Surgical robotic system, adjustment method, and storage medium

Abstract

The application provides a surgical robot system, an adjusting method and a storage medium, and the adjusting method comprises the following steps: receiving a mechanical arm adjusting instruction; planning a motion trajectory of the mechanical arm according to the mechanical arm adjusting instruction; controlling the mechanical arm to perform adjusting motion according to the motion trajectory, and controlling the patient support device to perform adjusting motion following the mechanical arm. The application can realize the adjustment of the fixed point position without withdrawing the instrument in the operation, and can ensure that the relative position of the current hole position remains unchanged without the need of additional punching. In addition, since the patient support device is adjusted in real time following the mechanical arm, the optimal matching between the mechanical arm configuration and the lesion position can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a surgical robot system, an adjusting method and a storage medium. BACKGROUND

[0002] At present, all industries are in the trend of electronicization and intelligentization, especially in the operating room, a large number of semi-automatic and automatic mechanical and electrical equipment are gradually applied to various surgical scenes, for example, traditional handheld surgical instruments are gradually replaced by surgical robots.

[0003] The design concept of the surgical robot is to accurately implement complex surgical operations in a minimally invasive manner, break through the limitations of the human eye, and use stereoscopic imaging technology to present internal organs more clearly to the operator. In the area where the hand cannot reach, the mechanical hand can complete 360-degree rotation, movement, swing, clamping, and avoid shaking, and is favored by the majority of doctors and patients. Now as a kind of high-end medical equipment, it has been widely used in various clinical operations.

[0004] Like traditional laparoscopic surgery, before surgery, the lesion needs to be located and the operation type needs to be determined, the punching position of the surgical instrument is planned according to the doctor's experience and punching is performed, and then the mechanical arm on the surgical robot is manually guided to the punching point, and then the operation is carried out.

[0005] However, in the actual operation process, the following problems still exist:

[0006] 1) The hole position is not ideal, because of mechanical arm limit, interference, collision, etc., the current lesion pose and mechanical arm configuration cannot meet the operation demand;

[0007] 2) Due to changes in patient position, changes in lesion itself, etc., the lesion position is not ideal, and the current lesion pose and mechanical arm configuration cannot meet the operation demand;

[0008] In the foregoing case, how to quickly adjust the mechanical arm without removing the instrument so as to efficiently and safely complete the operation has become a technical problem to be solved urgently. SUMMARY

[0009] The purpose of the present application is to provide a surgical robot system, an adjusting method and a storage medium, so as to efficiently and safely complete the operation.

[0010] In order to achieve the above-mentioned purpose, the present application provides an adjusting method of a surgical robot system, the surgical robot system comprising a robot and a patient support device, the robot comprising at least one mechanical arm, the end of the mechanical arm being used to connect an instrument, the adjusting method comprising:

[0011] receiving a mechanical arm adjustment instruction;

[0012] planning a motion trajectory of the robot arm according to the robot arm adjustment instruction;

[0013] controlling the robot arm to perform adjustment motion according to the motion trajectory, and controlling the patient support device to follow the robot arm to perform adjustment motion.

[0014] Optionally, before planning the motion trajectory of the robot arm according to the robot arm adjustment instruction, the adjustment method comprises:

[0015] judging whether the robot arm adjustment instruction conforms to a preset rule.

[0016] Optionally, the judging whether the robot arm adjustment instruction conforms to a preset rule comprises:

[0017] obtaining a current pose of an instrument end desired operation space according to a current position of a fixed point of the robot arm and a current configuration of the robot arm;

[0018] obtaining a target pose of the instrument end desired operation space according to the received robot arm adjustment instruction;

[0019] obtaining an adjustable range of the instrument end desired operation space according to the obtained current pose of the instrument end desired operation space and a movable stroke of the robot arm;

[0020] judging whether the robot arm adjustment instruction conforms to a preset rule according to the adjustable range of the instrument end desired operation space and the target pose of the instrument end desired operation space.

[0021] Optionally, the planning the motion trajectory of the robot arm according to the received robot arm adjustment instruction comprises:

[0022] obtaining a target pose of an instrument end desired operation space according to the received robot arm adjustment instruction;

[0023] obtaining a target configuration of the robot arm according to the obtained target pose of the instrument end desired operation space;

[0024] planning a motion trajectory of the robot arm according to the target configuration of the robot arm and a current configuration of the robot arm.

[0025] Optionally, the planning a motion trajectory of the robot arm according to the target configuration of the robot arm and a current configuration of the robot arm comprises:

[0026] planning a motion trajectory of each joint of the robot arm according to a target pose of each joint of the robot arm and a current pose of each joint of the robot arm;

[0027] The control of the adjustment movement of the mechanical arm according to the respective motion trajectory comprises:

[0028] The control of the adjustment movement of the respective joint of the mechanical arm according to the respective motion trajectory.

[0029] Optionally, the control of the adjustment movement of the patient support device following the mechanical arm comprises:

[0030] The real-time configuration of the mechanical arm in the adjustment process and the real-time position of the fixed point are acquired.

[0031] According to the real-time configuration of the mechanical arm and the real-time position of the fixed point, the real-time pose of the instrument end desired operation space is acquired.

[0032] According to the real-time pose of the instrument end desired operation space, the real-time target pose of the lesion is acquired.

[0033] According to the real-time target pose of the lesion, the real-time target pose of the patient support device is acquired.

[0034] According to the real-time target pose of the patient support device, the adjustment movement of the patient support device is controlled.

[0035] Optionally, the control of the adjustment movement of the patient support device according to the real-time target pose of the patient support device comprises:

[0036] According to the real-time target pose of the patient support device, the real-time target pose of each joint of the patient support device is acquired.

[0037] According to the real-time target pose of each joint of the patient support device, the adjustment movement of each joint of the patient support device is controlled.

[0038] Optionally, the acquisition of the real-time target pose of the lesion according to the real-time pose of the instrument end desired operation space comprises:

[0039] According to the real-time pose of the instrument end desired operation space in the robot coordinate system and the mapping relationship between the robot coordinate system and the world coordinate system, the real-time target pose of the lesion in the world coordinate system is acquired.

[0040] The acquisition of the real-time target pose of the patient support device according to the real-time target pose of the lesion comprises:

[0041] According to the real-time target pose of the lesion in the world coordinate system and the mapping relationship between the lesion coordinate system and the patient support device coordinate system, the real-time target pose of the patient support device is acquired.

[0042] Optionally, the mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained by the following process:

[0043] A lesion model is acquired, and a lesion coordinate system is established;

[0044] A preoperative patient sign image under the lesion coordinate system is acquired according to the lesion coordinate system;

[0045] An intraoperative patient sign image under a world coordinate system is acquired;

[0046] The preoperative patient sign image and the intraoperative patient sign image are registered to obtain a mapping relationship between the lesion coordinate system and the world coordinate system;

[0047] The mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained according to the mapping relationship between the lesion coordinate system and the world coordinate system and the mapping relationship between the patient support device coordinate system and the world coordinate system.

[0048] Optionally, the mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained according to the mapping relationship between the lesion coordinate system and the world coordinate system and the mapping relationship between the patient support device coordinate system and the world coordinate system, comprising:

[0049] A first mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained according to the mapping relationship between the lesion coordinate system and the world coordinate system and the mapping relationship between the patient support device coordinate system and the world coordinate system;

[0050] The first mapping relationship between the lesion coordinate system and the patient support device coordinate system is corrected to obtain the mapping relationship between the lesion coordinate system and the patient support device coordinate system.

[0051] Optionally, the first mapping relationship between the lesion coordinate system and the patient support device coordinate system is corrected, comprising:

[0052] The pose information of the lesion under an image acquisition device coordinate system is acquired;

[0053] The mapping relationship between the lesion coordinate system and the image acquisition device coordinate system is obtained according to the pose information of the lesion under the image acquisition device coordinate system;

[0054] The mapping relationship between the robot coordinate system and the lesion coordinate system is obtained according to the mapping relationship between the image acquisition device coordinate system and the robot coordinate system and the mapping relationship between the lesion coordinate system and the image acquisition device coordinate system;

[0055] According to the mapping relationship between the robot coordinate system and the lesion coordinate system and the mapping relationship between the robot coordinate system and the patient support device coordinate system, a second mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained.

[0056] According to the second mapping relationship between the lesion coordinate system and the patient support device coordinate system, the first mapping relationship between the lesion coordinate system and the patient support device coordinate system is corrected to obtain the mapping relationship between the lesion coordinate system and the patient support device coordinate system.

[0057] Optionally, the adjustment method comprises:

[0058] The adjustment movement of the mechanical arm and the patient support device is tracked to determine whether an abnormal situation occurs.

[0059] To achieve the above-mentioned purpose, the application further provides a surgical robot system, which comprises a robot, a patient support device and a controller, the robot and the patient support device are in communication connection with the controller, the robot comprises at least one mechanical arm, and the end of the mechanical arm is used for connecting an instrument.

[0060] The controller is configured to implement the adjustment method of the surgical robot system described above.

[0061] Optionally, the surgical robot system comprises a positioning device in communication connection with the controller, and the positioning device is used for obtaining an intraoperative patient sign image under a world coordinate system, a mapping relationship between a patient support device coordinate system and the world coordinate system, and a mapping relationship between a robot coordinate system and the world coordinate system.

[0062] To achieve the above-mentioned purpose, the application further provides a readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the adjustment method of the surgical robot system described above.

[0063] Compared with the prior art, the surgical robot system, the adjustment method and the storage medium provided by the application have the following advantages: the application plans a motion trajectory of the mechanical arm through the received mechanical arm adjustment instruction, controls the mechanical arm to perform adjustment motion according to the motion trajectory, and controls the patient support device to follow the mechanical arm to perform adjustment motion, so that the adjustment of the fixed point position can be performed without withdrawing the instrument in the operation, and the relative position of the current hole position can be ensured to remain unchanged without the need of additional punching. In addition, since the patient support device is adjusted in real time following the mechanical arm, the optimal matching between the mechanical arm configuration and the lesion position can be realized to achieve the optimal operation scheme, and the safety performance in the adjustment process can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0064] Figure 1 A flowchart of an adjustment method of a surgical robot system in an embodiment of the application;

[0065] Figure 2 A flowchart of judging whether the mechanical arm adjustment instruction meets the preset rule in an embodiment of the application;

[0066] Figure 3 A principle diagram of obtaining an instrument end desired operation space in an embodiment of the application;

[0067] Figure 4 A schematic diagram of an instrument end desired operation space in an embodiment of the application;

[0068] Figure 5 A flowchart of planning a motion trajectory of a mechanical arm in an embodiment of the application;

[0069] Figure 6 A flowchart of the mechanical arm performing adjustment motion in an embodiment of the application;

[0070] Figure 7 A flowchart of the patient support device following the mechanical arm to perform adjustment motion in an embodiment of the application;

[0071] Figure 8 A schematic diagram of a fixed point of a mechanical arm in an embodiment of the application;

[0072] Figure 9 A flowchart of obtaining a mapping relationship between a lesion coordinate system and a patient support device coordinate system in an embodiment of the application;

[0073] Figure 10 A schematic diagram of establishing a lesion coordinate system in an embodiment of the application;

[0074] Figure 11A schematic diagram for acquiring a preoperative patient landmark image in an embodiment of the present application;

[0075] Figure 12 A schematic diagram for acquiring a mapping relationship between a patient support device coordinate system and a world coordinate system in an embodiment of the present application;

[0076] Figure 13 A schematic diagram for acquiring an intraoperative patient landmark image in an embodiment of the present application;

[0077] Figure 14 A schematic diagram for registration of a preoperative patient landmark image and an intraoperative patient landmark image in an embodiment of the present application;

[0078] Figure 15 A schematic diagram for correcting a mapping relationship between a patient support device coordinate system and a lesion coordinate in an embodiment of the present application;

[0079] Figure 16 A schematic diagram for acquiring a mapping relationship between a patient support device coordinate system and a robot coordinate system in an embodiment of the present application;

[0080] Figure 17 A schematic diagram for a system state tracking process in an embodiment of the present application;

[0081] Figure 18 A schematic diagram for a block structure of a surgical robot system in an embodiment of the present application;

[0082] In the drawings, the following reference numerals are used:

[0083] Robot - 100; Patient support device - 200; Surgeon console - 300; Controller - 400; Manipulator - 110; Processor - 410; Memory - 420; Positioning device - 500; Punch point - 210; Feature point - 220; Lesion - 600; Immovable point - 111; Operable space - 120; Desired operation space - 130; Preoperative patient landmark image - 11; Intraoperative patient landmark image - 12. DETAILED DESCRIPTION

[0084] The following will be described in detail with reference to the accompanying drawings. Figures 1 to 18The surgical robot system, adjustment method, and storage medium according to the present application will be described in further detail with reference to the embodiments of the present application. The advantages and features of the present application will be more apparent from the following description. It should be noted that the drawings attached herewith are very simplified and all use non-precise proportions, and are only used for the purpose of conveniently and clearly assisting the description of the embodiments of the present application. For the purpose of making the objects, features, and advantages of the present application more apparent and easy to understand, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached herewith are only used to cooperate with the content disclosed in the description, for the understanding and reading of those skilled in the art, and are not used to limit the defined conditions for the implementation of the present application. Any modification of the structure, change of the proportional relationship, or adjustment of the size, in the case of the same or similar effects and purposes that can be produced by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0085] It should be noted that, in this document, relational terms such as first and second, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0086] The core idea of the present application is to provide a surgical robot system, an adjustment method and a storage medium, which can quickly adjust the mechanical arm without removing the instrument, and at the same time realize real-time following movement of the patient support device, so as to efficiently and safely complete the operation. It should be noted that the patient support device coordinate system referred to herein is a coordinate system created with any point on the support body (such as a bed body) of the patient support device (such as a bed) as the origin, the robot coordinate system is a coordinate system created with any point on the robot base as the origin, the lesion coordinate system is a coordinate system created with any point on the lesion as the origin, the image acquisition device coordinate system is a coordinate system created with any point in the field of view of the image acquisition device as the origin, the pose of the instrument end desired operation space refers to the pose of the instrument end desired operation space in the robot coordinate system, the pose of each joint refers to the pose of each joint in the robot coordinate system, the pose of the patient support device refers to the pose of the patient support device in the world coordinate system, and the mechanical arm configuration refers to the structure and shape of the mechanical arm, wherein different joint angles correspond to different shapes. In addition, it should be noted that the support device referred to herein is used to support the surgical object, that is, the surgical object can lie or sit on the support device for surgery, and the support device can be a bed or other components capable of supporting the surgical object for surgical operation. The support device has multiple degrees of freedom such as movement, pitch and yaw, and the support device has multiple joints to realize movement of multiple degrees of freedom such as movement, pitch and yaw. The specific structure of the support device can refer to the multi-degree-of-freedom bed in the prior art, and will not be described here,

[0087] To achieve the above idea, the present application provides an adjustment method of a surgical robot system, please refer to Figure 1 which schematically shows the flow chart of the adjustment method of the surgical robot system provided by an embodiment of the present application, as Figure 1 shown, the adjustment method of the surgical robot system comprises the following steps:

[0088] Step S100, receiving a mechanical arm adjustment instruction.

[0089] Step S200, planning a motion trajectory of the mechanical arm according to the mechanical arm adjustment instruction.

[0090] Step S300, controlling the mechanical arm to adjust the motion according to the motion trajectory and controlling the patient support device to follow the adjustment motion of the mechanical arm.

[0091] Therefore, this invention, by planning the movement trajectory of the robotic arm based on received robotic arm adjustment commands during surgery and controlling the robotic arm to adjust its movement according to the trajectory, while simultaneously controlling the patient support device to follow the robotic arm's adjustment movement, enables adjustments to the fixed point position without removing the instruments during surgery. This also ensures that the relative position of the current incision remains unchanged, eliminating the need for additional drilling. Furthermore, since the patient support device follows the robotic arm's adjustment movement in real time, optimal matching between the robotic arm configuration and the lesion's posture can be achieved, resulting in an optimal surgical procedure while ensuring safety during the adjustment process. It should be noted that the robotic arm adjustment commands referred to herein include the size and direction of the overall movement of the robotic arm.

[0092] Furthermore, such as Figure 1 As shown, before performing step S200, the adjustment method further includes:

[0093] Determine whether the robotic arm adjustment command conforms to preset rules.

[0094] Therefore, by determining whether the robotic arm adjustment command conforms to preset rules, i.e., whether the robotic arm adjustment command is reasonable, and if the determination result is that it conforms to the preset rules (reasonable), the movement trajectory of the robotic arm is planned according to the robotic arm adjustment command. If the determination result is that it does not conform to the preset rules (unreasonable), the adjustment process ends, thereby ensuring the safety of the robotic arm adjustment process. Specifically, please refer to... Figure 2 The diagram illustrates a flowchart of an embodiment of the present invention for determining whether a robotic arm adjustment command conforms to preset rules. Figure 2 As shown, determining whether the robotic arm adjustment command conforms to preset rules includes:

[0095] Based on the current position of the fixed point of the robotic arm and the current configuration of the robotic arm, obtain the current pose of the desired operating space of the end effector.

[0096] Based on the received robotic arm adjustment instructions, the target pose of the end effector in the desired operating space is obtained;

[0097] Based on the current pose of the desired operating space of the end effector and the movable stroke of the robotic arm, the adjustable range of the desired operating space of the end effector is obtained.

[0098] Based on the adjustable range of the desired operating space at the end of the instrument and the target pose of the desired operating space at the end of the instrument, it is determined whether the adjustment command of the robotic arm conforms to the preset rules.

[0099] Specifically, the received robot arm adjustment instruction includes a position size and a direction that the robot arm as a whole needs to move, i.e. a position size and a direction that the instrument end desired operation space needs to move, and thus, according to the current pose of the instrument end desired operation space and the robot arm adjustment instruction, the target pose of the instrument end desired operation space can be obtained. By judging whether the target pose of the instrument end desired operation space is located within the adjustable range of the instrument end desired operation space, it can be accurately judged whether the robot arm adjustment instruction conforms to the preset rule (is reasonable), and the safety in the adjustment process is further improved. Specifically, if the target pose of the instrument end desired operation space is located within the adjustable range, it is determined that the robot arm adjustment instruction conforms to the preset rule (is reasonable), otherwise, it is determined that the robot arm adjustment instruction does not conform to the preset rule (is unreasonable). In addition, it should be noted that, although Figure 2 is explained by taking the example that the target pose of the instrument end desired operation space is obtained first and then the adjustable range of the instrument end desired operation space is obtained, as can be understood by those skilled in the art, in some other embodiments, the adjustable range of the instrument end desired operation space can be obtained first, and then the target pose of the instrument end desired operation space is obtained, or the adjustable range of the instrument end desired operation space and the target pose of the instrument end desired operation space can be obtained at the same time, and the present application does not limit the order of obtaining. In addition, it should be noted that, as can be understood by those skilled in the art, the movable stroke of the robot arm referred to herein refers to the movable range of each joint of the robot arm. The adjustable range of the instrument end desired operation space refers to the range between the current pose of the instrument end desired operation space and the pose corresponding to the maximum position that can be reached by each joint of the robot arm. Specifically, according to the obtained current pose of the instrument end desired operation space and the movable range of each joint of the robot arm, the instrument end desired operation space corresponding to each robot arm within the possible joint movement range can be enumerated and calculated, and according to all the obtained instrument end desired operation spaces, the adjustable range of the instrument end desired operation space can be calculated.

[0100] Please refer to Figure 3 which schematically shows the principle of obtaining the instrument end desired operation space provided by an embodiment of the present application. As Figure 3As shown in FIG. 1, the end-effector workspace 120 of each of the two robot arms 110 is schematically shown. Specifically, for one of the robot arms 110, according to the current configuration of the robot arm 110, the angles of the joints of the robot arm 110 are known. According to the angles of the joints of the robot arm 110, the current position of the fixed point of the robot arm 110 can be obtained by using the forward kinematics model. According to the current position of the fixed point of the robot arm 110 and the movement range of the joints of the robot arm 110, the end-effector workspace 120 of the end-effector of the robot arm 110 in the current configuration (i.e., the space formed by rotating the end-effector of the robot arm 110 around the fixed point) can be obtained. Similarly, the end-effector workspaces 120 of the end-effectors of all the robot arms 110 in the current configuration can be obtained. The desired end-effector workspace 130 in the current configuration (i.e., the space that can be reached by the end-effectors of all the robot arms 110) can be obtained by taking the intersection of the end-effector workspaces 120 of all the robot arms 110. Figure 4 FIG. 2 schematically shows the desired end-effector workspace 130 in one embodiment of the present application. As shown in FIG. 2, the desired end-effector workspace 130 can be described by a regular geometric body. The pose of the geometric body is the pose of the desired end-effector workspace 130. Specifically, the position of the geometric center of the geometric body can be taken as the pose of the desired end-effector workspace 130. Figure 4 As shown in FIG. 2, the desired end-effector workspace 130 obtained can be described by a regular geometric body. The pose of the geometric body is the pose of the desired end-effector workspace 130. Specifically, the position of the geometric center of the geometric body can be taken as the pose of the desired end-effector workspace 130.

[0101] Please continue to refer to Figure 5 FIG. 3 schematically shows a flowchart of planning the movement trajectory of a robot arm according to one embodiment of the present application. As shown in FIG. 3, the method comprises the following steps. Figure 5 As shown in FIG. 3, the method of planning the movement trajectory of the robot arm according to the received robot arm adjustment instruction comprises the following steps.

[0102] According to the received robot arm adjustment instruction, the target pose of the desired end-effector workspace is obtained.

[0103] According to the target pose of the desired end-effector workspace obtained, the target configuration of the robot arm is obtained.

[0104] According to the target configuration of the robot arm and the current configuration of the robot arm, the movement trajectory of the robot arm is planned.

[0105] Thus, according to the target pose of the expected operation space of the instrument end acquired, the target pose of the end instrument of the robot arm can be acquired, and according to the target pose of the end instrument of the robot arm, the target configuration of the robot arm can be acquired. Specifically, the target pose of the end instrument of the robot arm can be calculated by using an inverse kinematics solution, and the target pose of each joint of the robot arm can be acquired, that is, the target configuration of the robot arm can be acquired.

[0106] Specifically, when planning the motion trajectory of the robot arm according to the target configuration of the robot arm and the current configuration of the robot arm, the following constraint conditions need to be considered:

[0107] Each robot arm does not interfere with each other;

[0108] Each robot arm is as far away from the boundary as possible in the middle of the movable stroke;

[0109] The relative positions between the fixed points of each robot arm remain unchanged.

[0110] The fixed points of each robot arm correspond to the corresponding punching points of each robot arm, and the initial positions of the fixed points of each robot arm are determined after the positions of the punching points are determined.

[0111] Further, please refer to Figure 6 which schematically shows a flowchart of the adjustment motion of the robot arm provided by an embodiment of the present application. As Figure 6 shown, the planning of the motion trajectory of the robot arm according to the target configuration of the robot arm and the current configuration of the robot arm includes:

[0112] Planning the motion trajectory of each joint of the robot arm according to the target pose of each joint of the robot arm and the current pose of each joint of the robot arm;

[0113] The control of the adjustment motion of the robot arm according to the motion trajectory includes:

[0114] Controlling each joint of the robot arm to perform adjustment motion according to the motion trajectory of each joint.

[0115] Specifically, the current pose of each joint of the robot arm can be measured by a position sensor installed on each joint of the robot arm. Thus, by planning the motion trajectory of each joint of the robot arm and controlling each joint of the robot arm to perform adjustment motion according to the motion trajectory of each joint, the calculation amount can be effectively reduced, and the configuration of the robot arm can be adjusted to the target configuration more conveniently.

[0116] Please continue to refer to Figure 7Fig. 1 schematically shows a flowchart of adjusting motion of a patient support device according to an embodiment of the present application. As shown in Fig. 1, the adjusting motion of the patient support device comprises the following steps: Figure 7 controlling the patient support device to perform adjusting motion according to the real-time target pose of the patient support device.

[0117] acquiring real-time pose of the patient support device according to the real-time target pose of the lesion.

[0118] acquiring real-time pose of the instrument end desired operation space according to the real-time pose of the mechanical arm and the real-time position of the fixed point.

[0119] acquiring real-time target pose of the lesion according to the real-time pose of the instrument end desired operation space.

[0120] acquiring real-time target pose of the patient support device according to the real-time target pose of the lesion.

[0121] controlling the patient support device to perform adjusting motion according to the real-time target pose of the patient support device.

[0122] Accordingly, the real-time pose of the instrument end desired operation space can be acquired according to the real-time pose of the mechanical arm and the real-time position of the fixed point, the real-time target pose of the lesion can be acquired according to the real-time pose of the instrument end desired operation space (the real-time pose of the instrument end desired operation space is the real-time target pose of the lesion), the real-time target pose of the patient support device can be acquired according to the real-time target pose of the lesion, and the patient support device can be controlled to perform adjusting motion according to the real-time target pose of the patient support device, so as to realize the adjusting motion of the patient support device following the mechanical arm, thereby realizing optimal matching between the pose of the lesion and the pose of the mechanical arm. Specifically, the real-time pose of each joint of the mechanical arm can be acquired according to the position sensor installed on each joint of the mechanical arm, i.e., the real-time pose of the mechanical arm, and the real-time position of the fixed point of the mechanical arm can be acquired according to the real-time pose of each joint of the mechanical arm based on the forward kinematics model. How to acquire the real-time target pose of the patient support device according to the real-time target pose of the lesion can be referred to the relevant description below. Since the instrument end desired operation space is a space that can be reached by the end instrument of all mechanical arms 110, by taking the real-time pose of the instrument end desired operation space as the real-time target pose of the lesion, it can be ensured that the end instrument of all mechanical arms 110 can reach the position of the lesion, thereby facilitating the resection of the lesion.

[0123] Specifically, the controlling the patient support device to perform adjusting motion according to the real-time target pose of the patient support device comprises:

[0124] According to the real-time target pose of the patient support device, a real-time target pose of each joint of the patient support device is acquired;

[0125] According to the real-time target pose of each joint of the patient support device, an adjustment movement of each joint of the patient support device is controlled.

[0126] Specifically, an inverse kinematics algorithm can be adopted to inversely solve the real-time target pose of the patient support device to acquire the real-time target pose of each joint of the patient support device, so that the adjustment movement of each joint of the patient support device can be controlled according to the real-time target pose of each joint of the patient support device to realize that the patient support device follows the adjustment movement of the robot arm in real time.

[0127] Further, the acquisition of the real-time target pose of the lesion according to the real-time target pose of the instrument end desired operation space comprises:

[0128] According to the real-time target pose of the instrument end desired operation space in the robot coordinate system Fr and the mapping relationship between the robot coordinate system Fr and the world coordinate system Fw, the real-time target pose of the lesion in the world coordinate system Fw is acquired;

[0129] The acquisition of the real-time target pose of the patient support device according to the real-time target pose of the lesion comprises:

[0130] According to the real-time target pose of the lesion in the world coordinate system Fw and the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc, the target pose of the patient support device is acquired.

[0131] The mapping relationship between the robot coordinate system Fr and the world coordinate system Fw can be measured by a positioning device, and specifically, the positioning device can acquire the mapping relationship between the robot coordinate system Fr and the world coordinate system Fw based on a visual pose measurement principle, an optical tracking pose measurement principle or an electromagnetic pose measurement principle. Therefore, according to the real-time target pose of the instrument end desired operation space in the robot coordinate system Fr and the mapping relationship between the robot coordinate system Fr and the world coordinate system Fw, the real-time target pose of the lesion in the world coordinate system Fw can be acquired, and then according to the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc, the target pose of the patient support device in the world coordinate system Fw can be acquired.

[0132] Please continue to refer to Figure 8 which schematically shows a fixed point of each robot provided by an embodiment of the present application. As shown in FIG. 1, the fixed point of each robot is a point in the world coordinate system Fw, and the fixed point of each robot is a point in the world coordinate system Fw. Figure 8As shown, the positions of the fixed points 111 of the mechanical arm 110 and the positions of the puncture points 210 on the patient's skin are one-to-one correspondence, and the initial position of the fixed points 111 of the mechanical arm 110 is the initial position of the puncture points 210. Thus, the mapping relationship between the robot coordinate system Fr and the world coordinate system Fw can also be obtained by the following process: according to the positioning device described above, the initial position information of each puncture point 210 in the world coordinate system Fw can be measured, according to the initial position information of each joint of the mechanical arm 110, based on the forward kinematics model, the initial position information of each fixed point 111 of the mechanical arm 110 in the robot coordinate system Fr can be obtained, and according to the initial position information of each puncture point 210 in the world coordinate system Fw and the initial position information of each fixed point 111 in the robot coordinate system Fr, the mapping relationship between the robot coordinate system Fr and the world coordinate system Fw can be obtained.

[0133] Further, please refer to Figure 9 which schematically shows a flowchart of obtaining the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc according to an embodiment of the present application. As shown in Figure 9 , the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc is obtained by the following process:

[0134] obtaining a lesion model and establishing a lesion coordinate system Fi;

[0135] obtaining a preoperative patient sign image in the lesion coordinate system Fi according to the lesion coordinate system Fi;

[0136] obtaining an intraoperative patient sign image in the world coordinate system Fw;

[0137] registering the preoperative patient sign image and the intraoperative patient sign image to obtain the mapping relationship between the lesion coordinate system Fi and the world coordinate system Fw;

[0138] obtaining the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc according to the mapping relationship between the lesion coordinate system Fi and the world coordinate system Fw and the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw.

[0139] Specifically, please refer to Figure 10 which schematically shows a schematic diagram of establishing a lesion coordinate system Fi according to an embodiment of the present application. As shown in Figure 10As shown, the patient can be scanned by using a medical imaging device, such as a CT device / MR device, to obtain information of the lesion 600. By modeling the lesion 600, a lesion model can be obtained. According to the obtained lesion model, a lesion coordinate system Fi can be established. Please refer to Figure 11 which schematically shows a schematic diagram of a preoperative patient sign image provided by an embodiment of the present application. As shown, Figure 11 according to the obtained lesion coordinate system Fi, a preoperative patient sign image 11 can be obtained by modeling the preoperative human body image. Please continue to refer to Figure 12 which schematically shows a schematic diagram of obtaining a mapping relationship between a patient support device coordinate system Fc and a world coordinate system Fw provided by an embodiment of the present application. As shown, Figure 12 As shown, the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw can be measured by using the positioning device 500. Specifically, the positions of several feature points 220 on the patient support device 200 can be measured by using the positioning device 500. According to the measured positions of the feature points 220, the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw can be obtained. Please refer to Figure 13 which schematically shows a schematic diagram of an intraoperative patient sign image provided by an embodiment of the present application. As shown, Figure 13 As shown, the intraoperative patient sign image 12 in the world coordinate system Fw can be obtained by using the positioning device 500 to scan the patient sign. Thus, by registering the preoperative patient sign image 11 and the intraoperative patient sign image 12, the mapping relationship between the lesion coordinate system Fi and the world coordinate system Fw can be obtained. According to the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw, the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc can be obtained. As to how to register the preoperative patient sign image 11 and the intraoperative patient sign image 12, please refer to the prior art, which will not be described herein. Thus, by registering the preoperative patient sign image 11 and the intraoperative patient sign image 12, the mapping relationship between the lesion coordinate system Fi and the world coordinate system Fw can be obtained. According to the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw, the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc can be obtained.

[0140] Further, the obtaining of the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc according to the mapping relationship between the lesion coordinate system Fi and the world coordinate system Fw and the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw comprises:

[0141] According to the mapping relationship between the lesion coordinate system Fi and the world coordinate system Fw and the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw, a first mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc is obtained;

[0142] The first mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc is corrected to obtain the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc.

[0143] Please continue to refer to Figure 14 , which schematically shows a registration diagram of a preoperative patient sign image and an intraoperative patient sign image provided by an embodiment of the present application. As shown in Figure 14 , by registering the preoperative patient sign image 11 and the intraoperative patient sign image 12, the mapping relationship between the lesion coordinate system Fi and the world coordinate system Fw can be obtained, and then according to the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw, the first mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc can be obtained. Therefore, by correcting the obtained first mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc, the accuracy of the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc can be ensured, so that the accuracy of the adjustment movement of the patient support device following the mechanical arm can be improved to realize the optimal matching between the mechanical arm configuration and the lesion pose.

[0144] Specifically, one of the mechanical arms of the robot is provided with an image acquisition device (such as an endoscope), and the correction of the first mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc comprises:

[0145] Obtaining the pose information of the lesion in the image acquisition device coordinate system Fe;

[0146] According to the pose information of the lesion in the image acquisition device coordinate system Fe, the mapping relationship between the lesion coordinate system Fi and the image acquisition device coordinate system Fe is obtained;

[0147] According to the mapping relationship between the image acquisition device coordinate system Fe and the robot coordinate system Fr and the mapping relationship between the lesion coordinate system Fi and the image acquisition device coordinate system Fe, the mapping relationship between the robot coordinate system Fr and the lesion coordinate system Fi is obtained;

[0148] According to the mapping relationship between the robot coordinate system Fr and the lesion coordinate system Fi and the mapping relationship between the robot coordinate system Fr and the patient support device coordinate system Fc, a second mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc is obtained.

[0149] According to the second mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc, the first mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc is corrected to obtain the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc.

[0150] The mapping relationship between the image acquisition device coordinate system Fe and the robot coordinate system Fr can be obtained according to the position information of each joint of the mechanical arm on which the image acquisition device is installed. Please continue to refer to Figure 15 which schematically shows the mapping relationship between the patient support device coordinate system Fc and the lesion coordinate provided by an embodiment of the present application. As shown in Figure 15 According to the mapping relationship between the image acquisition device coordinate system Fe and the robot coordinate system Fr and the mapping relationship between the lesion coordinate system Fi and the image acquisition device coordinate system Fe, the mapping relationship between the robot coordinate system Fr and the lesion coordinate system Fi can be obtained, and then the second mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc can be obtained according to the mapping relationship between the robot coordinate system Fr and the patient support device coordinate system Fc. Therefore, the first mapping relationship can be corrected according to the second mapping relationship to obtain the mapping relationship between the lesion coordinate system Fi and the patient support device coordinate system Fc.

[0151] Specifically, the mapping relationship between the robot coordinate system Fr and the patient support device coordinate system Fc can be obtained according to the mapping relationship between the robot coordinate system Fr and the world coordinate system Fw and the mapping relationship between the patient support device coordinate system Fc and the world coordinate system Fw measured by the positioning device 500 described above.

[0152] Please refer to Figure 16 which schematically shows the flowchart of obtaining the mapping relationship between the robot coordinate system Fr and the patient support device coordinate system Fc provided by an embodiment of the present application. As shown in Figure 16In some embodiments, the initial position information of each puncture point 210 in the patient support device coordinate system Fc can be measured by the positioning device 500 described above, and based on the initial pose information of each joint of the mechanical arm, the initial position information of the fixed point 111 in the robot coordinate system Fr can be calculated based on the forward kinematics model. Since the puncture point 210 and the fixed point 111 are one-to-one corresponding, the mapping relationship between the patient support device coordinate system Fc and the robot coordinate system Fr can be obtained according to the initial position information of each puncture point 210 in the patient support device coordinate system Fc and the initial position information of each fixed point 111 in the robot coordinate system Fr.

[0153] In some embodiments, the adjustment method further comprises:

[0154] Tracking the adjustment movement of the mechanical arm and the patient support device to determine whether an abnormal situation occurs.

[0155] Thus, by tracking the adjustment movement of the mechanical arm and the patient support device, the adjustment state of the mechanical arm and the patient support device can be monitored in real time, so that the automatic adjustment process can be stopped immediately when an abnormal situation occurs, thereby protecting the safety of the patient.

[0156] Specifically, please refer to Figure 17 which schematically shows a system state tracking flowchart provided by an embodiment of the present application. As shown in Figure 17 , the tracking of the adjustment movement of the mechanical arm and the patient support device comprises:

[0157] updating the pose of the patient support device in real time;

[0158] monitoring whether the puncture point and the fixed point match in real time.

[0159] Therefore, the application can stop the adjustment process immediately when the punch point 210 and the fixed point 111 do not match, thereby achieving safety monitoring, by monitoring whether the punch point 210 and the fixed point 111 match in real time. Specifically, the position information of each punch point 210 in the world coordinate system Fw can be obtained in real time by the positioning device 500, the position information of the fixed point 111 of the robot coordinate system Fr of the mechanical arm 110 can be obtained by using the forward kinematics solution according to the real-time pose of each joint of the mechanical arm 110, and the position information of each fixed point 111 in the world coordinate system Fw can be obtained according to the mapping relationship between the robot coordinate system Fr and the world coordinate system Fw. If the position information of the punch point 210 in the world coordinate system Fw is consistent with the position information of the corresponding fixed point 111 in the world coordinate system Fw, it indicates that the punch point and the fixed point match, otherwise, it indicates that the punch point and the fixed point do not match, and the adjustment process needs to be stopped.

[0160] Corresponding to the adjustment method of the surgical robot system, the application also provides a surgical robot system, please refer to Figure 18 , the structure schematic diagram of the surgical robot system provided by an embodiment of the application is schematically shown, as shown in Figure 18 , the surgical robot system includes a control end and an execution end, the execution end includes a robot 100 and a patient support device 200, the control end includes a doctor console 300 and a controller 400, the robot 100, the patient support device 200 and the doctor console 300 are in communication connection with the controller 400, the robot 100 includes at least one mechanical arm 110, and the controller 400 is configured to implement the adjustment method of the surgical robot system described above. Specifically, the controller 400 includes a processor 410 and a memory 420, the memory 420 stores a computer program, and the computer program is executed by the processor 410 to implement the adjustment method of the surgical robot system described above.

[0161] Therefore, the application can realize the adjustment of the immobile point position in the operation, and can ensure that the relative position of the current hole position remains immobile, without the need of additional punching. In addition, since the patient support device 200 is adjusted in real time following the mechanical arm 110, the optimal matching between the mechanical arm 110 configuration and the lesion position can be realized, so as to realize the optimal operation scheme, and the positioning quality can be improved, and the operation preparation time can be saved.

[0162] The processor 410 in the application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor 410 is the control center of the controller 400, and is connected with various parts of the controller 400 through various interfaces and lines.

[0163] The memory 420 can be used to store the computer program, and the processor 410 realizes various functions of the controller 400 by running or executing the computer program stored in the memory 420, and calling the data stored in the memory 420.

[0164] The memory 420 can include non-volatile and / or volatile memory. Non-volatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM), or external cache memory. As an illustration and not a limitation, RAM is available in many forms that include static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Rambus direct memory access (RDRAM), Rambus dynamic RAM (DRDRAM), and Rambus memory bus (RAMBUS DRAM) etc.

[0165] As shown in Figure 18 The surgical robot system further comprises a positioning device 500 connected in communication with the controller 400, and the positioning device 500 is configured to obtain an intraoperative patient landmark image in a world coordinate system, a mapping relationship between a patient support device coordinate system and the world coordinate system, and a mapping relationship between a robot coordinate system and the world coordinate system. Thus, the intraoperative patient landmark image in the world coordinate system can be obtained by the positioning device 500, so that the mapping relationship between the lesion coordinate system and the world coordinate system can be obtained by registering the preoperative patient landmark image and the intraoperative patient landmark image. In addition, the real-time pose of the patient support device 200 and the real-time pose of the puncture point during the adjustment movement of the patient support device 200 following the mechanical arm 110 can also be monitored by the positioning device 500, so that whether the puncture point matches the fixed point can be monitored in real time to achieve safety monitoring. Specifically, the positioning device 500 can be a binocular camera, an optical tracker, a magnetic sensor, etc., and the present application does not limit this.

[0166] The present application also provides a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program can realize the adjustment method of the surgical robot system when executed by a processor. Thus, the present application plans a motion track of the mechanical arm according to the received mechanical arm adjustment instruction, controls the mechanical arm to perform adjustment motion according to the motion track, and controls the patient support device to perform adjustment motion following the mechanical arm, so that the adjustment of the fixed point position can be realized in the operation, and the relative position of the current hole position can be kept unchanged without additional punching. In addition, since the patient support device is adjusted in real time following the mechanical arm, the optimal matching between the mechanical arm configuration and the lesion position can be realized to achieve the optimal operation scheme, and the positioning quality can be improved and the operation preparation time can be saved.

[0167] The readable storage medium of the present application can adopt any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer hard disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this paper, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or component.

[0168] The computer-readable signal medium can include a data signal propagating in a baseband or as a part of a carrier wave propagating through a transmission medium, in which a computer-readable program code is carried. Such a propagating data signal can take various forms, including but not limited to electromagnetic signals, optical signals or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in combination with an instruction execution system, device or component.

[0169] In summary, compared with the prior art, the surgical robot system, the adjustment method and the storage medium provided by the present application have the following advantages: the present application plans a motion trajectory of the mechanical arm according to the received mechanical arm adjustment instruction, controls the mechanical arm to perform adjustment motion according to the motion trajectory, and controls the patient support device to follow the mechanical arm to perform adjustment motion, so that the adjustment of the fixed point position can be realized in the operation, and the relative position of the current hole position can be ensured to remain unchanged, without the need of additional punching. In addition, since the patient support device is adjusted in real time following the mechanical arm, the optimal matching between the mechanical arm configuration and the lesion position can be realized, so that the optimal operation scheme can be realized, and the positioning quality can be improved and the operation preparation time can be saved.

[0170] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0171] It should be noted that the apparatus and method disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely exemplary, and the flowcharts and block diagrams in the accompanying drawings show only one possible implementation of the apparatus, method and computer program product according to the embodiments herein. In this regard, each block in the flowcharts and block diagrams can represent a module, a procedure, or a part of a program, which comprises one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the boxes can occur out of the order noted in the flowcharts. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by dedicated hardware-based systems that perform the specified functions or acts, or can be implemented by a combination of dedicated hardware and computer instructions.

[0172] In addition, each functional module in the various embodiments herein can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0173] The above description is merely illustrative of the embodiments of the present application, and is not intended to limit the scope of the present application in any way. Any modifications, changes, and improvements made to the present application by those skilled in the art, based on the above disclosure, shall fall within the scope of the present application. Obviously, various modifications and changes can be made to the present application without departing from the spirit and scope of the present application. Thus, it is intended that the present application cover modifications and changes as long as they come within the scope of the present application and its equivalents.

Claims

1. A readable storage medium, characterized by, The readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps: receiving a mechanical arm adjustment instruction; planning a motion trajectory of the mechanical arm according to the mechanical arm adjustment instruction; controlling the mechanical arm to perform adjustment motion according to the motion trajectory, and controlling a patient support device to follow the mechanical arm to perform adjustment motion; the control of the patient support device to follow the mechanical arm to perform adjustment motion comprises: obtaining a real-time configuration of the mechanical arm in the adjustment process and a real-time position of a fixed point; obtaining a real-time pose of a device end desired operation space according to the real-time configuration of the mechanical arm and the real-time position of the fixed point; obtaining a real-time target pose of a lesion according to the real-time pose of the device end desired operation space; obtaining a real-time target pose of the patient support device according to the real-time target pose of the lesion; controlling the patient support device to perform adjustment motion according to the real-time target pose of the patient support device.

2. The readable storage medium of claim 1, wherein, The computer program is executed by the processor to further implement the following steps: before planning the motion trajectory of the mechanical arm according to the mechanical arm adjustment instruction, judging whether the mechanical arm adjustment instruction meets a preset rule.

3. The readable storage medium of claim 2, wherein, the judgment of whether the mechanical arm adjustment instruction meets the preset rule comprises: obtaining a current pose of a device end desired operation space according to a current position of a fixed point of the mechanical arm and a current configuration of the mechanical arm; obtaining a target pose of the device end desired operation space according to the mechanical arm adjustment instruction; obtaining an adjustable range of the device end desired operation space according to the current pose of the device end desired operation space and a movable stroke of the mechanical arm; judging whether the mechanical arm adjustment instruction meets the preset rule according to the adjustable range of the device end desired operation space and the target pose of the device end desired operation space.

4. The readable storage medium of claim 1, wherein, the planning of the motion trajectory of the mechanical arm according to the mechanical arm adjustment instruction comprises: obtaining a target pose of a device end desired operation space according to the received mechanical arm adjustment instruction; obtaining a target configuration of the mechanical arm according to the obtained target pose of the device end desired operation space; planning the motion trajectory of the mechanical arm according to the target configuration of the mechanical arm and the current configuration of the mechanical arm.

5. The readable storage medium of claim 4, wherein, the planning of the motion trajectory of the mechanical arm according to the target configuration of the mechanical arm and the current configuration of the mechanical arm comprises: planning a motion trajectory of each joint of the mechanical arm according to a target pose of each joint of the mechanical arm and a current pose of each joint of the mechanical arm. the control of the mechanical arm to perform adjustment motion according to the motion trajectory comprises: controlling each joint of the mechanical arm to perform adjustment motion according to the respective motion trajectory.

6. The readable storage medium of claim 1, wherein, the control of the patient support device to perform adjustment motion according to the real-time target pose of the patient support device comprises: obtaining a real-time target pose of each joint of the patient support device according to the real-time target pose of the patient support device; According to the real-time target pose of each joint of the patient support device, control each joint of the patient support device to perform adjustment movement.

7. The readable storage medium of claim 1, wherein, The real-time target pose of the lesion is obtained according to the real-time pose of the instrument end desired operation space, and the real-time target pose of the lesion comprises: According to the real-time pose of the instrument end desired operation space in the robot coordinate system and the mapping relationship between the robot coordinate system and the world coordinate system, the real-time target pose of the lesion in the world coordinate system is obtained; The real-time target pose of the patient support device is obtained according to the real-time target pose of the lesion, and the real-time target pose of the patient support device comprises: According to the real-time target pose of the lesion in the world coordinate system and the mapping relationship between the lesion coordinate system and the patient support device coordinate system, the real-time target pose of the patient support device is obtained.

8. The readable storage medium of claim 7, wherein, The mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained through the following process: A lesion model is obtained, and a lesion coordinate system is established; According to the lesion coordinate system, a preoperative patient sign image in the lesion coordinate system is obtained; An intraoperative patient sign image in the world coordinate system is obtained; The preoperative patient sign image and the intraoperative patient sign image are registered to obtain the mapping relationship between the lesion coordinate system and the world coordinate system; According to the mapping relationship between the lesion coordinate system and the world coordinate system and the mapping relationship between the patient support device coordinate system and the world coordinate system, the mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained.

9. The readable storage medium of claim 8, wherein, The mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained according to the mapping relationship between the lesion coordinate system and the world coordinate system and the mapping relationship between the patient support device coordinate system and the world coordinate system, and the mapping relationship between the lesion coordinate system and the patient support device coordinate system comprises: According to the mapping relationship between the lesion coordinate system and the world coordinate system and the mapping relationship between the patient support device coordinate system and the world coordinate system, a first mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained; The first mapping relationship between the lesion coordinate system and the patient support device coordinate system is corrected to obtain the mapping relationship between the lesion coordinate system and the patient support device coordinate system.

10. The readable storage medium of claim 9, wherein, The first mapping relationship between the lesion coordinate system and the patient support device coordinate system is corrected, and the first mapping relationship between the lesion coordinate system and the patient support device coordinate system comprises: Obtain the pose information of the lesion in the image acquisition device coordinate system; According to the pose information of the lesion in the image acquisition device coordinate system, the mapping relationship between the lesion coordinate system and the image acquisition device coordinate system is obtained; According to the mapping relationship between the image acquisition device coordinate system and the robot coordinate system and the mapping relationship between the lesion coordinate system and the image acquisition device coordinate system, the mapping relationship between the robot coordinate system and the lesion coordinate system is obtained; According to the mapping relationship between the robot coordinate system and the lesion coordinate system and the mapping relationship between the robot coordinate system and the patient support device coordinate system, a second mapping relationship between the lesion coordinate system and the patient support device coordinate system is obtained; The first mapping relationship between the lesion coordinate system and the patient support device coordinate system is corrected according to a second mapping relationship between the lesion coordinate system and the patient support device coordinate system, so as to obtain a mapping relationship between the lesion coordinate system and the patient support device coordinate system.

11. The readable storage medium of claim 1, wherein, The computer program, when executed by a processor, further implements the following steps: The adjustment movement of the mechanical arm and the patient support device is tracked to determine whether an abnormal situation occurs.

12. A surgical robotic system, characterized by, The surgical robot system comprises a robot, a patient support device and a controller, the robot and the patient support device are in communication connection with the controller, the robot comprises at least one mechanical arm, and the end of the mechanical arm is used for connecting an instrument; The controller is configured to implement the readable storage medium according to any one of claims 1 to 11.

13. The surgical robotic system of claim 12, wherein, The surgical robot system comprises a positioning device in communication connection with the controller, and the positioning device is used for acquiring an intraoperative patient sign image under a world coordinate system, a mapping relationship between a patient support device coordinate system and the world coordinate system, and a mapping relationship between a robot coordinate system and the world coordinate system.

Images