Adjustment method for intraoperative fixed point, readable storage medium and surgical robot system

Abstract

The application provides an intraoperative immobile point adjustment method, a readable storage medium and a surgical robot system. The intraoperative immobile point adjustment method comprises the following steps: when an instrument connected with a mechanical arm of a patient end control device moves relative to a guide tube arranged around the instrument, acquiring a force acting on the instrument and / or a force acting on the guide tube; wherein the instrument connected with the mechanical arm is used to move through an immobile point; and based on the acquired force acting on the instrument and / or the force acting on the guide tube, adjusting a pose of the mechanical arm to keep the pose of the immobile point unchanged relative to a support device. In this way, according to the acquired force acting on the instrument and / or the force acting on the guide tube, the pose of the mechanical arm is adjusted, so that the mechanical arm can be adjusted in real time to follow the immobile point, and the pose of the immobile point is kept unchanged. In the case that the surgery is not interrupted, various intraoperative body position adjustments can be met, and the efficiency and safety of the surgical robot surgery are improved.

Description

TECHNICAL FIELD

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

[0002] The emergence of surgical robots meets 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 an immobile point mechanism that can ensure that the movement of the mechanical arm around an immobile point during surgery coincides with the surgical hole on the patient's abdomen, ensuring that the mechanical arm will not harm the patient during movement. The existence of the immobile 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 instruments. When the immobile 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 immobile point will move and cause harm to the patient. The above characteristics pose very high requirements for the preoperative punching position of the surgical robot operation. If the punching position cannot be reasonably arranged, it will limit the movement space of the mechanical arm, affect the operation, and even cause the operation to fail, requiring the instruments and endoscope on the surgical robot to be removed, so that the immobile point of the surgical robot is disconnected from the surgical hole of the patient, and the patient's body position and the position of the surgical robot are adjusted again. The immobile point of the surgical robot is matched with the surgical hole of the patient. The entire process will cause the operation to be interrupted, time-consuming, unable to monitor the adjustment process, and unable to monitor whether the adjustment meets the operating space requirements after adjustment, so it will cause the operation to be long, the safety to be reduced, and other adverse effects.

[0005] The preoperative preparation time of current surgical robot surgery is long, the experience dependence of punching selection is high, and the punching position is not suitable due to the difference of different patients, which causes the operation process to be not smooth or to be interrupted to adjust the position, and more seriously, the hole position selection needs to be re-performed, which causes unnecessary harm to the patient. Therefore, there is an urgent need for a method that can adjust the body position during surgery without interrupting the operation to meet the operational needs of the current surgical robot, so as to improve the efficiency and safety of surgical robot surgery. SUMMARY

[0006] The purpose of the present application is to provide an intraoperative fixed point adjustment method, a readable storage medium and a surgical robot system to solve the problem that the existing surgical robot system cannot efficiently adjust the position of the surgical robot and the body position of the patient during surgery.

[0007] To solve the above technical problems, according to the first aspect of the present application, an intraoperative fixed point adjustment method is provided, which comprises:

[0008] When the instrument connected by the mechanical arm of the patient end control device moves relative to the guide tube arranged around the instrument, the force acting on the instrument is obtained, and / or the force acting on the guide tube is obtained; wherein the instrument connected by the mechanical arm is used to move through the fixed point;

[0009] Based on the obtained force on the instrument and / or the force on the guide tube, the pose of the mechanical arm is adjusted to keep the pose of the fixed point relative to the support device unchanged.

[0010] Optionally, the step of obtaining the force acting on the instrument comprises:

[0011] Obtaining the joint torque of each joint of the patient end control device;

[0012] Based on the joint torque, the force acting on the instrument is obtained.

[0013] Optionally, the step of obtaining the force acting on the instrument comprises:

[0014] Obtaining the force detected by the torque sensor arranged on the base of the patient end control device to obtain the external force acting on the mechanical arm;

[0015] Based on the external force acting on the mechanical arm, the force acting on the instrument is obtained.

[0016] Optionally, the step of obtaining the force acting on the guide tube comprises:

[0017] Obtaining the force signal detected by the force sensor arranged on the guide tube;

[0018] obtaining a force acting on the guide tube based on the force signal.

[0019] Optionally, the step of adjusting the pose of the robot arm based on the obtained force acting on the guide tube comprises:

[0020] adjusting the pose of the robot arm by numerical method, analytical method or according to robot kinematics based on the force acting on the guide tube.

[0021] Optionally, the step of adjusting the pose of the robot arm by numerical method comprises:

[0022] obtaining the pose information of the fixed point and the position information of each joint of the robot arm;

[0023] calculating the adjustment path of the robot arm according to a preset algorithm based on the pose information of the fixed point and the position information of each joint;

[0024] obtaining the desired adjustment path of the robot arm by screening.

[0025] Optionally, the preset algorithm comprises:

[0026] obtaining the iteration step of each joint according to the size of the force acting on the guide tube, the full stroke movement range of the joint, the step frequency of the motor of the joint and the threshold of the amplification step, thereby obtaining all possible adjustment paths of the robot arm.

[0027] Optionally, the step of obtaining the desired adjustment path of the robot arm by screening comprises:

[0028] calculating a convergence judgment function based on one or more possible adjustment paths of the robot arm.

[0029] Optionally, the convergence judgment function comprises a convergence condition and a constraint condition;

[0030] the convergence condition comprises: the moving direction of the robot arm end is consistent with the direction of the force acting on the guide tube; and the force acting on the robot arm end is not increased;

[0031] the constraint condition comprises at least one of:

[0032] no collision between robot arms, the pose change of the robot arm end being less than a preset threshold, and the position of each joint being within a preset position range.

[0033] Optionally, the step of obtaining the desired adjustment path of the robot arm by screening further comprises:

[0034] calculating a cost function, a heuristic function and a weight function based on all possible adjustment paths of the robot arm.

[0035] Optionally, after the step of adjusting the pose of the mechanical arm based on the acquired force acting on the instrument and / or the force acting on the guide tube, the adjustment method of the intraoperative fixed point further comprises:

[0036] adjusting the instrument connected to the mechanical arm to a suitable pose according to the adjusted pose of the mechanical arm; and matching the pose of the current mechanical arm with the control arm of the physician control device

[0037] 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, the program being executed to implement the adjustment method of the intraoperative fixed point as described above.

[0038] To solve the above technical problems, according to a third aspect of the present application, there is also provided an adjustment system of an intraoperative fixed point, comprising: a sensing unit, a moving unit and a control unit; the moving unit comprises a mechanical arm for connecting an instrument passing through a guide tube; the sensing unit is configured to acquire a force acting on the instrument and / or a force acting on the guide tube; the control unit is in communication connection with the sensing unit and the moving unit respectively, and is configured to adjust the pose of the mechanical arm according to the adjustment method of the intraoperative fixed point as described above, so that the pose of the fixed point relative to the support device remains unchanged.

[0039] Optionally, the adjustment system of the intraoperative fixed point further comprises a detection unit in communication connection with the control unit, the detection unit being configured to detect the pose change information of the moving unit, and the control unit is configured to form a closed-loop control with the detection unit.

[0040] To solve the above technical problems, according to a fourth aspect of the present application, there is also provided a surgical robot system, comprising: a support device, a guide tube and an adjustment system of an intraoperative fixed point as described above, the instrument connected to the mechanical arm of the adjustment system of the intraoperative fixed point being configured to pass through the guide tube; the control unit of the adjustment system of the intraoperative fixed point being configured to adjust the pose of the mechanical arm, so that the pose of the fixed point relative to the support device remains unchanged.

[0041] In summary, in the adjustment method of the intraoperative fixed point, the readable storage medium and the surgical robot system provided by the present application, the adjustment method of the intraoperative fixed point comprises: acquiring a force acting on an instrument and / or a force acting on a guide tube when the instrument connected to a mechanical arm of a patient control device moves relative to the guide tube arranged around the instrument; wherein the instrument connected to the mechanical arm is configured to move through a fixed point; and adjusting the pose of the mechanical arm based on the acquired force acting on the instrument and / or the force acting on the guide tube, so that the pose of the fixed point relative to a support device remains unchanged.

[0042] Thus configured, when the fixed point is adjusted intraoperatively, the pose of the mechanical arm is adjusted according to the acquired force on the instrument and / or the force on the guide tube, so that the mechanical arm can follow the adjustment of the fixed point in real time, ensuring that the pose of the fixed point relative to the support device remains unchanged. Without interrupting the operation, intraoperative body position adjustment can be performed to address situations such as limited movement space of the mechanical arm or less than ideal surgical hole position due to the current relationship between the surgical robot position and the patient position, and the adjustment does not require the instrument to be removed, effectively meeting various intraoperative body position adjustments, improving the efficiency and safety of surgical robot operations, reducing preoperative preparation time, effectively addressing the risks and shortcomings of existing surgical hole operations, improving the accuracy of surgical operations, reducing patient pain, and improving recovery efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0043] Those of ordinary skill in the art will understand that the provided drawings are for better understanding of the present application and do not constitute any limitation on the scope of the present application. Among them:

[0044] Figure 1 is a schematic diagram of a surgical scene of a surgical robot system to which the present application relates;

[0045] Figure 2 is a flowchart of the overall steps of surgical planning to which the present application relates;

[0046] Figure 3 is a schematic diagram of the establishment of an environmental coordinate system of a surgical scene to which the present application relates;

[0047] Figure 4a and Figure 4b is a schematic diagram of the establishment of a surgical scene to which the present application relates;

[0048] Figure 5 is a schematic diagram of the establishment of a surgical hole to which the present application relates;

[0049] Figure 6 is a schematic diagram of a patient-side surgical platform to which the present application relates;

[0050] Figure 7a is a schematic diagram of the establishment of a safety area by a position sensor to which the present application relates;

[0051] Figure 7b is a schematic diagram of the establishment of a safety area by a fiber shape sensor to which the present application relates;

[0052] Figure 8 is a schematic diagram of a robot before adaptation to which the present application relates;

[0053] Figure 9 is a schematic diagram of a robot after adaptation to which the present application relates;

[0054] Figure 10 is a flowchart of the adjustment method of the intraoperative isocenter of an embodiment of the present application;

[0055] Figure 11 is a schematic diagram of the instrument passing through the punch card of an embodiment of the present application;

[0056] Figure 12a and Figure 12b is a schematic diagram of the adjustment system of the intraoperative isocenter of an embodiment of the present application;

[0057] Figure 13 is a schematic diagram of the isocenter of an embodiment of the present application;

[0058] Figure 14 is a schematic diagram of the use of joint torque to obtain the force acting on the instrument of an embodiment of the present application;

[0059] Figure 15 is a schematic diagram of the use of torque sensor to obtain the force acting on the instrument of an embodiment of the present application;

[0060] Figure 16 is a schematic diagram of the punch card fixing assembly of an embodiment of the present application;

[0061] Figure 17 is a force analysis diagram on the punch card of an embodiment of the present application;

[0062] Figure 18 is a schematic diagram of the use of a three-dimensional force sensor to obtain the force acting on the punch card of an embodiment of the present application;

[0063] Figure 19a and Figure 19b is a schematic diagram of the operation space before and after the adjustment of the instrument of an embodiment of the present application;

[0064] Figure 20a and Figure 20b is a schematic diagram of the patient position before and after the adjustment of an embodiment of the present application;

[0065] Figure 21 is a schematic diagram of the adjustment confirmation step of an embodiment of the present application;

[0066] Figure 22 is a schematic diagram of the display of the adjustment confirmation prompt of an embodiment of the present application;

[0067] Figure 23a and Figure 23b is a schematic diagram of the display of the adjustment process prompt of an embodiment of the present application;

[0068] Figure 24 is a schematic diagram of the instrument retracting the punch card of an embodiment of the present application;

[0069] Figure 25is a schematic diagram of an iterative solution method of an embodiment of the present application;

[0070] Figure 26 is a schematic diagram of movement rules of each joint of an embodiment of the present application;

[0071] Figure 27 is a schematic diagram of displaying a prompt of adjustment completion of an embodiment of the present application.

[0072] In the drawings:

[0073] 100 - physician end control device; 101 - master operating hand; 102 - imaging device; 103 - foot-operated surgical control device;

[0074] 200 - patient end control device; 201 - base; 210 - mechanical arm; 211 - adjustment arm; 212 - tool arm; 220 - instrument; 221 - surgical instrument; 222 - endoscope;

[0075] 300 - image trolley; 302 - display device; 400 - support device; 410 - patient; 411 - surgical hole; 500 - safety area; 510 - operating space; 520 - lesion area; 610 - position sensor; 620 - target; 630 - optical fiber shape sensor;

[0076] 900 - punch card; 910 - detection unit; 920 - action unit; 930 - control unit; 940 - punch card fixing assembly; 941 - fixing piece; 942 - passive joint; 943 - force sensor; 944 - connecting piece; 950 - sensing unit. DETAILED DESCRIPTION

[0077] In order to make the objects, advantages and features of the present application clearer, the following further describes the present application in combination with the drawings and specific embodiments. It should be noted that the drawings are all very simplified and not drawn in proportion, and are only used to facilitate and clearly assist the purpose of explaining 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 shown in each drawing is different, and sometimes different proportions are used.

[0078] 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 indication of the 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 not only include the end points, and the terms "mounting," "connecting," and "connecting" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrated; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship of 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, and cannot be understood as indicating or suggesting the spatial positional relationship between the two components, i.e. one component can be in any orientation inside, outside, above, below or one side of another component, unless the context clearly indicates otherwise. For those skilled in the art, the specific meaning of the above terms in this specification can be understood according to the specific circumstances.

[0079] The purpose of the present application is to provide an intraoperative fixed point adjustment method, a support device 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.

[0080] The following is described with reference to the accompanying drawings.

[0081] Please refer to Figures 1 to 9 , wherein, Figure 1 is a schematic diagram of a surgical scene of a surgical robot system related to the present application; Figure 2 is a flowchart of the overall steps of a surgical plan related to the present application; Figure 3 is a schematic diagram of the establishment of an environmental coordinate system of a surgical scene related to the present application; Figure 4a and Figure 4b are schematic diagrams of the establishment of a surgical scene related to the present application; Figure 5 is a schematic diagram of the establishment of a surgical hole related to the present application;Figure 6 is a schematic diagram of a patient-side surgical platform to which the present application is directed; Figure 7a is a schematic diagram of establishing a safety zone by a position sensor to which the present application is directed; Figure 7b is a schematic diagram of establishing a safety zone by a fiber shape sensor to which the present application is directed; Figure 8 is a schematic diagram of a robot before adaptation to which the present application is directed; Figure 9 is a schematic diagram of a robot after adaptation to which the present application is directed.

[0082] 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-side control device 100, a patient-side control device 200, a master controller 10, and a support device 400 (e.g., a surgical bed) for supporting a surgical object for surgery. It should be noted that in some embodiments, the support device 400 can also be replaced by other surgical operation platforms, and the present application is not limited thereto.

[0083] The physician-side 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-side control device 100. Preferably, the physician-side control device 100 further includes an imaging device 102, which can provide a stereoscopic image 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 the shapes, arrangements, etc. of surrounding organ tissue blood vessels. Optionally, the physician-side 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.

[0084] 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 221 (such as a high-frequency electrotome) for performing a specific surgery and an endoscope 222 for assisting observation. In an embodiment, the mechanical arm includes an adjusting arm 211 and a tool arm 212. The tool arm 212 is a mechanical fixed-point mechanism for driving the instrument 220 to move around a mechanical fixed point to achieve minimally invasive surgical treatment on the patient 410 on the support device 400. The adjusting arm 211 is used to adjust the position of the mechanical fixed point in the working space. In another embodiment, the mechanical arm 210 is a spatially configured mechanism with at least six degrees of freedom for driving the instrument 220 to move around a main active fixed point under program control. The instrument 220 is used to perform specific surgical operations such as clamping, cutting, and shearing, or to assist surgery such as shooting. It should be noted that, due to the certain volume of the instrument 220 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.

[0085] 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 includes a master-slave mapping module, which 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 instrument function operation instructions (such as related operation instructions of electrocuting and electrocoagulating), and control the energy driver of the instrument 220 to release energy to achieve surgical operations such as electrocuting and electrocoagulating.

[0086] Further, the medical robot system also includes an image trolley 300. The image trolley 300 includes an endoscope processor (not shown) in communication connection with the endoscope 222. The endoscope 222 is used to obtain surgical operation information in a cavity (referring to a body cavity of the patient). The endoscope processor is used to image process the surgical operation information obtained by the endoscope 222, and transmit to the imaging device 102, so as to enable the operator to observe the surgical operation information. Optionally, the image trolley 300 also includes a display device 302. The display device 302 is in communication connection with the endoscope processor, and is used to provide the display of the surgical operation information in real time for assisting operators (such as nurses).

[0087] During surgery, an operator (e.g., a master operator surgeon) sits in front of the surgeon console 100 outside the sterile field, observes the returned surgical operation information through the imaging device 102, and controls the surgical execution assembly and laparoscope movement through the operation of the master operating hand 101 to complete various surgical operations.

[0088] The following will refer to Figure 2 The application scenario of the surgical robot system involved in the present application is exemplarily described. Before the adjustment of the fixed point or the adjustment of the patient console, the following steps can be included:

[0089] Step SO1: Establish a surgical scene, and convert the support device coordinate system and the surgical robot coordinate system in which the mechanical arm 210 is located into an environment coordinate system; the pose of the support device 400 and the pose of the mechanical arm 210 are both expressed based on the environment coordinate system. Please refer to Figure 3 In an exemplary embodiment, the environment coordinate system (X0, Y0, Z0) of the surgical scene can be established by certain means, and the surgical robot coordinate (X1, Y1, Z1) and the support device coordinate (X2, Y2, Z2) are unified into the environment coordinate system (X0, Y0, Z0), realizing the coordinate unification of the surgical scene, establishing the positional relationship between the support device coordinate and the surgical robot coordinate, and providing the coordinate change relationship for the subsequent adjustment of the support device 400 to cause the change of the patient surgical hole position and the change of the fixed point position of the patient console 200. The establishment of the surgical scene is the first step of the intraoperative fixed point adjustment. In an exemplary embodiment, the relative positional relationship between the patient console 200 and the support device 400 can be established by the position sensor 610 (e.g., a binocular vision device) and the target 620. The establishment step of the surgical scene is as shown in Figure 4a mainly includes:

[0090] Step SP1: Establishment of the environment coordinate, the establishment of the coordinate (X0, Y0, Z0) of the environment in which the patient console 200 and the support device 400 are located by the position sensor 610, and the unification of the coordinates of each system;

[0091] Step SP2: Establishment of the patient console coordinate: for the surgical robot form in which the mechanical arm 210 is fixed to the patient console 200, the coordinate identification of the patient console 200 in the environment coordinate system (X0, Y0, Z0) is performed by the position sensor 610, which is used to determine the position of the patient console 200 in the environment coordinate system (X0, Y0, Z0), and is further used to determine the position of the fixed point of the surgical robot system in the environment coordinate system in the subsequent step;

[0092] Step SP3: establishment of support device coordinates: the support device 400 is identified by the position sensor 610 in the environment coordinate system, which is used to determine the position of the support device 400 in the environment coordinate system, and is further used to determine the position change coordinates and the change path of the patient's surgical hole caused by the adjustment of the support device 400;

[0093] Step SP4: establishment of fixed point coordinates: as shown in Figure 5 , after the patient 410 is placed on the support device 400 and the establishment of the surgical hole 411 is completed, the position sensor 610 is used to identify the coordinates of the surgical hole 411 on the surface of the patient 410 in the environment coordinate system to determine the position of the surgical hole 411 in the environment coordinate system.

[0094] Step SP5: coordinate unification: after the establishment of the environment coordinate in step SP1, the establishment of the patient-end control device coordinates in step SP2, the establishment of the support device coordinates in step SP3, and the establishment of the fixed point coordinates in step SP4, the coordinate system is unified, the patient-end control device 200, the support device 400, and the surgical hole 411 of the patient 410 are unified in coordinates, and the intraoperative adjustment is realized in the unified coordinate system.

[0095] According to different forms of surgical robots, different embodiments of environment coordinate establishment exist, for example, in another embodiment, the support device 400 is connected with the patient-end control device 200, as shown in Figure 6 , forming a unified patient-end surgical platform. It can be understood that at this time, the patient-end control device 200 and the support device 400 can not need to be identified in coordinates respectively, and are integrated into step SP6: establishment of patient-end surgical platform coordinates. The step flow chart of the establishment of the surgical scene is shown in Figure 4b . Of course, the present application is not limited to the above-mentioned coordinate identification and establishment methods, and those skilled in the art can select other coordinate identification and establishment methods according to actual conditions.

[0096] Continuing to refer to Figure 2 , step SO2: hole making, the operator selects the position of the surgical hole according to the lesion position and performs the hole making operation.

[0097] Step SO3: fixed point identification: after the hole making is completed, the surgical hole on the patient is identified by a certain technical means to obtain the coordinates of the surgical hole in the environment coordinate system. For example, the position sensor 610 and the target 620 can be used to identify the coordinates of the surgical hole. The surgical hole coordinates will be updated with the adjustment of the support device 400, and the surgical hole coordinates will be matched with the fixed point coordinates of the patient-end control device 200, and then the matching degree is monitored to ensure the matching of the fixed point during the operation, thereby ensuring the safety of the operation.

[0098] Further, in order to guarantee the rationality of the fixed point identification, the embodiment provides two different specific identification schemes:

[0099] Fixed point identification scheme one: identification of the fixed point in the environment coordinate system by the position sensor 610: after the establishment of the surgical hole 411, the coordinate of the surgical hole 411 is identified by using the target 620. Specifically, the target 620 is connected with the support device 400 system. In the case that the relative position between the patient 410 and the support device 400 is fixed and unchanged, the change of the fixed point coordinate is only caused by the movement of the support device 400.

[0100] Fixed point identification scheme two: real-time identification of the fixed point in the environment coordinate system by the position sensor 610: the identification target 620 is fixed to the position of the surgical hole 411 of the patient 410 in a certain way (such as adhesion), and the coordinate position of the coordinate in the environment coordinate system is identified in real time. The change of the target 620 is caused by the real-time state of the support device 400 and the patient 410, which can more accurately judge the coordinate of the surgical hole 411 of the patient 410.

[0101] Optionally, in some embodiments, it further includes a step SO4 of establishing a safety area 500. After the fixation of the patient with the support device 400 is completed, the coordinate of the patient area is established, so as to avoid the collision between the mechanical arm 210 and the patient during the operation process and the intraoperative adjustment process, and to ensure the safety of the patient. Specifically, the establishment of the safety area 500 can include the following steps: step SO41 of obtaining the body surface information of a predetermined object (such as the patient 410) placed on the support device 400; step SO42 of establishing the safety area 500 based on the body surface information, and associating the position information of the safety area 500 with the position information of the support device 400; and the pose adjustment of the mechanical arm 210 avoids the safety area 500. In practice, the safety area 500 is an area where the patient and a certain range outside the body surface of the patient are located, and the mechanical arm 210 should avoid the safety area 500 to avoid injury to the patient during adjustment.

[0102] Please refer to Figure 7a In an alternative embodiment, the establishment of the safety area can be realized by the position sensor 610 and the target 620. The establishment method of the safety area includes: obtaining the point cloud data of the target 620 abutting against the body surface of the predetermined object by the position sensor 610; and fitting the safety area based on the point cloud data. Please refer to Figure 7bIn another alternative embodiment, the establishment of the safety region can also be implemented by using the optical fiber shape sensor 630. Specifically, the method for establishing the safety region comprises: obtaining shape data obtained by laying the optical fiber shape sensor 630 on the surface of a predetermined object; and fitting the safety region based on the shape data.

[0103] Step SO5: adjustment of the immovable point, the adjustment of the immovable point is performed during the surgery, so that the operation space of the surgical robot meets the operation requirements.

[0104] Optionally, in some embodiments, the method further comprises step SO6: robot adaptation, after the adjustment of the immovable point in step SO5 is completed, the mechanical arm 210 is adjusted to a suitable pose according to the adjusted pose of the mechanical arm 210. Specifically, the mechanical arm 210 adjusts its pose to a suitable ideal pose according to the lesion position, the pose of the immovable point, the safety region and the relative position of the mechanical arm 210, so as to facilitate the operation. In practice, after the adjustment of the immovable point in step SO5 is completed, the operation pose of the current mechanical arm 210 may not be in a state suitable for operation. At this time, the robot adaptation step can be performed, and the mechanical arm 210 is adjusted to a position suitable for the operation of the instrument 220, as shown in Figure 8 and Figure 9 After the mechanical arm 210 is adjusted to a suitable pose, the pose of the current mechanical arm 210 can also be matched with the control arm (i.e. the master operating hand 101) of the physician control end (i.e. the physician end control device 100), so that the control arm of the physician control end updates the pose and matches the pose of the current mechanical arm 210.

[0105] Based on the description of the background art, it can be known that in a general surgical robot system, after the immovable point of the surgical robot system is matched with the surgical hole of the patient, the position of the surgical robot and the body position of the patient cannot be adjusted any more, otherwise the immovable point position will be moved and the patient will be harmed. Therefore, the present application provides several embodiments to solve the problem that the body position of the patient is difficult to adjust during the surgery.

[0106] Please refer to Figures 10 to 27 , wherein, Figure 10 is a flowchart of the adjustment method of the immovable point during the surgery according to an embodiment of the present application; Figure 11 is a schematic view of the instrument passing through the trocar according to an embodiment of the present application; Figure 12a and Figure 12b are schematic views of the adjustment system of the immovable point during the surgery according to an embodiment of the present application; Figure 13 is a schematic view of the mechanism immovable point according to an embodiment of the present application; Figure 14 is a schematic view of the force acting on the instrument obtained by using the joint torque according to an embodiment of the present application; Figure 15 is a schematic view of the force acting on the instrument obtained by using the torque sensor according to an embodiment of the present application;Figure 16 is a schematic diagram of a card fixing assembly of an embodiment of the present application; Figure 17 is a force analysis diagram on a card of an embodiment of the present application; Figure 18 is a schematic diagram of forces acting on a card obtained by using a three-dimensional force sensor of an embodiment of the present application; Figure 19a and Figure 19b are schematic diagrams of operation spaces before and after adjustment of an instrument of an embodiment of the present application; Figure 20a and Figure 20b are schematic diagrams of patient positions before and after adjustment of an embodiment of the present application; Figure 21 is a schematic diagram of an adjustment confirmation step of an embodiment of the present application; Figure 22 is a schematic diagram of display of an adjustment confirmation prompt of an embodiment of the present application; Figure 23a and Figure 23b are schematic diagrams of display of an adjustment process prompt of an embodiment of the present application; Figure 24 is a schematic diagram of an instrument retracting a card of an embodiment of the present application; Figure 25 is a schematic diagram of an iterative solution method of an embodiment of the present application; Figure 26 is a schematic diagram of movement rules of each joint of an embodiment of the present application; Figure 27 is a schematic diagram of display of a completed adjustment prompt of an embodiment of the present application.

[0107] As shown in Figure 10 , in the present embodiment, the adjustment method of the intraoperative fixed point comprises:

[0108] Step SC1: acquiring an external force: when an instrument 220 connected to a mechanical arm 210 of a patient-side control device 200 moves relative to a guide tube arranged around the instrument 220, the force acting on the instrument 220 and / or the force acting on the guide tube is acquired; wherein the instrument 220 connected to the mechanical arm 210 is used to move through the fixed point; it should be noted that the guide tube arranged around the instrument 220 means that the guide tube is arranged around at least a part of the instrument 220, but is not limited to the guide tube arranged around the entire instrument 220.

[0109] Step SC2: performing adjustment: based on the acquired force on the instrument 220 and / or the force on the guide tube, the pose of the mechanical arm 210 is adjusted to keep the pose of the fixed point relative to a support device 400 unchanged.

[0110] In this way, when the fixed point is adjusted intraoperatively, the pose of the mechanical arm 210 is adjusted according to the acquired force on the instrument 220 and / or the force on the guide tube, so that the mechanical arm 210 can follow the adjustment of the fixed point in real time, and the pose of the fixed point relative to the support device 400 remains unchanged. Without interrupting the operation, the intraoperative body position can be adjusted to meet the situation that the movement space of the mechanical arm is limited or the position of the operation hole is not ideal due to the current relationship between the position of the surgical robot and the position of the patient, and the instrument does not need to be removed during adjustment. The method can effectively meet various intraoperative body position adjustments, improve the efficiency and safety of surgical robot operation, reduce the preoperative preparation time, effectively compensate for the risks and defects of the existing operation hole operation, improve the accuracy of the operation, reduce the pain of the patient, and improve the recovery efficiency.

[0111] The method for adjusting the fixed point intraoperatively provided by the embodiment is mainly applied to the real-time adjustment of one of the mechanical arm 210 and the support device 400, and the following adjustment of the other. The guide tube here mainly refers to a limiting protection device arranged in the operation hole 411 on the surface of the patient, which can limit and guide the instrument 220 inserted into the patient's body. In the following, the punch card 900 is taken as an example of the guide tube. However, it should be understood that the punch card 900 is only an example of the guide tube and does not limit the guide tube. Those skilled in the art can select other components as the guide tube. Please refer to Figure 11 In one application scenario of the surgical robot system in the embodiment, after the hole punching step in step SO2 is completed, a punch card 900 is arranged in the operation hole 411 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 at this time, the mechanical fixed point coincides with the intersection of the axis of the punch card 900 and the surface of the patient. When the mechanical arm 210 or the support device 400 is adjusted intraoperatively, the instrument 220 moves relative to the punch card 900, resulting in relative contact between the instrument 220 and the punch card 900, and the instrument 220 and the punch card 900 are subjected to the abutting force from the other.

[0112] Based on the acquired force acting on at least one of the instrument 220 and the punch card 900, the adjustment path of the mechanical arm 210 is calculated, so that the pose of the mechanical arm 210 can be adjusted in real time, and the mechanical arm 210 can be adjusted to follow the adjustment of the fixed point, thereby reducing the compression of the punch card 900 on the operation hole and avoiding injury to the patient.

[0113] Figure 12aA schematic diagram of an intraoperative immobile point adjustment system for implementing the intraoperative immobile point adjustment method provided by the present embodiment is shown, which comprises a sensing unit 950, an action unit 920, and a control unit 930. The action unit 920 comprises a mechanical arm 210 for connecting an instrument 220 through a guide tube. The sensing unit 950 is configured to acquire the force acting on the instrument 220 and / or the force acting on the guide tube. The control unit 930 is in communication with the sensing unit 950 and the action unit 920, respectively, and is configured to control the pose adjustment of the mechanical arm 210 according to the intraoperative immobile point adjustment method as described above, so as to keep the pose of the immobile point unchanged relative to the support device 400. The sensing unit 950 can comprise a torque sensor arranged on the base 201 of the patient-side control device 200, or a force sensor 943 arranged on the punch card 900, etc.

[0114] Preferably, the immobile point adjustment system further comprises a detection unit 910 in communication with the control unit 930, which is configured to detect the pose change information of the action unit 920. The control unit 930 is configured to form a closed-loop control with the detection unit 910. In one example, the control unit 930 receives the pose change information of the action unit 920 detected by the detection unit 910, processes the received information according to a preset algorithm, and then transmits the processed action information (such as the joint motor instruction) to the action unit 920. The action unit 920 executes the action information from the control unit 930 as an execution mechanism, and then the actual pose change of the action unit 920 is detected by the detection unit 910, forming a closed loop. Please refer to Figure 12b In one example, the action unit 920 comprises the mechanical arm 210 of the patient-side control device 200 and the instrument 220. In a more specific embodiment, the action unit 920 comprises the base 201, the tool arm 212, and the instrument 220. The control unit 930 comprises an algorithm unit 931 (containing specific algorithm content for processing received information and CPU information processing) and an information transceiver unit 932 (for receiving and transmitting information). The detection unit 910 can comprise a position sensor 610 (such as a binocular vision device) and a target 620, which can detect the pose change information of the mechanical arm 210 in real time.

[0115] Please refer to Figure 13In an exemplary embodiment, the adjustment arm 211 + mechanism fixed point + instrument 220 is taken as an example, wherein the mechanism fixed point is the surgical hole on the patient's body surface, and adjustment of any other joint will not affect the pose of the mechanism fixed point when the adjustment arm 211 is not adjusted. The way to obtain the force acting on the instrument 220 and / or the forceps 900 is described below in conjunction with several examples.

[0116] Please refer to Figure 14 In the first example, the force acting on the instrument 220 is detected by using the dynamic equation method. The step of obtaining the force acting on the instrument 220 includes:

[0117] Step SC11: Obtain the joint torque of each joint of the patient end control device 200;

[0118] Step SC12: Obtain the force acting on the instrument 220 based on the joint torque.

[0119] According to the robot dynamics equation, the following external torque detection formula can be obtained:

[0120]

[0121] Where τ ext is the external torque, q is the joint position, is the joint velocity, is the joint acceleration, τ m is the motor output torque, M(), C(), and g() are the inertia force, Coriolis force, and gravity, respectively. According to the detected external torque of each joint, the size and direction of the external force F acting on the instrument 220 can be calculated. Wherein the external torque of each joint can be obtained by the torque sensor arranged on the joint. The specific process of calculating the size and direction of the external force F by synthesizing the external torque of each joint can be realized according to the prior art, which is not expanded here.

[0122] Please refer to Figure 15 In the second example, the size and direction of the external force F acting on the instrument 220 are detected by using the torque sensor arranged on the base 201 of the patient end control device 200. The step of obtaining the force acting on the instrument 220 includes:

[0123] Step SC13: Obtain the force detected by the torque sensor arranged on the base 201 of the patient end control device 200 to obtain the external force acting on the mechanical arm 210;

[0124] Step SC14: based on the external force suffered by the mechanical arm 210, the force acting on the instrument 220 is obtained. Optionally, the moment sensor on the base 201 is a six-axis moment sensor, and according to the moment information output by the six-axis moment sensor, the external force suffered by the mechanical arm 210 can be calculated, and then converted to the external force suffered by the end of the mechanical arm 210, that is, the size and direction of the external force F acting on the instrument 220 are obtained. The specific conversion process can be realized according to the prior art, which is not described here.

[0125] Please refer to Figure 16 and Figure 18 In the third example, the external force acting on the punch card 900 is obtained by using the punch card fixing assembly 940. The punch card fixing assembly includes a fixing member 941, a passive joint 942, a force sensor 943, and a connecting member 944, and the punch card 900 is connected with the support device 400 through the fixing member 941, the passive joint 942, the force sensor 943, and the connecting member 944 in turn. Among them, the fixing member 941 is used to connect with the punch card 900, so that the relative position of the punch card 900 is fixed. The passive joint 942 is used to ensure that the action of the punch card 900 is decoupled from the support device 400, and to ensure that the action of the punch card 900 will not be affected by the components near the passive joint 942. The force sensor 943 can be a three-dimensional force sensor, which is used to measure the three-dimensional force suffered by the punch card 900. The connecting member 944 is used to be fixed on the support device 400. Please refer to Figure 17 which shows the force condition of the punch card 900. When the patient's body position is adjusted by adjusting the support device 400, if there is no fixing member 941 and connecting member 944 and the like, it will cause the position of the punch card 900 to change. The setting of the fixing member 941 and the connecting member 944 and the like can ensure that the punch card 900 is relatively fixed with the support device 400, and moving the support device 400 will cause the force sensor 943 to generate a related force signal. The force signal is three-dimensional, so it can be integrated into a space vector force, which is the force suffered by the punch card 900.

[0126] Therefore, the step of obtaining the force acting on the punch card 900 includes:

[0127] Step SC15: obtaining the force signal detected by the force sensor 943 arranged on the punch card 900;

[0128] Step SC16: obtaining the force acting on the punch card 900 based on the force signal.

[0129] Please refer to Figure 19a and Figure 19b which shows the operation space diagram of the instrument 220 before and after adjustment, wherein Figure 19aThe instrument 220 is shown in the operation space 510 before adjustment, which is a conical space. If the current operation space 510 of the instrument 220 cannot cover all the lesion areas 520, the operation space of the instrument 220 can be moved by adjusting the mechanical arm 210 (mainly the tool arm 212) to make the operation space 510 cover the new lesion area 520, as shown in Figure 19b .

[0130] Please refer to Figure 20a and Figure 20b , which show the adjustment of the patient's body position by the operator through the adjustment of the support device 400. In one example, the support device 400 is tilted by an angle of a, so that the lesion is exposed in the operation space of the current instrument 220. At this time, the position of the fixed point relative to the support device 400 changes. In order to keep the position of the fixed point relative to the support device 400 unchanged, the mechanical arm 210 needs to be adjusted to meet .

[0131] Optionally, please refer to Figure 21 , the adjustment method of the intraoperative fixed point comprises an adjustment confirmation step; the adjustment confirmation step comprises: step SC0: prompting whether to adjust the patient's body position for the operator to confirm. After receiving the information that the operator confirms to start the adjustment, the control unit 930 will first collect the end position information of each punch card 900 and the end position information of the corresponding instrument 220, and make a judgment; if the difference between the two is less than a certain threshold value, that is, the function of adjusting the patient's body position is allowed to be executed only after the instrument 220 is retracted to the punch card 900, otherwise it is not executed, so as to avoid causing harm to the patient during the adjustment process. The prompting method is various, such as the display on the imaging device 102 or the display device 302, as shown in Figure 22 ; or through the button, sound and light, etc. The embodiment is not limited in this regard.

[0132] Further, please refer to Figure 23a and Figure 23b , after the control unit 930 confirms that the instrument 220 is retracted to the punch card 900, the control unit 930 controls the mechanical arm 210 and the support device 400 to perform the adjustment. At this time, the operator can be prompted that the instrument is being retracted, the robot is being reset, the instrument is successfully retracted, and the adjustment is being performed. At this time, the operator cannot control the patient-side control device 200, and the patient-side control device 200 will remain at the position before the function is selected. The prompting method is various, such as the display on the imaging device 102 or the display device 302, or through the button, sound and light, etc. The embodiment is not limited in this regard.

[0133] Still further, please refer to Figure 24After the instrument 220 is withdrawn from the trocar 900 and completely separated from the patient's body, each mechanical arm 210 can be reset to a certain position through inverse kinematics to ensure that the patient will not be harmed during the adjustment of the operation space.

[0134] Preferably, the step of adjusting the pose of the mechanical arm 210 based on the obtained force on the trocar 900 comprises adjusting the pose of the mechanical arm 210 based on the force on the trocar 900 through numerical methods, analytical methods or according to robot kinematics. Before adjusting the pose of the mechanical arm 210, the adjustment path of the mechanical arm 210 needs to be solved. Numerical methods, analytical methods or robot kinematics (such as Jacobian method) can be used to solve the adjustment path of the mechanical arm 210.

[0135] Please refer to Figure 25 , the numerical method is described below. The step of adjusting the pose of the mechanical arm 210 through numerical methods comprises:

[0136] Step SC21: obtaining the pose information of the fixed point and the position information of each joint;

[0137] Step SC22: based on the pose information of the fixed point and the position information of each joint of the mechanical arm 210, the adjustment path of the mechanical arm 210 is calculated according to a preset algorithm;

[0138] Step SC23: screening the desired adjustment path of the mechanical arm 210.

[0139] The preset algorithm comprises:

[0140] According to the size of the force F acting on the trocar 900, the full stroke movement range P of the joint r , the motor step count counts and the threshold value value of the amplification step, the iteration step length S of each joint is obtained, and the calculation formula of the iteration step length S is as follows:

[0141]

[0142] After the iteration step length S is calculated, the movement distance of each joint is calculated, which is the distance of one unit step length, and the movement rule is as shown in Figure 26 The motor B1 on the base 201 is forward rotation, which is recorded as 1, and reverse rotation, which is recorded as 0. The motor B2 on the base 201 is the same. The motors Z1 and Z2 on the suspension plate, the motors T1, T2, T3 and T4 on the adjustment arm 211, and so on can be obtained. All possible adjustment paths of the mechanical arm 210.

[0143] Further, the step of screening the desired adjustment path of the mechanical arm 210 in step SC23 comprises:

[0144] Step SC231: calculating a convergence judgment function f(n) based on one or more possible adjustment paths of the robot arm 210.

[0145] Preferably, the convergence judgment function f(n) includes a convergence condition and a constraint condition.

[0146] The convergence condition includes: the moving direction of the end of the robot arm 210 is consistent with the direction of the force F acting on the SIM card 900; and the force on the end of the robot arm 210 does not increase.

[0147] The constraint condition includes at least one of the following:

[0148] 1) no collision occurs between the robot arms 210, taking any two robot arms 210 as an example, the following needs to be met:

[0149]

[0150] wherein, d is the distance between the two robot arms 210, is the unit vector of the straight line where one robot arm is located, is the unit vector of the straight line where the other robot arm is located, is the vector of the connecting line of the motors on the two robot arms 210.

[0151] 2) the pose change of the end of the robot arm 210 is less than a preset threshold:

[0152] Pose c -Pose p <threshold

[0153] wherein, Pose c , Pose p are the current pose and the initial pose of the end of the robot arm respectively, and threshold is the threshold set for the pose of the end of the robot arm 210.

[0154] 3) the position of each joint is within a preset position range:

[0155] P min +20%*P r P c P max -20%*P r

[0156] wherein, P min , P max are the minimum limit and the maximum limit of the joint respectively, P r , P c are the joint movement range and the current position of the joint respectively.

[0157] According to the convergence judgment function f(n), it is judged whether the force F of the card 900 is less than the threshold value. If not, the moving position of each joint is recalculated to calculate whether the new path meets the requirements. If yes, the instruction is sent to the motor of each joint to start execution.

[0158] Further, the step SC23 of screening the desired adjustment path of the mechanical arm 210 further comprises:

[0159] Step SC232: based on all possible adjustment paths of the mechanical arm 210, the cost function g(n), the heuristic function h(n) and the weight function w(n) are calculated. The cost function g(n), the heuristic function h(n) and the weight function w(n) can be set according to the existing technology in the art. The calculation of the cost function g(n), the heuristic function h(n) and the weight function w(n) is exemplarily described as follows:

[0160] The calculation formula of the cost function g(n) is as follows:

[0161]

[0162] Wherein,

[0163] ι j = distance(Arm & Arm), representing the distance of the skew lines;

[0164] λ j = Point c - Point p , Point c , Point p are the current pose and the initial pose of the fixed point respectively;

[0165] μj= Pose c - Pose p , Pose c , Pose p are the current pose and the initial pose of the end of the mechanical arm respectively;

[0166] ν j = Pos c - Pos p , m is the number of motors, which is different according to whether there is an adjustment arm 211 in the structure of the mechanical arm.

[0167] η β ,η γ ,η δis an adjustment factor, when λ j , μ j , η δ is greater than a threshold value, 0, and is 1 when it is less than the threshold value.

[0168] The calculation formula of the heuristic function h(n) is as follows:

[0169] h(n) = abs(θ c - θ t )

[0170] θ c is the current position of the constrained joint;

[0171] θ t is the target adjustment position of the constrained joint (for example, the midpoint of the full stroke range).

[0172] f(n) = g(n) + ω(n) * h(n)

[0173] 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 mechanical arms of the path and the invariable point and the invariable position of the instrument end pose.

[0174] Optionally, please refer to Figure 27 After the adjustment is completed, the operator can be prompted that the adjustment is complete and the instrument position has been restored, please continue the operation, so as to prompt the operator that the adjustment is completed. Similarly, the prompting manner is not limited.

[0175] Further, after the pose adjustment of the mechanical arm 210 is completed, the robot adaptation step of the foregoing step SO6 can also be performed, so as to adjust the mechanical arm 210 to a suitable pose.

[0176] In summary, in the intraoperative invariable point adjustment method, readable storage medium and surgical robot system provided by the application, the intraoperative invariable point adjustment method comprises: when an instrument connected with a mechanical arm of a patient end control device moves relative to a guide tube arranged around the instrument, acquiring a force acting on the instrument, and / or acquiring a force acting on the guide tube; wherein the instrument connected with the mechanical arm is used to move through the invariable point; based on the acquired force on the instrument and / or the force on the guide tube, adjusting the pose of the mechanical arm, so that the pose of the invariable point relative to the support device remains unchanged.

[0177] In this way, when the fixed point is adjusted intraoperatively, the pose of the mechanical arm is adjusted according to the acquired force on the instrument and / or the force on the guide tube, so that the mechanical arm can follow the adjustment of the fixed point in real time, and the pose of the fixed point relative to the support device remains unchanged. Without interrupting the operation, the intraoperative body position can be adjusted to meet the situation that the movement space of the mechanical arm is limited or the position of the surgical hole is not ideal due to the current relationship between the surgical robot position and the patient position, and the instrument does not need to be withdrawn during the adjustment. The adjustment can effectively meet various intraoperative body position adjustments, improve the efficiency and safety of the surgical robot operation, reduce the preoperative preparation time, effectively compensate for the risks and defects of the existing surgical hole operation, improve the accuracy of the operation, reduce the pain of the patient, and improve the recovery efficiency.

[0178] It should be noted that the above several embodiments are not limited to be used alone, and can be combined with each other, and the application is not limited thereto. The above description is only a description of the preferred embodiments of the application, and is not any limitation on the scope of the application. Any modification or modification 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 stored thereon a program, characterized in that, The program, when executed, implements the following steps: acquiring a force acting on the instrument connected to the mechanical arm of the patient-side control device and / or a force acting on the guide tube arranged around the instrument when the instrument connected to the mechanical arm moves relative to the guide tube; wherein the instrument connected to the mechanical arm is used to move through a fixed point; adjusting the pose of the mechanical arm based on the acquired force acting on the instrument and / or the force acting on the guide tube, so that the pose of the fixed point relative to the support device remains unchanged.

2. The readable storage medium of claim 1, wherein, The step of acquiring the force acting on the instrument includes: acquiring joint torques of each joint of the patient-side control device; obtaining the force acting on the instrument based on the joint torques.

3. The readable storage medium of claim 1, wherein, The step of acquiring the force acting on the instrument includes: acquiring a force detected by a torque sensor arranged on the base of the patient-side control device to obtain an external force acting on the mechanical arm; obtaining the force acting on the instrument based on the external force acting on the mechanical arm.

4. The readable storage medium of claim 1, wherein, The step of acquiring the force acting on the guide tube includes: acquiring a force signal detected by a force sensor arranged on the guide tube; obtaining the force acting on the guide tube based on the force signal.

5. The readable storage medium of claim 1, wherein, The step of adjusting the pose of the mechanical arm based on the acquired force acting on the guide tube includes: adjusting the pose of the mechanical arm based on the force acting on the guide tube by numerical method, analytical method or according to robot kinematics.

6. The readable storage medium of claim 5, wherein, The step of adjusting the pose of the mechanical arm by numerical method includes: acquiring pose information of the fixed point and position information of each joint of the mechanical arm; calculating an adjustment path of the mechanical arm according to a preset algorithm based on the pose information of the fixed point and the position information of each joint; obtaining a desired adjustment path of the mechanical arm.

7. The readable storage medium of claim 6, wherein, The preset algorithm includes: obtaining an iteration step of each joint according to the size of the force acting on the guide tube, the full stroke movement range of the joint, the step frequency of the motor of the joint and the threshold of the amplification step, so as to obtain all possible adjustment paths of the mechanical arm.

8. The readable storage medium of claim 7, wherein, The step of obtaining the desired adjustment path of the mechanical arm includes: calculating a convergence judgment function based on one or more possible adjustment paths of the mechanical arm.

9. The readable storage medium of claim 8, wherein, The convergence judgment function includes a convergence condition and a constraint condition; The convergence condition includes: the moving direction of the end of the mechanical arm is consistent with the direction of the force acting on the guide tube; and the force acting on the end of the mechanical arm does not increase; The constraint condition includes at least one of: no collision between the mechanical arms, the change of the pose of the end of the mechanical arm is less than a preset threshold, and the position of each joint is within a preset position range.

10. The readable storage medium of claim 8, wherein, The step of obtaining the desired adjustment path of the mechanical arm further includes: calculating a cost function, a heuristic function and a weight function based on the desired possible adjustment path of the mechanical arm.

11. The readable storage medium of claim 1, wherein, After the step of adjusting the pose of the mechanical arm based on the acquired force acting on the instrument and / or the force acting on the guide tube, the program, when executed, further implements: adjusting the instrument connected to the mechanical arm to a suitable pose according to the adjusted pose of the mechanical arm; Matching the pose of the current mechanical arm with the control arm of the physician control end.

12. A system for adjusting a fixed point, characterized by Comprise: a sensing unit, an action unit and a control unit; the action unit comprises a mechanical arm, the mechanical arm is used for connecting an instrument passing through a guide tube; the sensing unit is used for acquiring the force acting on the instrument, and / or acquiring the force acting on the guide tube; the control unit is respectively in communication connection with the sensing unit and the action unit, and is used for controlling the pose adjustment of the mechanical arm according to the steps realized when the program on the readable storage medium in any one of claims 1-11 is executed, so that the pose of the fixed point relative to the support device remains unchanged.

13. The system for adjusting the fixed point according to claim 12, wherein, The adjustment system of the fixed point further comprises a detection unit in communication connection with the control unit, the detection unit is used for detecting the pose change information of the action unit, and the control unit is configured to form a closed loop control with the action unit and the detection unit.

14. A surgical robotic system, characterized by, Comprise: a support device, a guide tube and the adjustment system of the fixed point according to claim 12 or 13, the instrument connected by the mechanical arm of the adjustment system of the fixed point is used for passing through the guide tube; the control unit of the adjustment system of the fixed point is used for adjusting the pose of the mechanical arm, so that the pose of the fixed point relative to the support device remains unchanged.

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