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 comprising: taking one of a support device and a mechanical arm as a leading adjustment object and the other as a subordinate adjustment object; the mechanical arm is used to drive the connected instrument to move through the immobile point; adjusting the pose of the leading adjustment object to adjust the pose of the immobile point; the pose of the subordinate adjustment object is adjusted to follow the pose adjustment of the leading adjustment object, so that the pose of the immobile point relative to the support device remains unchanged. In this way, by adjusting the pose of the leading adjustment object, the pose of the subordinate adjustment object is adjusted to follow the pose adjustment of the leading adjustment object, so that the pose of the immobile point relative to the support device remains unchanged. Without interrupting the operation, various intraoperative body position adjustments can be effectively met, and the efficiency and safety of the surgical robot operation 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 precisely 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 during surgery revolves around an immobile point that coincides 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 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 very easy to be inappropriate due to the difference of different patients, which leads to the progress of the operation process not smooth or needs 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 without interrupting the operation to meet the needs of the current operation robot that cannot meet the operation needs, so as to improve the efficiency and safety of the operation 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 the operation.

[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] One of the support device and the mechanical arm is the leading adjustment object, and the other is the subordinate adjustment object; the mechanical arm is used to drive the connected instrument to move through the fixed point;

[0009] Adjust the pose of the leading adjustment object to adjust the pose of the fixed point;

[0010] The pose of the subordinate adjustment object is adjusted following the pose adjustment of the leading adjustment object, so that the pose of the fixed point relative to the support device remains unchanged.

[0011] Optionally, the pose of the leading adjustment object is adjusted according to a preset desired operation pose.

[0012] Optionally, the step of adjusting the pose of the subordinate adjustment object following the pose adjustment of the leading adjustment object comprises:

[0013] According to the preset desired operation pose, a first desired pose of the leading adjustment object is obtained, and then a desired fixed point pose is obtained;

[0014] Based on the first current pose of the leading adjustment object, the first desired pose is combined to plan a first adjustment path of the leading adjustment object;

[0015] According to the first adjustment path and the current fixed point pose, a second adjustment path of the subordinate adjustment object is obtained, and the pose of the subordinate adjustment object is adjusted according to the second adjustment path.

[0016] Optionally, after obtaining the second adjustment path of the subordinate adjustment object, the intraoperative fixed point adjustment method further comprises:

[0017] The first adjustment path and / or the second adjustment path are demonstrated by a display device.

[0018] Optionally, the pose of the leading adjustment object is actively adjusted in real time.

[0019] Optionally, the step of actively adjusting the pose of the leading adjustment object in real time comprises:

[0020] The pose of the leading adjustment object is adjusted according to the received adjustment instruction; or,

[0021] The pose of the leading adjustment object is adjusted according to the external force received.

[0022] Optionally, the step of adjusting the pose of the subordinate adjustment object following the adjustment of the pose of the leading adjustment object comprises:

[0023] Obtaining pose change information of the fixed point that changes in real time based on the adjustment of the pose of the leading adjustment object;

[0024] Adjusting the pose of the subordinate adjustment object based on the pose change information of the fixed point.

[0025] Optionally, when the mechanical arm is the leading adjustment object and the support device is the subordinate adjustment object, if the number of the mechanical arms is greater than two, two of the mechanical arms are determined as active adjustment ends in the leading adjustment object, and the rest of the mechanical arms are determined as passive adjustment ends in the leading adjustment object; the pose of the active adjustment end is actively adjusted in real time, and the pose of the passive adjustment end is adjusted following the adjustment of the pose of the active adjustment end.

[0026] Optionally, the adjustment method of the intraoperative fixed point further comprises:

[0027] An environment coordinate system is established, and a support device coordinate system and a surgical robot coordinate system in which the mechanical arm is located are converted and unified to the environment coordinate system.

[0028] Optionally, the adjustment method of the intraoperative fixed point further comprises:

[0029] Obtaining body surface information of a predetermined object placed on the support device;

[0030] A safety area is established based on the body surface information, and position information of the safety area is associated with position information of the support device;

[0031] The pose adjustment of the mechanical arm avoids the safety area.

[0032] Optionally, the establishment method of the safety area comprises:

[0033] acquire point cloud data obtained by the positioning device when the target abuts against the body surface of the predetermined object;

[0034] fit the safety region based on the point cloud data.

[0035] Optionally, the method for establishing the safety region comprises:

[0036] acquire shape data obtained by the optical fiber shape sensor when the target covers the body surface of the predetermined object;

[0037] fit the safety region based on the shape data.

[0038] Optionally, after the step of adjusting the pose of the slave adjustment object to follow the pose adjustment of the master adjustment object, the method for adjusting the intraoperative fixed point further comprises:

[0039] adjust the pose of the mechanical arm to an expected pose according to the adjusted pose of the mechanical arm;

[0040] match the adjusted pose of the mechanical arm with the operation pose of the control arm of the physician control terminal.

[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, the program being executed to implement the method for adjusting the fixed point 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 support device, a mechanical arm and a master controller, one of the support device and the mechanical arm is configured as a master adjustment object, and the other is configured as a slave adjustment object, the mechanical arm is used to drive the connected instrument to move through the fixed point;

[0043] the master controller is configured to control the pose adjustment of the slave adjustment object to follow the pose adjustment of the master adjustment object, so as to keep the pose of the fixed point unchanged relative to the support device, according to the method for adjusting the fixed point as described above.

[0044] In summary, in the method for adjusting the intraoperative fixed point, the readable storage medium and the surgical robot system provided by the present application, the method for adjusting the intraoperative fixed point comprises: taking one of the support device and the mechanical arm as a master adjustment object, and the other as a slave adjustment object; the mechanical arm is used to drive the connected instrument to move through the fixed point; the pose of the master adjustment object is adjusted to adjust the pose of the fixed point; and the pose of the slave adjustment object is adjusted to follow the pose adjustment of the master adjustment object, so as to keep the pose of the fixed point unchanged relative to the support device.

[0045] Thus configured, by leading the adjustment of the pose of the adjustment object, the pose of the adjustment object is followed by the adjustment of the pose of the adjustment object, the pose of the fixed point relative to the support device can be kept unchanged. In the case of not interrupting the operation, the intraoperative body position adjustment can be carried out to meet the various intraoperative body position adjustments without the need to withdraw the instrument when the mechanical arm motion space is limited or the surgical hole position is not ideal, etc. It improves the efficiency and safety of surgical robot operation, reduces the preoperative preparation time, effectively makes up for the risks and defects of the existing surgical hole operation, improves the accuracy of surgical operation, reduces the pain of patients, and improves the recovery efficiency. 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 related to the present application;

[0048] Figure 2 is a flowchart of the overall steps of the surgical planning related to the present application;

[0049] Figure 3 is a schematic diagram of the establishment of the environmental coordinate system of the surgical scene related to the present application;

[0050] Figure 4a and Figure 4b is a schematic diagram of the establishment of the surgical scene related to the present application;

[0051] Figure 5 is a schematic diagram of the establishment of the surgical hole related to the present application;

[0052] Figure 6 is a schematic diagram of the patient end surgical platform related to the present application;

[0053] Figure 7a is a schematic diagram of the establishment of the safety area by the positioning device related to the present application;

[0054] Figure 7b is a schematic diagram of the establishment of the safety area by the optical fiber shape sensor related to the present application;

[0055] Figure 8 is a schematic diagram of the robot before adaptation related to the present application;

[0056] Figure 9 is a schematic diagram of the robot after adaptation related to the present application;

[0057] Figure 10 is a flowchart of the adjustment method of the intraoperative fixed point of the first embodiment of the present application;

[0058] Figure 11 is a schematic diagram of the intraoperative fixed point before adjustment of embodiment one of the present application;

[0059] Figure 12 is a schematic diagram of the intraoperative fixed point after adjustment of embodiment one of the present application;

[0060] Figure 13 is a flow chart of the adjustment method of the intraoperative fixed point of embodiment two of the present application;

[0061] In the drawings:

[0062] 10 - main controller; 100 - physician end control device; 101 - main operating hand; 102 - imaging device; 103 - foot-operated surgical control device;

[0063] 200 - patient end control device; 201 - base; 210 - mechanical arm; 211 - adjustment arm; 212 - tool arm; 220 - instrument; 221 - surgical instrument; 222 - endoscope;

[0064] 300 - image trolley; 302 - display device; 400 - support device; 410 - patient; 411 - surgical hole; 500 - safety area; 510 - operating space; 520 - lesion area; 610 - positioning device; 620 - target; 630 - optical fiber shape sensor. DETAILED DESCRIPTION

[0065] In order to make the purpose, advantages and characteristics of the present application clearer, the present application is further described in detail below in combination with the drawings and specific embodiments. It should be noted that the drawings are all very simplified and not drawn 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 shown in each drawing is 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 indicated technical features. 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", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it 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, 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.

[0067] 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 existing surgical robot system cannot efficiently adjust the position of the surgical robot and the patient's body position during surgery.

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

[0069] 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 is a schematic diagram 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 positioning device 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.

[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-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 subject to perform 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.

[0071] 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 10 can also be 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 morphologies, arrangements of surrounding organ tissues and blood vessels, etc. 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.

[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 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, which is used to drive the instrument 220 to move around a mechanical fixed point, and perform corresponding operations 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, which is used to drive 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 is used to assist surgery such as shooting. 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.

[0073] The master controller 10 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 10 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.

[0074] 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 to assist the operator (for example, a nurse) in real time.

[0075] 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.

[0076] Reference is made below 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:

[0077] 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; optionally, the pose of the support device 400 and the pose of the mechanical arm 210 are expressed based on the environment coordinate system. Please refer to Figure 3 In an exemplary embodiment, the environment coordinate system (X0, Y0, Z0) can be established for the surgical scene, and the surgical robot coordinate system (X1, Y1, Z1) and the support device coordinate system (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 conversion relationship for the subsequent adjustment of the support device 400 to change the position of the patient surgical hole and the fixed point position change 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 through the positioning device 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:

[0078] Step SP1: Establishment of the environment coordinate, the coordinates (X0, Y0, Z0) of the environment in which the patient console 200 and the support device 400 are located are established through the positioning device 610, and the coordinates of each system are unified;

[0079] 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 of the patient console 200 in the environment coordinate system (X0, Y0, Z0) is identified through the positioning device 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;

[0080] Step SP3: establishment of support device coordinates: the support device 400 is identified in the environmental coordinate system by the positioning device 610, which is used to determine the position of the support device 400 in the environmental 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;

[0081] 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 positioning device 610 is used to identify the coordinates of the surgical hole 411 on the surface of the patient 410 in the environmental coordinate system, so as to determine the position of the surgical hole 411 in the environmental coordinate system.

[0082] Step SP5: coordinate unification: after the establishment of the environmental coordinates 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.

[0083] According to different forms of surgical robots, different embodiments exist for the establishment of environmental coordinates. 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 other coordinate identification and establishment methods can be selected by those skilled in the art according to actual conditions.

[0084] 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.

[0085] Step SO3: fixed point identification: after the hole making is completed, the surgical hole on the patient's body is identified by a certain technical means to obtain the coordinates of the surgical hole in the environmental coordinate system. For example, the positioning device 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 intraoperative fixed point, thereby ensuring the safety of the operation.

[0086] Further, in order to guarantee the rationality of the fixed point recognition, the embodiment provides two different specific recognition schemes:

[0087] The first fixed point recognition scheme is to recognize the fixed point in the environment coordinate system by the positioning device 610. After the surgical hole 411 is established, the coordinate of the surgical hole 411 is recognized 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.

[0088] The second fixed point recognition scheme is to recognize the fixed point in the environment coordinate system by the positioning device 610 in real time. The recognition target 620 is fixed on the surgical hole 411 of the patient 410 in a certain way (such as adhesion), and the coordinate position of the target 620 in the environment coordinate system is recognized 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, and the coordinate of the surgical hole 411 of the patient 410 can be more accurately judged.

[0089] Optionally, in some embodiments, the method further includes a step SO4 of establishing a safety area 500. After the patient is fixed with the support device 400, the coordinate of the patient area is established, so as to avoid the collision between the mechanical arm 210 and the patient during the surgery and the intraoperative adjustment, and to ensure the safety of the patient. Specifically, the establishment of the safety area 500 can include the following steps: a step SO41 of obtaining the body surface information of a predetermined object (such as the patient 410) placed on the support device 400; a 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 a step of adjusting the pose of the mechanical arm 210 to avoid 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.

[0090] Please refer to Figure 7a In an alternative embodiment, the establishment of the safety area can be realized by the positioning device 610 and the target 620. The method for establishing the safety area includes: obtaining the point cloud data of the target 620 abutting against the body surface of the predetermined object by the positioning device 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 covering the body surface of a predetermined object by using the optical fiber shape sensor 630; and fitting the safety region based on the shape data.

[0091] 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.

[0092] 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 desired pose according to the adjusted pose of the mechanical arm 210. Specifically, the mechanical arm 210 adjusts its pose to a desired pose, such as 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 current operation pose of the 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 Further, after the mechanical arm 210 is adjusted to a suitable pose, the current pose of the mechanical arm 210 can also be matched with the operation pose of 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 current pose of the mechanical arm 210, so that the operation pose of the control arm corresponds to the current pose of the mechanical arm 210.

[0093] As can be known from the description of the background art, 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.

[0094]

Embodiment One

[0095] Please refer to Figures 10 to 12 , wherein, Figure 10 is a flowchart of the adjustment method of the immovable point during the surgery in the embodiment one of the present application; Figure 11 is a schematic diagram before the adjustment of the immovable point during the surgery in the embodiment one of the present application; Figure 12 is a schematic diagram after the adjustment of the immovable point during the surgery in the embodiment one of the present application.

[0096] Please refer to Figure 10The embodiment one of the present application provides an intraoperative fixed point adjustment method, which comprises the following steps:

[0097] Step SA1: one of the support device 400 and the mechanical arm 210 is the leading adjustment object, and the other is the subordinate adjustment object; the mechanical arm 210 is used for driving the connected instrument 220 to move through the fixed point;

[0098] Step SA2: adjusting the pose of the leading adjustment object to adjust the pose of the fixed point;

[0099] Step SA3: the pose of the subordinate adjustment object is adjusted following the pose adjustment of the leading adjustment object, so that the pose of the fixed point relative to the support device 400 remains unchanged.

[0100] Please refer to Figure 11 and Figure 12 Generally, the relative fixed position relationship between the patient and the support device 400 in the operation is unchanged, and the fixed point coincides with the surgical hole on the patient's body surface (the fixed point is defined at the surgical hole), so it can be understood that as long as the pose of the fixed point relative to the support device 400 remains unchanged, the instrument 220 moving through the fixed point will not cause relative movement to the patient and will not cause harm to the patient. Based on the above steps SA1-SA3, through the pose adjustment of the leading adjustment object, the pose of the subordinate adjustment object is adjusted following the pose adjustment of the leading adjustment object, so that the pose of the fixed point relative to the support device 400 remains unchanged. In the case of not interrupting the operation, the intraoperative body position adjustment can be performed to meet the situation that the mechanical arm 210 motion space is limited or the surgical hole position is not ideal due to the current surgical robot position and patient position relationship, and the instrument 220 does not need to be withdrawn during the adjustment. It can effectively meet various intraoperative body position adjustments, improve the efficiency and safety of surgical robot operation, reduce the preoperative preparation time, effectively make up for the risks and defects of the existing surgical hole operation, improve the accuracy of surgical operation, reduce the pain of patients, and improve the recovery efficiency.

[0101] In the embodiment one, the step SO5 can be achieved by performing the steps SA1-SA3 as shown in Figure 10 .

[0102] Further, in the intraoperative fixed point adjustment method provided by the embodiment one, the leading adjustment object is adjusted according to the two schemes of preset adjustment and real-time adjustment.

[0103] In some embodiments, the pose of the leading adjustment object is adjusted according to a preset expected operation pose. The expected operation pose can be preset by specification or pre-planning.

[0104] The step of adjusting the pose of the subordinate adjustment object in step SA3 in response to the pose adjustment of the leading adjustment object comprises:

[0105] Step SA31: calculating a first desired pose of the leading adjustment object and a desired immobile point pose: obtaining the first desired pose of the leading adjustment object according to a preset desired operation pose, and further obtaining the desired immobile point pose;

[0106] Step SA32: adjusting path planning: planning a first adjustment path of the leading adjustment object based on a first current pose of the leading adjustment object and in combination with the first desired pose;

[0107] Step SA33: leading adjustment object adjustment, subordinate adjustment object following: obtaining a second adjustment path of the subordinate adjustment object according to the first adjustment path and a current immobile point pose, and adjusting the pose of the subordinate adjustment object according to the second adjustment path.

[0108] The following takes the support device 400 as an example of the leading adjustment object to specifically describe the preset automatic adjustment process in which the support device 400 is the leading adjustment object and the robot arm 210 is the subordinate adjustment object.

[0109] Before step SA31, step SA30 of presetting a desired operation pose can also be included. The lesion can be seen through the endoscope 222, so that the desired operation pose of the instrument 220 can be obtained. The coordinates of the desired operation pose in the environmental coordinate system can be known through the distance sensor on the endoscope 222 in combination with the position of the endoscope 222 in the environmental coordinate system, or the position of the lesion in the environmental coordinate system can be determined through preoperative abdominal cavity environment modeling, so that the desired operation pose of the instrument 220 can be determined.

[0110] In step SA31, the process of obtaining the desired immobile point pose can be performed by calculating the first desired pose of the support device 400 from the known coordinates of the desired operation pose of the instrument 220, and further calculating the desired immobile point pose from the first desired pose of the support device 400.

[0111] In step SA32, the first desired pose and the desired immobile point pose of the support device 400 can be obtained through step SA31, and the first adjustment path of the support device 400 can be planned in combination with the current pose of the support device 400; and in step SA33, the adjustment path of the immobile point can be calculated from the first adjustment path, and the second adjustment path of the robot arm 210 can be further calculated, so that the robot arm 210 can be adjusted following the support device 400 according to the preset adjustment, the immobile point can be moved following the movement of the support device 400, and the pose of the immobile point relative to the support device 400 can be kept unchanged.

[0112] Optionally, after obtaining the second adjustment path of the slave adjustment object, the adjustment method of the intraoperative fixed point further comprises: step SA32a, demonstrating the adjustment path: demonstrating the first adjustment path and / or the second adjustment path through a display device. The display device can include the display device 302 of the imaging device 102 and / or the image cart 300. After obtaining the first adjustment path and / or the second adjustment path, the first adjustment path and / or the second adjustment path can be displayed on the display device 302 of the imaging device 102 and / or the image cart 300 of the physician-side control device 100, so that the medical staff can further determine whether the planned adjustment path is safe and reasonable. Step SA32a can be performed before step SA33. After confirming that the planned adjustment path is safe and reasonable, the surgical robot system performs adjustment of the support device 400 according to the planned adjustment path, and the mechanical arm 210 follows the movement.

[0113] Of course, in steps SA31 to SA33 described above, the mechanical arm 210 can also be taken as the leading adjustment object, and the support device 400 can be taken as the slave adjustment object accordingly. In practice, the mechanical arm 210 is taken as the leading adjustment object, and the support device 400 is taken as the slave adjustment object, and the preset adjustment of the fixed point is performed.

[0114] In some other embodiments, the pose of the leading adjustment object is adjusted in real time. The step of adjusting the pose of the slave adjustment object in step SA3 to follow the adjustment of the pose of the leading adjustment object comprises:

[0115] SA34: Real-time adjustment of the leading adjustment object: obtaining the pose change information of the fixed point that changes in real time based on the adjustment of the pose of the leading adjustment object;

[0116] SA35: Slave adjustment object following: adjusting the pose of the slave adjustment object based on the pose change information of the fixed point.

[0117] The process of taking the support device 400 as the leading adjustment object and adjusting the support device 400 in real time and the mechanical arm 210 following the movement is described in detail below.

[0118] In step SA34, the pose of the support device 400 can be adjusted in real time, for example, the operator inputs an adjustment instruction through the physician-side control device 100, and the pose of the support device 400 is adjusted in real time based on the received adjustment instruction. During the adjustment process, the coordinates of the fixed point change in real time accordingly due to the adjustment of the support device 400. Based on the constructed environment coordinate system, the pose change information of the fixed point can be obtained by acquiring the real-time coordinates of the fixed point. In some other embodiments, the pose of the support device 400 can also be directly adjusted by the operator by applying an external force, such as directly dragging the support device 400 to adjust its pose.

[0119] In step SA35, based on the fixed point-based pose change information, the robot arm 210 adjusts following the fixed point, so that the patient's surgical hole can coincide with the fixed point of the robot arm 210, and further, whether the surgical instrument 221 reaches a suitable operating pose can be observed in real time through the endoscope 222.

[0120] Of course, in some embodiments, the support device 400 can also follow the robot arm 210 to adjust in real time by taking the robot arm 210 as the leading object. Specifically, in steps SA34 and SA35, the robot arm 210 is taken as the leading adjustment object, and the support device 400 follows the robot arm 210 to adjust in real time. It can be understood that the step of real-time adjustment of the pose of the robot arm 210 can be realized by inputting an adjustment instruction through the doctor's end control device 100. Of course, in other embodiments, the step of real-time adjustment of the pose of the robot arm 210 can also be that the operator directly drags the robot arm 210 to move by exerting an external force on the robot arm 210, that is, the pose of the robot arm 210 is adjusted according to the external force received.

[0121] Further, when the robot arm 210 is taken as the leading adjustment object and the support device 400 is taken as the subordinate adjustment object, if the number of the robot arms 210 is greater than two, two of the robot arms 210 are determined as the active adjustment end of the leading adjustment object, and the remaining robot arms 210 are determined as the passive adjustment end of the leading adjustment object; the pose of the active adjustment end is actively adjusted in real time, and the pose of the passive adjustment end is adjusted following the adjustment of the pose of the active adjustment end. Generally, the operator maps the doctor's end control device 100 and two robot arms 210 in real time, that is, at the same time, the operator can control at most two robot arms 210, which are determined as the active adjustment end, and the poses of the two robot arms 210 can be actively adjusted in real time under the control of the operator, and the remaining robot arms 210 are configured as the passive adjustment end, which needs to be the same as the support device 400, and follow the fixed point of the robot arm 210 to adjust following the fixed point to ensure that the surgical hole and the fixed point position coincide in real time.

[0122] Based on the above adjustment method of intraoperative fixed point, the embodiment further provides a readable storage medium having a program stored thereon, the program being executed to implement the adjustment method of intraoperative fixed point as described above, and the readable storage medium can be integrally arranged in a surgical robot system, such as a main controller, or can be independently attached. Further, the embodiment further provides a surgical robot system, which comprises a support device 400, a mechanical arm 210, and a main controller 10, one of the support device 400 and the mechanical arm 210 is configured as a leading adjustment object, and the other is configured as a subordinate adjustment object, the mechanical arm 210 is used to drive the connected instrument 220 to move through the fixed point; and the main controller 10 is configured to control the pose of the subordinate adjustment object to adjust following the pose adjustment of the leading adjustment object according to the adjustment method of intraoperative fixed point as described above, so that the pose of the fixed point remains unchanged relative to the support device 400.

[0123] Embodiment Two

[0124] The embodiment two of the present application does not describe the same parts as the embodiment one, and only the different points are described below.

[0125] Please refer to Figure 13 which is a flowchart of the adjustment method of intraoperative fixed point of the embodiment two of the present application.

[0126] In the embodiment two, different from the embodiment one, when adjusting the poses of the support device 400 and the mechanical arm 210, the support device 400 and the mechanical arm 210 are not respectively established as the leading adjustment object and the subordinate adjustment object, but the expected fixed point pose of the fixed point is obtained according to the expected operation pose of the instrument 220, and the poses of the support device 400 and the mechanical arm 210 are adjusted. Specifically, in the embodiment two, the adjustment method of intraoperative fixed point comprises:

[0127] Step SB1: calculating an expected fixed point pose: based on the expected operation pose of the instrument 220, an expected fixed point pose of the fixed point is obtained; the fixed point is used for the instrument 220 connected to the mechanical arm 210 to pass through and perform corresponding operations around the fixed point.

[0128] Step SB2: adjusting the support device and the mechanical arm: based on the expected fixed point pose, the pose of the support device 400 and the pose of the mechanical arm 210 are adjusted, so that the pose of the fixed point remains unchanged relative to the support device 400.

[0129] Preferably, the pose adjustment of the support device 400 and the pose adjustment of the mechanical arm 210 are real-time matched, and both are adjusted synchronously. For example, in one example, if the position of the support device 400 is adjusted by a first distance, the position of the mechanical arm 210 is also synchronously adjusted by the first distance in real time, so that the pose adjustment of the two is kept real-time matched.

[0130] In the second embodiment, the step SO5 can be implemented by performing the steps SB1-SB2 described above. Optionally, before the step SB1, the adjustment method of the intraoperative fixed point further comprises a step SB0 of presetting an expected operation pose. In the adjustment method of the intraoperative fixed point provided in the second embodiment, the support device 400 and the mechanical arm 210 are adjusted according to the preset adjustment scheme. In this way, first, the expected operation pose of the instrument 220 is used to obtain the expected fixed point pose of the fixed point, and then the pose of the support device 400 and the pose of the mechanical arm 210 are adjusted according to the expected fixed point pose, so that the pose of the fixed point relative to the support device 400 remains unchanged. Without interrupting the surgery, 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 relationship between the current surgical robot position and the patient position, 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 surgery, reduce the preoperative preparation time, effectively compensate for the risks and defects of the existing surgical hole operation, improve the accuracy of surgical operation, reduce the pain of patients, and improve the recovery efficiency.

[0131] In the step SB1, the expected fixed point pose is obtained according to the preset expected operation pose. In one example, the lesion can be seen through the endoscope 222, so that the expected operation pose of the instrument 220 can be obtained. Through the distance sensor on the endoscope 222 combined with the position of the endoscope 222 in the environmental coordinate system, the expected operation pose in the environmental coordinate system can be known. Alternatively, the position of the lesion in the environmental coordinate system can be determined through preoperative abdominal environment modeling, so as to determine the expected operation pose.

[0132] Further, the step of adjusting the pose of the support device 400 and the pose of the mechanical arm 210 according to the expected fixed point pose in the step SB2 comprises:

[0133] a step SB21 of obtaining a first expected pose of the support device 400 and a second expected pose of the mechanical arm 210 according to the preset expected operation pose;

[0134] Step SB22: planning a first adjustment path of the support device 400 based on the first current pose of the support device 400 and the first desired pose, and planning a second adjustment path of the robot arm 210 based on the second current pose of the robot arm 210 and the second desired pose.

[0135] In step SB21, according to the coordinates of the instrument 220 reaching the desired operation pose, the first desired pose of the support device 400 and the second desired pose of the robot arm 210 can be calculated. Further, the desired fixed point pose can be calculated based on the first desired pose of the support device 400 and the second desired pose of the robot arm 210.

[0136] In step SB22, the first desired pose of the support device 400, the second desired pose of the robot arm 210 and the desired fixed point pose can be obtained through step SB21. The first adjustment path of the support device 400 and the second adjustment path of the robot arm 210 can be planned based on the current pose of the support device 400 and the current pose of the robot arm 210. Thus, when the support device 400 and the robot arm 210 are adjusted according to the preset adjustment, the fixed point can be ensured to move following the movement of the support device 400, and the pose of the fixed point relative to the support device 400 remains unchanged.

[0137] Optionally, after obtaining the first adjustment path and the second adjustment path, the intraoperative fixed point adjustment method further comprises: demonstrating the first adjustment path and / or the second adjustment path by using a display device. After obtaining the first adjustment path and / or the second adjustment path, the first adjustment path and / or the second adjustment path can be displayed on the imaging device 102 of the doctor end control device 100 and / or the display device 302 of the image trolley 300, so that the medical staff can further judge whether the planned adjustment path is safe and reasonable. After the medical staff confirms that the planned adjustment path is safe and reasonable, the surgical robot system executes the adjustment of the support device 400 and the robot arm 210 according to the planned adjustment path.

[0138] Based on the adjustment method of the intraoperative fixed point described above, the embodiment further provides a readable storage medium having a program stored thereon, the program being executed to implement the adjustment method of the fixed point as described above. The readable storage medium can be integrally arranged in a surgical robot system, such as being integrated in a master controller, or can be independently attached. Further, the embodiment further provides a surgical robot system, which comprises a support device 400, a mechanical arm 210, and a master controller 10. The mechanical arm 210 is configured to drive a connected instrument 220 to move through a fixed point. The master controller is configured to control the support device 400 and the mechanical arm 210 to perform pose adjustment according to the adjustment method of the fixed point as described above, so that the pose of the fixed point relative to the support device 400 remains unchanged.

[0139] It should be noted that the above embodiments are not limited to be used alone, and can be combined with each other, and the present application is not limited thereto. 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 stored thereon a program, characterized in that, The program is executed to implement: One of the support device and the mechanical arm is the leading adjustment object, and the other is the subordinate adjustment object; the mechanical arm is used to drive the connected instrument to move through the fixed point; The pose of the leading adjustment object is adjusted to adjust the pose of the fixed point; The pose of the subordinate adjustment object is adjusted to follow the pose adjustment of the leading adjustment object, so that the pose of the fixed point relative to the support device remains unchanged; The mechanical arm is the leading adjustment object, and the support device is the subordinate adjustment object; if the number of the mechanical arms is greater than two, two of the mechanical arms are defined as active adjustment ends in the leading adjustment object, and the remaining mechanical arms are defined as passive adjustment ends in the leading adjustment object; the pose of the active adjustment end is actively adjusted in real time, and the pose of the passive adjustment end is adjusted to follow the pose adjustment of the active adjustment end.

2. The readable storage medium of claim 1, wherein, The pose of the leading adjustment object is actively adjusted in real time.

3. The readable storage medium of claim 2, wherein, The step of actively adjusting the pose of the leading adjustment object in real time comprises: The pose of the leading adjustment object is adjusted according to the received adjustment instruction; or, The pose of the leading adjustment object is adjusted according to the external force received.

4. The readable storage medium of claim 2, wherein, The step of adjusting the pose of the subordinate adjustment object to follow the pose adjustment of the leading adjustment object comprises: Obtaining the pose change information of the fixed point which changes in real time based on the pose adjustment of the leading adjustment object; Adjusting the pose of the subordinate adjustment object based on the pose change information of the fixed point.

5. The readable storage medium of claim 1, wherein, The program further implements: An environment coordinate system is established, and the support device coordinate system and the surgical robot coordinate system in which the mechanical arm is located are converted and unified to the environment coordinate system.

6. The readable storage medium of claim 1, wherein, The program further implements: Obtaining body surface information of a predetermined object placed on the support device; Establishing a safety area based on the body surface information, and associating the position information of the safety area with the position information of the support device; Adjusting the pose of the mechanical arm to avoid the safety area.

7. The readable storage medium of claim 6, wherein, The establishment method of the safety area comprises: Obtaining point cloud data obtained by the target abutting against the body surface of the predetermined object by using a positioning device; Fitting the safety area based on the point cloud data.

8. The readable storage medium of claim 6, wherein, The establishment method of the safety area comprises: Obtaining shape data obtained by the target being covered on the body surface of the predetermined object by using a fiber shape sensor; Fitting the safety area based on the shape data.

9. The readable storage medium of claim 1, wherein, After the step of adjusting the pose of the subordinate adjustment object to follow the pose adjustment of the leading adjustment object, the program further implements: Adjusting the mechanical arm to the expected pose according to the adjusted pose of the mechanical arm; Matching the adjusted pose of the mechanical arm with the operation pose of the control arm of the doctor control end.

10. A surgical robotic system, characterized by, It comprises: A support device, a mechanical arm and a main controller, one of the support device and the mechanical arm is configured as a leading adjustment object, and the other is configured as a subordinate adjustment object, and the mechanical arm is used to drive the connected instrument to move through the fixed point; The main controller is configured to control the slave adjustment object to adjust in accordance with the pose adjustment of the master adjustment object so as to keep the pose of the fixed point unchanged relative to the support device according to the execution of the program of the readable storage medium of any one of claims 1-9.

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