as a movement control signal input of the whole system. Optionally, the master controller is also arranged on the physician end control device 100. Preferably, the physician end control device 100 further includes an imaging device 102, which can provide stereoscopic images for the operator, and provide surgical operation information for the operator to perform surgical operation. The surgical operation information includes surgical instrument types, quantities, poses in the abdomen, patient organ tissues and surrounding organ tissue blood vessels, and arrangement, etc. Optionally, the physician end control device 100 further includes a foot-operated surgical control device 103, and the operator can also complete input of operation instructions such as electrocision and electrocoagulation through the foot-operated surgical control device 103.

[0072] The patient-side control device 200 is a specific execution platform of the teleoperation surgical robot, and includes a base 201 and a surgical execution assembly mounted thereon. The surgical execution assembly includes a mechanical arm 210 and an instrument 220, and the instrument 220 includes a surgical instrument (such as a high-frequency electrotome) for specifically performing a surgery, and an endoscope and the like for assisting observation. In an embodiment, the mechanical arm 210 includes an adjustment arm 211 and a working arm 212. The working arm 212 is a mechanical fixed-point mechanism, which is used to drive the instrument 220 to move around a mechanical fixed point, so as to perform a surgical treatment on a patient 410 on a surgical bed 400. The adjustment arm 211 is used to adjust the position of the mechanical fixed point in a working space. In another embodiment, the mechanical arm 210 is a spatial configuration mechanism with at least six degrees of freedom, which is used to drive the instrument 220 to move around an active fixed point under program control. Of course, in other embodiments, the mechanical arm 210 can also include a series mechanical arm combined with an algorithmic fixed point, or the adjustment arm 211 combined with a passive fixed point, and the present application does not limit the type of the mechanical arm 210.

[0073] The instrument 220 is used to perform specific surgical operations such as clamping, cutting, shearing and the like, or is used to assist a surgery such as shooting and the like. It should be noted that, since the instrument 220 has a certain volume in practice, the above-mentioned “fixed point” should be understood as a fixed area. Of course, those skilled in the art can understand the “fixed point” according to the prior art.

[0074] The master controller is in communication connection with the physician-side control device 100 and the patient-side control device 200 respectively, and is used to control the movement of the surgical execution assembly according to the movement of the master operating hand 101. Specifically, the master controller can be a software, hardware or combination of software and hardware module, which includes a master-slave mapping module. The master-slave mapping module is used to obtain the end pose of the master operating hand 101, and a predetermined master-slave mapping relationship, to obtain the expected end pose of the surgical execution assembly, and then control the mechanical arm 210 to drive the instrument 220 to move to the expected end pose. Further, the master-slave mapping module is also used to receive an instrument function operation instruction (such as an operation instruction related to electric cutting, electric coagulation and the like), and control an energy driver of the instrument 220 to release energy to implement the surgical operation of electric cutting, electric coagulation and the like.

[0075] Further, the medical robot system further comprises an image cart 300. The image cart 300 comprises an endoscope processor (not shown) in communication connection with the endoscope. The endoscope is used to acquire intra-cavity (i.e. in the body cavity of the patient) surgical operation information. The endoscope processor is used to image process the surgical operation information acquired by the endoscope and transmit to the imaging device 102 so as to be observed by the operator. Optionally, the image cart 300 further comprises a display device 302. The display device 302 is in communication connection with the endoscope processor and is used to provide display of the surgical operation information in real time for assisting operators (e.g. nurses).

[0076] During surgery, the operator (e.g. a doctor) sits in front of the doctor end control device 100 outside the sterile area, observes the returned surgical operation information through the imaging device 102, and controls the surgical execution assembly and laparoscope movement through the operation master hand 101 to complete various surgical operations.

[0077] Please refer to Figure 2 Based on the above surgical robot system, the embodiment provides a surgical robot adjustment method, which comprises:

[0078] Step S1: when the position of the joint of the mechanical arm 210 of the surgical robot reaches the limit position, triggering the surgical robot to perform pose adjustment; wherein the instrument 220 connected with the mechanical arm 210 is used to move through the fixed point;

[0079] Step S2: driving the surgical robot to perform pose adjustment according to the preset logic, so as to adjust the position of the limited joint to be within the limit position, while ensuring that the pose of the fixed point is unchanged.

[0080] Optionally, in step S1, when the position of the joint of the mechanical arm 210 of the surgical robot reaches the limit position, the adjustment method of the surgical robot further comprises a step SC11: interacting to prompt whether to perform pose adjustment, for the operator to confirm. After the operator confirms to perform pose adjustment, the surgical robot is triggered to perform pose adjustment. Further, after step S2, i.e. after the pose adjustment is completed, the adjustment method of the surgical robot further comprises: interacting to prompt that the adjustment is completed and / or the current joint movement range, etc. The interaction prompting method can be various, such as being displayed on the imaging device 102 or the display device 302; or being prompted through buttons, sound and light, etc. The embodiment is not limited thereto.

[0081] After the surgery begins, the operator remotely controls the patient-side control device 200 via the doctor's control device 100 to perform surgery on the patient. When a joint on the robotic arm 210 reaches its limit position, step SC11 is executed, interactively prompting the operator whether to perform pose adjustment. Of course, step SC11 is not mandatory; for example, the operator can choose whether to perform pose adjustment before surgery. If no interactive prompt is selected, step SC11 can be skipped. After the operator confirms the adjustment, the surgical robot enters the adjustment state. The main controller drives the surgical robot to perform pose adjustment according to preset logic, adjusting the position of the joint that has reached the limit position to within the limit position, while ensuring that the pose of the fixed point remains unchanged.

[0082] Please refer to Figure 3 The following description uses the adjusting arm 211 and the working arm 212 with a mechanical fixed point mechanism as examples of the robotic arm 210. Figure 3 In the illustrated example, the patient-side control device 200 includes a base 201 and four robotic arms 210 mounted on the base 201. Typically, each robotic arm 210 has multiple joints, such as rotary joints and translational joints. Each joint's position is within a certain range of travel, with mechanical limit positions at both ends of the range. This allows the drive instrument 220 to perform the surgery. Figure 4a and Figure 4b An example of a mechanically limited position of a rotary joint 213 is shown, wherein Figure 4a This shows the rotary joint 213 at its maximum travel position P. max At this point, the rotational joint 213 has reached its maximum achievable angle. Figure 4b This shows the rotary joint 213 in its minimum travel position P. min At this point, the rotational joint 213 has reached its minimum achievable angle. Understandably, during normal use, the rotational joint 213 is positioned at its maximum travel position P. max and minimum travel position P min Between, the maximum travel position P max and minimum travel position P min This is the mechanical limit position of the rotary joint 213. To ensure more reliable operation of each joint, the actual stroke of the joint is generally set within the mechanical limit position. In one example, the limit position of the joint can be set within 5% to 95% of the mechanical limit position. That is, the current position P of the joint. c satisfy:

[0083] P min +5%*P r <P c <Pmax -5% P r

[0084] wherein P r = P max - P min is the range of motion of the joint. Of course, in other embodiments, the actual range of travel of the joint can be set by one skilled in the art as appropriate.

[0085] Further, in order to drive the surgical robot to perform pose adjustment, the preset logic of the present embodiment provides two adjustment logic strategies, which are active adjustment logic and passive adjustment logic. The following describes the two adjustment logic strategies.

[0086] The active adjustment logic comprises:

[0087] Step S21: adjusting the positions of two or more joints of the mechanical arm 210 of the surgical robot, including the joint reaching the limit position, to the optimal positions as the adjustment target, to obtain the adjustment path of the base 201 of the surgical robot;

[0088] Step S22: based on the adjustment path, compensating and adjusting the other joints of the mechanical arm 210 where the joint reaching the limit position is located and the other mechanical arms 210 on the base 201.

[0089] Please refer to Figure 5 , in the above step S21, after a joint on a certain mechanical arm 210 reaches the limit position (for ease of description, the joint reaching the limit position is referred to as the limited joint 214, and the mechanical arm where the limited joint is located is referred to as the limited mechanical arm), first calculate the adjustment path of the base 201 with the goal of adjusting at least two joints including the limited joint to the optimal position t with the best range of motion. It should be noted that the optimal position here is not limited to a point, but can be a range, for example, the optimal position can be within 40% to 60% of the range of motion of the limit position of the joint, and one skilled in the art can set the optimal position as appropriate. Preferably, the adjustment path of the base 201 can be calculated with the goal of adjusting each joint on each mechanical arm 210 to the optimal position with the best range of motion. In Figure 5 the exemplary embodiment shown, the adjustment path of the base 201 is from the pre-adjustment position P1 to the post-adjustment position P2.

[0090] In step S22, after the adjustment path of the base 201 is obtained, the adjustment distance that the other joints of the restricted mechanical arm need to compensate after the base 201 is adjusted along the adjustment path and the adjustment distance of the other mechanical arms 210 on the base 201 are calculated according to a certain method (detailed below) to ensure that the end pose of the instrument 220 changes within a smaller range. In this way, the adjustment range of the restricted joint in the active adjustment logic is mainly calculated, and the other joints can be prevented from reaching or approaching the limit position after the restricted joint is adjusted to the optimal position.

[0091] Further, please refer to Figure 6 In an exemplary embodiment, after the operation of punching the patient's body surface is completed, a punch card 900 is inserted into the surgical hole of the patient, and the instrument 220 connected to the mechanical arm 210 is used to penetrate into the patient's body through the punch card 900. It can be understood that the mechanical fixed point coincides with the intersection of the axis of the punch card 900 and the surface of the patient's body at this time. The active adjustment logic includes: before the pose adjustment is performed, the instrument 220 connected to the mechanical arm 210 is retracted into the punch card 900. For safety considerations, since the active adjustment logic can cause the mechanical arm 210 to have a larger movement, the instrument 220 can be retracted into the punch card 900 from the patient's body during the pose adjustment according to the active adjustment logic to ensure the safety of the operation.

[0092] The passive adjustment logic includes:

[0093] Step S23: The joint reaching the limit position is adjusted to within the limit position by a predetermined adjustment amount as the adjustment target to obtain the adjustment path of the base 201 of the surgical robot;

[0094] Step S24: Based on the adjustment path, the other joints of the mechanical arm 210 where the joint reaching the limit position is located and the other mechanical arms 210 on the base 201 are compensated and adjusted.

[0095] In step S23, after a joint on a certain mechanical arm 210 reaches the limit position, the adjustment path of the base 201 is calculated according to a fixed predetermined adjustment amount of the restricted joint as the target, which is different from the active adjustment logic.

[0096] In step S24, after the adjustment path of the base 201 is obtained, the adjustment distance that the other joints of the restricted mechanical arm need to compensate after the base 201 is adjusted and the adjustment distance of the other mechanical arms 210 on the base 201 are calculated according to a certain method (detailed below) to ensure that the end pose of the instrument 220 changes within a smaller range. In this way, the passive adjustment logic mainly adjusts the joint movement range of the restricted joint to a certain predetermined range, and the adjustment amount of the restricted joint is fixed.

[0097] Optionally, the passive adjustment logic comprises: before performing the pose adjustment, keeping the instrument 220 connected to the robotic arm 210 indwelled in a predetermined object (e.g. in a patient). Under the passive adjustment logic, since the adjustment action is small, the uncertainty is small and the operator still needs to continue operating, the instrument 220 is preferably kept indwelled in the patient.

[0098] Both the active adjustment logic and the passive adjustment logic above consider adjusting the base 201 to cope with the problem of the joint of the robotic arm being limited. Generally, the base 201 has more adjustment degrees of freedom than the operating table 400 and is more controllable and more convenient to move, and can be adjusted more comprehensively to expand the movement range of the limited joint. Further, after the base 201 is adjusted, the movement range of other joints on the base 201 is not affected, and multiple robotic arms 210 on the base 201 can be adjusted synchronously to compensate for the change in the end pose of the instrument 220 caused by the movement of the base 201.

[0099] Based on the active adjustment logic and the passive adjustment logic above, after the base 201 is adjusted according to the adjustment path, the pose of the non-limited joint on the limited robotic arm and the robotic arm on which the non-limited joint is located will be affected. Therefore, compensation adjustment needs to be performed on other joints of the limited robotic arm and other robotic arms 210 to ensure that the end pose of the instrument 220 connected to each robotic arm 210 remains unchanged relative to the pose of the operating table 400.

[0100] In order to obtain the adjustment path of the robotic arm 210 to implement the compensation adjustment, the embodiment provides the following methods: an iterative solution method, an analytical method or a Jacobian method.

[0101] Please refer to Figure 7 The step of obtaining the adjustment path of the robotic arm 210 by the iterative solution method comprises:

[0102] Step S31: obtaining the current pose information of the fixed point and the current position information of each joint of the robotic arm 210;

[0103] Step S32: based on the pose information of the fixed point and the position information of each joint, calculating the adjustment path of the robotic arm 210 according to a preset algorithm;

[0104] Step S33: screening to obtain the optimal adjustment path of the robotic arm 210.

[0105] Further, please refer to Figure 8 The preset algorithm in step S32 comprises: step S321: calculating an iteration step and starting iteration. According to the full stroke movement range P r, to obtain the iteration step S of each joint, so as to obtain all possible adjustment paths of the robot arm 210. The calculation formula of the iteration step S is as follows:

[0106]

[0107] Since the motor steps of each joint are different, the motors of each joint need to be calculated respectively.

[0108] Further, after obtaining the iteration step S of each joint, the preset algorithm comprises the following steps: Figure 9 As shown in the figure, the forward rotation of the motor B1 on the base 201 is recorded as 1, and the reverse rotation is recorded as 0. The motor B2 on the base 201 is the same. The motors Z1 and Z2 on the suspension disc, the motors T1, T2, T3, T4… on the adjustment arm 211, and the like can be obtained. All possible adjustment paths of the robot arm 210 can be obtained.

[0109] Preferably, the method for screening the optimal adjustment path of the robot arm in step S33 comprises the following steps: step S331 of calculating the cost function g(n), the heuristic function h(n) and the weight function w(n), and step S332 of calculating the convergence judgment function f(n). Based on all possible adjustment paths of the robot arm 210, the optimal adjustment path of the robot arm 210 is obtained according to the cost function g(n), the heuristic function h(n), the weight function w(n) and the convergence judgment function f(n).

[0110] The calculation formula of the cost function g(n) is as follows:

[0111]

[0112] Among them,

[0113] ι j = distance (Arm & Arm), representing the distance of skew lines;

[0114] λ j = Point c -Point p

[0115] μ j = Pose c -Pose p

[0116] ν j = Pos c -Posp m is the number of motors, which is different according to whether there is an adjusting arm 211 in the structure of the robot arm.

[0117] η β η γ η δ is an adjustment factor, when λ j μ j η δ is 0 when greater than a threshold value, and 1 when less than the threshold value.

[0118] The calculation formula of the heuristic function h(n) is as follows:

[0119] h(n) = abs(θ c - θ t )

[0120] θ c is the current position of the limited joint;

[0121] θ t is the target adjustment position of the limited joint (for example, the midpoint of the full stroke range).

[0122] f(n) = g(n) + ω(n) * h(n)

[0123] ω(n) is a heuristic function weight, ω ≥ 1, and the weight is reduced when approaching the target, so as to focus on the anti-collision between the robot arms of the path and the invariable point and the constant pose of the instrument end.

[0124] Optionally, the convergence judgment function f(n) includes a convergence condition and a constraint condition,

[0125] For the limited joint, the convergence condition includes that the position of the joint reaching the limit position is within a first preset position range. Those skilled in the art can set the first preset position range according to actual conditions. For example, in the active adjustment logic, the first preset position range can be set to 40% to 60% of the full stroke range, and in the passive adjustment logic, the first preset position range can be set to a reasonable fixed value.

[0126] For the non-limited joint on the limited robot arm and other non-limited robot arms, the convergence condition includes that the invariable point pose of the robot arm 210 remains unchanged. This convergence condition can also be understood as that the position of the invariable point of the robot arm 210 changes after being affected by the base 201, and the adjustment path is calculated through algorithm iteration, so that the invariable point of the robot arm 210 moves to the original position.

[0127] The constraint condition includes at least one of the following:

[0128] 1) No collision occurs between the robot arms 210. Taking any two robot arms 210 as an example, it needs to satisfy:

[0129]

[0130] wherein, d is the distance between the two arms 210, is the unit vector of the line where one arm is located, is the unit vector of the line where the other arm is located, is the vector of the line connecting the motors on the two arms 210.

[0131] 2) the pose of the fixed point does not change:

[0132] Point c -Point p <threshold1

[0133] wherein, Point c , Point p are the current pose and initial pose of the fixed point respectively, and threshold1 is the threshold set for the pose of the fixed point.

[0134] 3) the pose of the end of the arm 210 changes less than a preset threshold:

[0135] Pose c -Pose p <threshold2

[0136] wherein, Pose c , Pose p are the current pose and initial pose of the end of the arm respectively, and threshold2 is the threshold set for the pose of the end of the arm 210. In order to ensure the safety of the instrument 220 in the case of triggering adjustment while remaining in the patient's body, the range of action of the pose of the instrument 220 in the adjustment should be kept within a very small preset threshold. If the adjustment process will cause the instrument 220 to act beyond the preset threshold, the current adjustment path is abandoned, and the next adjustment path is searched until an optimal path that meets the constraint condition is found.

[0137] 4) the position of each joint is within a second preset position range:

[0138] P min +20%*P r P c P max -20%*P r

[0139] wherein, P min , P max are the minimum and maximum limits of the joint respectively, P r , Pc respectively, the range of motion of the joint and the current position of the joint.

[0140] Optionally, the step of obtaining the adjustment path of the robot arm 210 by the analytical method comprises:

[0141] Step S41: obtaining the change of the Cartesian pose of the fixed point based on the desired joint position increment. Optionally, the change of the Cartesian pose of the fixed point can be calculated by using forward kinematics.

[0142] Step S42: obtaining the adjustment amount of the base 201 of the surgical robot according to the change of the Cartesian pose of the fixed point. Optionally, the adjustment amount of the base 201 can be calculated by using inverse kinematics.

[0143] Step S43: converting the adjustment amount of the base 201 of the surgical robot into the margin of the fixed point. If the base 201 needs to move more, the extra adjustment amount (referring to the offset of the fixed point caused by the base after the base needs to move more) can be converted into the margin of the fixed point by using forward kinematics.

[0144] Step S44: converting the adjustment amount of each joint of the robot arm 210 of the surgical robot based on the margin of the fixed point to obtain the adjustment path of the robot arm 210. The margin of the fixed point can be converted to the adjustment amount of each joint by using inverse kinematics to offset the influence of the movement of the base 201, so as to ensure that the fixed point is fixed.

[0145] Optionally, the step of obtaining the adjustment path of the robot arm 210 by the Jacobian method comprises:

[0146] Step S51: obtaining the motion speed of each joint;

[0147] Step S52: mapping the motion speed to the motion speed of the end of the robot arm 210 by using the Jacobian matrix;

[0148] Step S53: solving the adjustment path of the robot arm 210 by using the constraint that the motion speed of the end of the robot arm 210 is zero.

[0149] Figure 10A modular schematic diagram of a surgical robot system for implementing the adjustment method of the surgical robot provided by the embodiment is shown, which includes a detection unit 910 for detecting the action information of the action unit 920, an action unit 920, and a control unit 930 in communication connection with the detection unit 910 and the action unit 920 respectively. After receiving the action information of the action unit 920 detected by the detection unit 910, the control unit 930 processes the action information according to a preset algorithm, and then transmits the processed action information to the action unit 920. The action unit 920 executes the action information from the control unit 930 as an execution mechanism. Subsequently, the actual action information of the action unit 920 is detected by the detection unit 910, forming a closed loop. Please refer to Figure 11 In one example, the action unit 920 includes the mechanical arm 210 and the instrument 220 of the patient-side control device 200, and in a more specific embodiment, the action unit 920 includes the base 201, the tool arm 212, and the instrument 220, and the control unit 930 includes a limit comparison unit 931, a path planning unit 932, and a motion controller 933. The control unit 930 can be integrated into the main controller of the surgical robot system, and in other embodiments, the control unit 930 can also be independently arranged. The limit comparison unit 931 is used to obtain the position information of the joint and output trigger information by comparing with the limit position. The path planning unit 932 plans the adjustment path of the base 201 and the mechanical arm 210 of the patient-side control device 200 according to the preset logic after receiving the trigger information from the limit comparison unit 931. The motion controller 933 controls the base 201 and / or the mechanical arm 210 to execute specific motion after receiving the planning path from the planning unit 932.

[0150] Optionally, the surgical robot system further includes a display unit 940, such as the imaging device 102 on the doctor-side control device 100 and / or the display device 302 on the image cart 300. It can be used to display prompt information in each step. For example Figures 12 to 17 The display unit 940 displays the schematic diagrams of each stage in the pose adjustment process of the surgical robot, respectively.

[0151] Based on the above-mentioned adjustment method of the surgical robot, the embodiment further provides a readable storage medium having a program stored thereon, which is executed to implement the above-mentioned adjustment method of the surgical robot. The readable storage medium can be integrated into the surgical robot system, such as the main controller, or can be independently attached.

[0152] In summary, in the adjustment method of the surgical robot, the readable storage medium and the surgical robot system provided by the present application, the adjustment method of the surgical robot comprises: when the position of the joint of the mechanical arm of the surgical robot reaches the limit position, triggering the surgical robot to perform pose adjustment; wherein the instrument connected with the mechanical arm is used to move through the fixed point; driving the surgical robot to perform pose adjustment according to the preset logic, so that the position of the joint reaching the limit position is adjusted to be within the limit position, while ensuring that the pose of the fixed point is unchanged. In this way, by driving the surgical robot to perform pose adjustment according to the preset logic, the position of the limited joint is adjusted to be within the limit position, the adjustment of the relative pose of the mechanical arm and the operating bed is realized, and the instrument movement range can be adjusted without interrupting the current operation process, saving the operation time; at the same time, the change of the position of the fixed point caused by the manual adjustment process can be avoided, and the secondary injury to the patient caused by the change of the fixed point during the operation process can be avoided.

[0153] The above description is only a description of the preferred embodiments of the present application, and is not any limitation on the scope of the present application. Any modification or change made by a person skilled in the art according to the above disclosure is within the protection scope of the claims.

Claims

1. A readable storage medium having a program stored thereon, characterized in that, When the program is executed, it achieves the following: When the joint of the surgical robot's robotic arm reaches its limit position, the surgical robot is triggered to perform a pose adjustment; wherein the instruments connected to the robotic arm are used to move through the fixed point. The surgical robot is driven to perform pose adjustment according to preset logic, so that the position of the joint that has reached the limit position is adjusted to within the limit position, while ensuring that the pose of the fixed point remains unchanged. The preset logic includes active adjustment logic or passive adjustment logic; The active adjustment logic includes: taking the adjustment of the positions of two or more joints of the surgical robot's robotic arm, including the joint that has reached the limit position, to the optimal position as the adjustment target, and obtaining the adjustment path of the surgical robot's base; based on the adjustment path, compensating adjustments are made to other joints of the robotic arm where the joint that has reached the limit position is located, as well as to other robotic arms on the base. The passive adjustment logic includes: taking the adjustment target as adjusting the joint that has reached the limit position to within the limit position by a predetermined adjustment amount, and obtaining the adjustment path of the base of the surgical robot; based on the adjustment path, compensating adjustments are made to other joints of the robotic arm where the joint that has reached the limit position is located, as well as other robotic arms on the base.

2. The readable storage medium according to claim 1, characterized in that, The steps for compensating and adjusting other joints of the robotic arm that has reached the limit position, as well as other robotic arms on the base, include: The adjustment path of the robotic arm can be obtained through iterative solution, analytical method, or Jacobi method.

3. The readable storage medium according to claim 2, characterized in that, The steps for obtaining the adjustment path of the robotic arm through iterative solution include: Obtain the pose information of the fixed point and the position information of each joint on the robotic arm; Based on the pose information of the fixed points and the position information of each joint, the adjustment path of the robotic arm is calculated according to a preset algorithm. The optimal adjustment path for the robotic arm is obtained through screening.

4. The readable storage medium according to claim 3, characterized in that, The preset algorithm includes: Based on the full range of motion of the joints, the iterative step size of each joint is obtained, thereby obtaining all possible adjustment paths of the robotic arm.

5. The readable storage medium according to claim 4, characterized in that, Methods for selecting the optimal adjustment path for the robotic arm include: Based on all possible adjustment paths of the robotic arm, the optimal adjustment path of the robotic arm is obtained according to the cost function, heuristic function, weight function and convergence judgment function.

6. The readable storage medium according to claim 5, characterized in that, The convergence judgment function includes convergence conditions and constraint conditions; The convergence condition includes the position of the joint reaching the limit position within a first preset position range; The constraints include at least one of the following: There is no collision between robotic arms, no change in the pose of fixed points, the change in pose of the robotic arm end effector is less than a preset threshold, and the position of each joint is within a second preset position range.

7. The readable storage medium according to claim 2, characterized in that, The steps for obtaining the adjustment path of the robotic arm using analytical methods include: Based on the desired joint position increment, the Cartesian pose change of the fixed point is obtained. The adjustment amount of the base of the surgical robot is obtained based on the Cartesian pose change of the fixed point; The adjustment amount of the base of the surgical robot is converted into the margin of the fixed point; Based on the remaining amount of the fixed point, the position adjustment amount of each joint of the surgical robot's robotic arm is obtained, thereby obtaining the adjustment path of the robotic arm.

8. The readable storage medium according to claim 2, characterized in that, The steps for obtaining the adjustment path of the robotic arm using the Jacobi method include: Obtain the motion velocity of each joint; The motion speed is mapped to the motion speed at the end of the robotic arm using a Jacobian matrix; The adjustment path of the robotic arm is obtained by solving the constraint that the movement speed of the end effector of the robotic arm is zero.

9. The readable storage medium according to claim 1, characterized in that, The active adjustment logic includes: before performing pose adjustment, retracting the instrument connected to the robotic arm into the card.

10. The readable storage medium according to claim 1, characterized in that, The passive adjustment logic includes: before performing pose adjustment, keeping the instrument connected to the robotic arm in the predetermined object.

11. A surgical robot system, characterized in that, include: The device includes a detection unit, an action unit, and a control unit; the action unit includes a robotic arm for connecting instruments; the control unit is used to execute a program on a readable storage medium according to any one of claims 1 to 10, and when the position of the joint of the robotic arm reaches a limit position, drives the surgical robot to perform pose adjustment according to preset logic, so that the position of the joint that has reached the limit position is adjusted to within the limit position, while ensuring that the pose of the fixed point remains unchanged.

12. The surgical robot system according to claim 11, characterized in that, The detection unit is used to detect the action information of the action unit. The control unit is communicatively connected to both the detection unit and the action unit. The control unit is configured to form a closed-loop control between the action unit and the detection unit.

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