Endoscopic posture adjustment methods, surgical robots and storage media

Abstract

This invention provides an endoscope pose adjustment method, a surgical robot, and a storage medium. Compared to solutions that require the surgical robot to exit master-slave control mode and the user to manually control the master control arm and adjust the endoscope's position based on the endoscope's image, this invention can determine whether the surgical instruments are within the ideal area of ​​the endoscope based on the joint parameters of the relevant robotic arm and the endoscope's field of view. Based on the determination result, it determines whether to adjust the endoscope to the target spatial pose according to a planned trajectory. This invention does not require the surgical robot to exit master-slave control mode, nor does it require manual adjustment by the user. It can automatically determine the relative position of the surgical instruments and the endoscope, and perform subsequent endoscope pose adjustments. In particular, the adjustment process does not require the use of the endoscope's feedback image, overcoming the limitation that surgical instruments must be within the endoscope's feedback image.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and in particular to an endoscope positioning adjustment method, a surgical robot, and a storage medium. Background Technology

[0002] The emergence of surgical robots aligns with the development trend of precision surgery. Surgical robots have become powerful tools to assist doctors in performing surgeries; for example, the da Vinci surgical robot has been deployed in major hospitals worldwide, bringing benefits to patients due to its minimally invasive nature, less bleeding, and faster recovery.

[0003] Surgical robots are designed to perform complex surgeries with minimally invasive techniques and precision. Recognizing the limitations of traditional surgery, surgical robots have been developed to replace it. They overcome the limitations of the human eye, employing 3D imaging technology to present internal organs more clearly to the operator. In areas previously inaccessible by hand, the surgical arms can rotate, move, swing, and grasp 360 degrees, avoiding tremors. Smaller incisions, less bleeding, and faster recovery significantly shorten postoperative hospital stays, and postoperative survival and recovery rates are also significantly improved. These advancements have made them popular with both doctors and patients, and they are now widely used in various clinical surgeries as a high-end medical device.

[0004] During the surgical procedure performed by a surgeon using a surgical robot, it is necessary to ensure that the surgical instruments and surgical site are within the surgical field. For example, conventional laparoscopic robots typically use foot pedals or handheld buttons to trigger an interruption and exit master-slave control, and use the master control arm to adjust the position of the endoscope to ensure that the surgical site and surgical instruments are within the endoscope's field of vision.

[0005] The endoscope positioning and orientation adjustment scheme in the aforementioned surgical robots is relatively time-consuming and may not be able to adjust the endoscope to the ideal position, which to some extent affects the efficiency of laparoscopic robotic surgery and the doctor's user experience. Summary of the Invention

[0006] The purpose of this invention is to provide an endoscope posture adjustment method, a surgical robot, and a storage medium to solve the problems of low efficiency in endoscope posture adjustment for surgical robots and the inability to adjust the endoscope to the ideal posture.

[0007] To address the aforementioned technical problems, based on one aspect of the present invention, the present invention provides an endoscope pose adjustment method, comprising:

[0008] The first spatial pose of the surgical instrument is obtained based on the joint information of the robotic arm connected to the surgical instrument, and the second spatial pose of the endoscope is obtained based on the joint information of the robotic arm connected to the endoscope.

[0009] Based on the first spatial pose, the second spatial pose, and the field of view of the endoscope, determine whether the tip of the surgical instrument is within the ideal area of ​​the endoscope's field of view;

[0010] If the surgical instrument is outside the ideal region, then the target spatial pose of the endoscope corresponding to the ideal region is calculated based on the first spatial pose, the second spatial pose, and the field of view, and a trajectory is planned according to the second spatial pose and the target spatial pose; and,

[0011] The endoscope is controlled to move to the target spatial pose according to the trajectory, and the trajectory is optimized and updated in real time during the movement of the endoscope to avoid the expected collision of the endoscope.

[0012] Optionally, the number of surgical instruments is one or at least two; when the number of surgical instruments is at least two, the endoscopic position adjustment method includes:

[0013] Based on the first spatial pose, the second pose, and the field of view of each of the at least two surgical instruments, it is determined whether the ends of the at least two surgical instruments are within the ideal region;

[0014] If at least two of the surgical instruments are outside the ideal region, the target spatial pose of the endoscope corresponding to the ideal region is calculated based on the first spatial pose, the second pose, and the field of view of each of the at least two surgical instruments.

[0015] Optionally, if the end of the surgical instrument is located on the axis of the endoscope based on the first spatial pose, the second spatial pose, and the field of view of the surgical instrument, then the surgical instrument is determined to be within the ideal area.

[0016] When the axis of the endoscope is located between the ends of at least two surgical instruments based on the first spatial pose, the second spatial pose, and the field of view of each of the at least two surgical instruments, and the connection direction of the ends of the at least two surgical instruments is perpendicular to the axis of the endoscope, then the surgical instruments are determined to be within the ideal region.

[0017] Optionally, the endoscope pose adjustment method further includes:

[0018] When the surgical instruments first enter the lesion area, the position of the endoscope is adjusted so that at least one of the surgical instruments is within the ideal area.

[0019] Optionally, the anticipated collision scenarios include collisions between the endoscope and the surgical instruments, and / or, the anticipated collision scenarios include collisions between the endoscope and soft tissue.

[0020] Optionally, when the anticipated collision occurs, including a collision between the endoscope and the surgical instrument, the endoscope pose adjustment method includes:

[0021] The distance between the surgical instrument and the endoscope is calculated in real time based on the first spatial pose and the second spatial pose, thereby forming a first calculated distance;

[0022] If the first calculated distance is less than the first safe distance, the trajectory line is optimized and updated to avoid the collision.

[0023] Optionally, when the anticipated collision occurs, including a collision between the endoscope and the soft tissue, the endoscope pose adjustment method includes:

[0024] The distance between the endoscope and the soft tissue is calculated in real time based on the image information fed back by the endoscope, thereby forming a second calculated distance;

[0025] If the second calculated distance is less than the second safe distance, the trajectory line is optimized and updated to avoid the collision.

[0026] Optionally, the endoscope pose adjustment method further includes:

[0027] The motion information of the endoscope along the trajectory is planned based on the second spatial pose and the target spatial pose.

[0028] Optionally, the endoscope pose adjustment method further includes:

[0029] The endoscope's movement along the trajectory is displayed on a visualization device, and the movement information of the endoscope along the trajectory is mapped on the visualization device by an identifier.

[0030] Optionally, the endoscope pose adjustment method further includes:

[0031] At least one trigger switch is provided, the trigger switch being triggered to cause the robotic arm to drive the endoscope to move to the target spatial pose along the trajectory;

[0032] Whether to trigger the trigger switch is determined based on the first prompt signal generated by the surgical instrument when it is outside the ideal area.

[0033] Optionally, when the trigger switch is triggered, a second prompt signal is generated, and the endoscope pose adjustment method further includes:

[0034] Based on the second prompt signal generated each time the trigger switch is triggered, determine whether the trigger switch needs to be triggered again; and...

[0035] After the trigger switch is triggered a preset number of times, the robotic arm drives the endoscope to move to the target spatial pose along the trajectory.

[0036] Based on another aspect of the present invention, the present invention also provides a surgical robot comprising a controller, at least two robotic arms, an endoscope, and surgical instruments, wherein the endoscope and the surgical instruments are respectively mounted on different robotic arms, the endoscope is configured to provide a field of view of a lesion region, and the controller is configured to perform the endoscope pose adjustment method as described above.

[0037] Optionally, the surgical robot includes at least three robotic arms and at least two surgical instruments, with the at least two surgical instruments mounted on different robotic arms.

[0038] Optionally, the surgical robot includes at least one trigger switch communicatively connected to the controller. The surgical robot generates a first prompt signal when the surgical instrument is outside the ideal area. The trigger switch determines whether it needs to be triggered based on the first prompt signal. The trigger switch is used to be triggered so that the controller controls the robotic arm to drive the endoscope to move to the target spatial pose along the trajectory.

[0039] Optionally, when the trigger switch is triggered, a second prompt signal is generated. The trigger switch determines whether it needs to be triggered again based on the second prompt signal generated each time it is triggered. After the number of times the trigger switch is triggered reaches a preset number, the trigger switch causes the controller to control the robotic arm to drive the endoscope to move to the target spatial pose along the trajectory.

[0040] In another aspect, the present invention also provides a storage medium storing a readable and writable program that, when executed, enables the endoscope pose adjustment method as described above.

[0041] In summary, the endoscope pose adjustment method, surgical robot, and storage medium provided by this invention include: obtaining a first spatial pose of the surgical instrument based on joint information of a robotic arm connected to the surgical instrument, and obtaining a second spatial pose of the endoscope based on joint information of the robotic arm connected to the endoscope; determining whether the end of the surgical instrument is within the ideal area of ​​the endoscope's field of view based on the first spatial pose, the second spatial pose, and the field of view of the endoscope; if the surgical instrument is outside the ideal area, calculating the target spatial pose of the ideal area corresponding to the endoscope based on the first spatial pose, the second spatial pose, and the field of view, and planning a trajectory line based on the second spatial pose and the target spatial pose; and controlling the endoscope to move to the target spatial pose according to the trajectory line, and optimizing and updating the trajectory line in real time during the movement of the endoscope to avoid collisions that the endoscope is expected to experience.

[0042] This configuration offers several advantages. First, compared to traditional methods that require the surgical robot to exit master-slave control mode and the user to manually control the main control arm while adjusting the endoscope's position based on the endoscope's image, this invention can determine whether the surgical instruments are within the endoscope's ideal area based on known joint parameters of the robotic arm and the endoscope's field of view. It also determines whether to adjust the endoscope to the target spatial pose according to the planned trajectory. This invention eliminates the need for the surgical robot to exit master-slave control mode and requires no manual user adjustment. It automatically determines the relative position of the surgical instruments and endoscope and performs subsequent endoscope pose adjustments, improving the efficiency of endoscope pose adjustment. Notably, this invention does not require the endoscope's feedback image during adjustment, overcoming the limitation that surgical instruments must be within the endoscope's feedback image. Second, by optimizing and updating the trajectory in real-time during endoscope movement to avoid anticipated collisions, this invention prevents interference and collisions that may occur during endoscope movement, enhancing surgical safety.

[0043] It should be noted that since the surgical robot and storage medium provided by this invention and the endoscopic pose adjustment method provided by this invention belong to the same inventive concept, the surgical robot and storage medium provided by this invention have all the beneficial effects of the endoscopic pose adjustment method provided by this invention. Therefore, the beneficial effects of the surgical robot and storage medium provided by this invention will not be described in detail. Attached Figure Description

[0044] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0045] Figure 1 This is a schematic diagram illustrating an application scenario of a surgical robot according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the structure of a patient trolley according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the structure of a doctor's control console according to an embodiment of the present invention;

[0048] Figure 4 This is a flowchart of an endoscope pose adjustment method according to an embodiment of the present invention;

[0049] Figure 5A This is a schematic diagram of a surgical instrument located within the ideal area of ​​the endoscope's field of view according to an embodiment of the present invention;

[0050] Figure 5B This is another schematic diagram of a surgical instrument in one embodiment of the present invention being located within the ideal area of ​​the endoscope's field of view;

[0051] Figure 6A This is a schematic diagram of two surgical instruments located within the ideal field of view of an endoscope according to an embodiment of the present invention.

[0052] Figure 6B This is another schematic diagram showing two surgical instruments located within the ideal field of view of the endoscope according to an embodiment of the present invention.

[0053] Figure 7 This is a schematic diagram of an endoscope adjusting from its current spatial pose to a target spatial pose according to an embodiment of the present invention.

[0054] Figure 8 This is a schematic diagram of an identifier according to an embodiment of the present invention;

[0055] Figure 9 This is a flowchart of an embodiment of the present invention for adjusting the spatial pose of an endoscope;

[0056] Figure 10 This is another flowchart of an embodiment of the present invention for adjusting the spatial pose of an endoscope;

[0057] Figure 11 This is a flowchart of setting the initial position of surgical instruments based on the spatial position of the endoscope, according to an embodiment of the present invention.

[0058] In the attached image:

[0059] 100 - Doctor's console; 110 - Main control arm; 120 - Second display unit; 130 - Foot switch;

[0060] 200 - Patient trolley; 210 - Base; 220 - Robotic arm;

[0061] 300 - Image trolley; 310 - First display unit;

[0062] 400 - Surgical instruments; 401 - First surgical instrument; 402 - Second surgical instrument;

[0063] 500-Endoscope;

[0064] 600 - Identifier. Detailed Implementation

[0065] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0066] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature. “One end” and “the other end,” as well as “proximal end” and “distal end,” generally refer to two corresponding parts, including not only endpoints. The terms “installed,” “connected,” and “joined” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral part; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two elements or an interaction between two elements. Furthermore, as used in this invention, the phrase "one element is disposed on another element" generally only indicates that there is a connection, coupling, cooperation, or transmission relationship between the two elements, and the connection, coupling, cooperation, or transmission between the two elements can be direct or indirect through an intermediate element. It should not be construed as indicating or implying a spatial orientation relationship between the two elements, i.e., one element can be located arbitrarily inside, outside, above, below, or to one side of the other element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0067] Figure 1 This is a schematic diagram illustrating an application scenario of a surgical robot according to an embodiment of the present invention. For example... Figure 1As shown in the figure, an embodiment of the present invention schematically illustrates an application scenario of a surgical robot, which includes a doctor's console 100, a patient carriage 200, and an image carriage 300 that are communicatively connected to each other.

[0068] Figure 2 This is a schematic diagram of the structure of a patient trolley according to an embodiment of the present invention. Figure 2 As shown, the patient trolley 200 includes a base 210 and at least one robotic arm 220 (typically, there are at least two robotic arms 220) mounted on the base 210. At least one robotic arm 220 has a surgical instrument 400 mounted at its end, and at least one robotic arm 220 has an endoscope 500 mounted at its end. In this technical field, the robotic arm with the endoscope 500 is also referred to as an endoscope-holding arm. It should be noted that, as those skilled in the art will understand, when the base 210 has only one robotic arm 220, the surgical instrument 400 and the endoscope can be mounted on the same robotic arm 220; when the base 210 has multiple robotic arms 220, the surgical instrument 400 and the endoscope 500 can be mounted on different robotic arms 220. Typically, the surgical instrument 400 and the endoscope 500 are mounted on different robotic arms 220 and can be controlled independently. Surgical instrument 400 can be, for example, a high-frequency electrosurgical unit, used to perform operations such as clamping, cutting, and scissing. Generally, it refers to the end of surgical instrument 400 (i.e., the end that first enters the patient's body) used to perform surgical operations.

[0069] Specifically, the surgical instrument 400 and endoscope 500 can be inserted into the patient's body through the puncture hole on the patient's surface. The endoscope 500 can acquire endoscopic images within the effective field of view, including images of human tissues and organs, surgical instruments 400, blood vessels, and body fluids, etc. The acquired endoscopic images can be transmitted to the first display unit 310 of the image carriage 300 for display, so that the doctor can observe the image information of the surgical site.

[0070] Figure 3 This is a schematic diagram of the structure of a doctor's control console according to an embodiment of the present invention. Figure 3As shown, the doctor's console 100 includes at least one main control arm 110. During surgery, the operator (i.e., the doctor) sitting at the doctor's console 100 can control the movement of the surgical instruments 400 and endoscope 500 located on the robotic arm 220 by manipulating the main control arm 110, thereby completing various operations to achieve the purpose of performing surgery on the patient. In actual operation, the operator observes the transmitted endoscopic images through the second display unit 120 on the doctor's console 100, and controls the movement of the surgical instruments 400 and endoscope 500 located on the robotic arm 220 by manipulating the main control arm 110. Furthermore, the doctor's console also includes a foot switch 130, which is used by the doctor to press and trigger the input of relevant operation commands such as electrocautery, electrocoagulation, and mode switching (mainly referring to whether to interrupt the master-slave control mode).

[0071] Specifically, during the surgery, the operator uses the doctor's console (the main control arm 110 corresponding to each instrument) to achieve master-slave control of the surgical robot, thereby controlling the surgical instruments 400 and endoscope 500 to perform the surgical operation. During the surgery, the operator (doctor) operates the surgical instruments 400 through the corresponding main control arm. The surgical instruments 400 are in a dynamic state and need to be kept within the effective field of view of the endoscope 500 so that the doctor can observe the surgical situation through the second display unit 120. In the prior art, when the doctor cannot observe the image information of the surgical instruments 400 through the second display unit 120, or the feedback image information is blurry, the doctor will press the foot switch 130 to interrupt the surgical robot and exit the master-slave control mode. Then, the doctor will adjust the position of the endoscope 500 through the main control arm 110 corresponding to the endoscope 500 so that the surgical instruments 400 reappear within the effective field of view of the endoscope 500, and the doctor can clearly observe the image information of the surgical instruments 400 through the second display unit 120. The endoscope 500's position adjustment scheme in the aforementioned surgical robot requires the doctor to control the operation, which is time-consuming and may not be able to adjust the endoscope to the ideal position, resulting in a poor user experience for the doctor. In addition, the surgical robot needs to exit the master-slave control mode before adjusting the endoscope's position, which also affects the adjustment efficiency to some extent.

[0072] In view of this, one embodiment of the present invention provides an endoscope pose adjustment method applied to the above-mentioned surgical robot, so as to solve the problems of low efficiency in endoscope pose adjustment for surgical robots and the inability to adjust the endoscope to the ideal pose. Figure 4 This is a flowchart of an endoscope pose adjustment method according to an embodiment of the present invention. The endoscope pose adjustment method of this embodiment includes at least steps S1, S2, S3 and S4.

[0073] S1: Obtain the first spatial pose of the surgical instrument 400 based on the joint information of the robotic arm 220 connected to the surgical instrument 400, and obtain the second spatial pose of the endoscope 500 based on the joint information of the robotic arm 220 connected to the endoscope 500.

[0074] Specifically, see reference Figure 2 The robotic arm 220 has multiple rotational joints and multiple degrees of freedom in space, thereby manipulating the connected surgical instruments 400 or endoscope 500 to move within space. Surgical robots typically have a pre-configured mapping relationship between the robotic arm 220 and the instruments (here, the instruments refer to the endoscope 500 or surgical instruments 400). This mapping relationship allows the position and orientation information of the instruments to be obtained based on the joint information of the robotic arm (such as the angles of each joint in the robotic arm 220), i.e., the instrument's pose. The instrument's orientation information can be further understood as its posture in space, such as being in a tilted posture (the tilt angle can be obtained), for example, the angle between the axis of the endoscope 500 and the direction of gravity. Thus, the spatial pose of the surgical instrument 400 can be obtained based on the joint information of the robotic arm 220 connected to the surgical instrument 400, and the spatial pose of the endoscope 500 can be obtained based on the joint information of the robotic arm 220 connected to the endoscope 500. In this embodiment, the spatial pose of the surgical instrument 400 is defined as the first spatial pose, and the spatial pose of the endoscope 500 is defined as the second spatial pose. This allows the relative position and relative orientation between the surgical instrument 400 and the endoscope 500 to be calculated based on the first and second spatial poses. Typically, joint information includes joint angles, which can be collected by setting angle sensors and encoders at the joints of the robotic arm 220.

[0075] For example, if the mapping relationship configured for the surgical robot is a mapping function k, the joint information of the robotic arm 220 is the joint angle q, and the pose information parameter of the instrument is x, then the spatial pose of the instrument can be obtained by x = k * q.

[0076] S2: Based on the first spatial pose, the second spatial pose, and the field of view α of the endoscope 500, determine whether the tip of the surgical instrument 400 is within the ideal area of ​​the endoscope 500's field of view. Understandably, the field of view α of the endoscope 500 determines the size of the endoscope 500's field of view, which is approximately cone-shaped. For example, the field of view α of the endoscope 500 can be 60°.

[0077] Specifically, after obtaining the relative spatial poses of the surgical instrument 400 and the endoscope 500 based on the first and second spatial poses, the relative positional relationship between the surgical instrument 400 and the field of view of the endoscope 500 can be obtained by combining the field of view angle α of the endoscope 500. Based on this relative positional relationship, it can be determined whether the tip of the surgical instrument 400 is within the ideal area of ​​the endoscope 500's field of view. It should be noted that during the operation, it is not only necessary to ensure that the tip of the surgical instrument 400 is within the field of view of the endoscope 500, but also that it is within the ideal area of ​​the field of view. This ensures that the surgeon can clearly observe the state of the tip of the surgical instrument 400 using the second display unit 120, thereby accurately completing the surgical procedure. For example, if the end of the surgical instrument 400 is located at the edge of the field of view of the endoscope 500, although the state of the end of the surgical instrument 400 can be observed through the second display unit 120, the image may not be clear. In this case, the position of the endoscope 500 should be adjusted so that the end of the surgical instrument 400 is as close as possible to the axis of the endoscope 500, so that the state of the end of the surgical instrument 400 can be clearly displayed on the second display unit 120.

[0078] S3: If the surgical instrument 400 is outside the ideal area, the target spatial pose of the endoscope 500 corresponding to the ideal area is calculated based on the first spatial pose, the second spatial pose and the field of view α, and a trajectory line is planned according to the second spatial pose and the target spatial pose.

[0079] Specifically, during the surgery, the surgeon manipulates the robotic arm 220 via the main control arm 110 to operate the surgical instrument 400. The surgical instrument 400 is dynamic during the surgery, and its position and orientation are constantly changing. When, based on the first spatial pose, the second spatial pose, and the field of view α, it is calculated that the end of the surgical instrument 400 is not within the ideal area of ​​the endoscope 500's field of view, the surgical robot (e.g., the surgeon's console 100) automatically calculates the target spatial pose of the endoscope 500 corresponding to the ideal area based on the first spatial pose, the second spatial pose, and the field of view α, and plans a trajectory line based on the second spatial pose and the target spatial pose. Understandably, after the endoscope 500 adjusts to the target spatial pose according to the trajectory line, the surgical instrument 400 will re-enter the ideal area of ​​the endoscope 500's field of view. Understandably, the second spatial pose is the current spatial pose of the endoscope 500, and the target spatial pose is the spatial pose that the endoscope 500 needs to adjust to achieve. The number of surgical instruments 400 is at least one. When the number is more than one, each surgical instrument 400 is connected to a different robotic arm 400. As can be seen from the previous text, the surgical instruments 400 and the endoscope 500 are also mounted on different robotic arms 400.

[0080] Figure 5A This is a schematic diagram illustrating a surgical instrument of an embodiment of the present invention positioned within the ideal field of view of an endoscope. Figure 5B This is another schematic diagram illustrating a surgical instrument of one embodiment of the present invention positioned within the ideal area of ​​the endoscope's field of view. Further, see [reference needed]. Figure 5A and Figure 5B When the number of surgical instruments 400 is one ( Figure 5A and Figure 5B The surgical instrument in this case is referred to as the first surgical instrument 401. Based on the first spatial pose of the surgical instrument 401, combined with the second spatial pose of the endoscope 500 and the field of view α of the endoscope 500, it can be determined whether the surgical instrument 400 is within the ideal area, and whether to perform subsequent pose adjustment of the endoscope 500 based on the determination result.

[0081] Furthermore, see Figure 5A and Figure 5B The method for determining whether a surgical instrument 400 is within the ideal area is as follows: based on the first spatial pose, the second spatial pose, and the field of view α of the surgical instrument 400, it is determined that the end of the surgical instrument 400 is located on the axis of the endoscope 500. Figure 5A If the surgical instrument 400 is located within the ideal region (as shown), then the surgical instrument is determined to be within the ideal region of the endoscope 500's field of view. Preferably, further, if the distal end of the surgical instrument 400 is located on the axis of the endoscope 500 and the joint axis of the distal end of the surgical instrument is parallel to the axis of the endoscope 500, then the surgical instrument 400 is determined to be within the ideal region of the endoscope 500's field of view. It should be noted that the distal end of the surgical instrument 400 is usually equipped with related joints. The operator can manipulate the surgical instrument 400 by operating the corresponding robotic arm 220, thereby manipulating the joints at the distal end of the surgical instrument 400 to perform corresponding surgical operations. The spatial position and angle information of the joint axis can be obtained through the joint information of the robotic arm connected to the surgical instrument 400. If the surgical instrument 400 is outside the ideal region, then the target spatial pose of the endoscope 500 corresponding to the ideal region is calculated based on the first spatial pose, the second pose, and the field of view angle α of the surgical instrument.

[0082] Furthermore, if the number of surgical instruments 400 is at least two, and the at least two surgical instruments 400 are connected to different robotic arms 220, the endoscope pose adjustment method further includes: determining whether the ends of the at least two surgical instruments 400 are within the ideal region based on the first spatial pose, the second pose, and the field of view α of each of the at least two surgical instruments 400; if the at least two surgical instruments 400 are both outside the ideal region, then calculating the target spatial pose of the endoscope 500 corresponding to the ideal region based on the first spatial pose, the second pose, and the field of view α of each of the at least two surgical instruments.

[0083] In actual surgical procedures, at least two different surgical instruments 400 are usually used simultaneously. Therefore, it is necessary to ensure that the ends of each surgical instrument 400 are within the ideal field of view of the endoscope 500. Accordingly, the first spatial pose of each surgical instrument 400 can be obtained by the robotic arm 220 connected to each surgical instrument 400. This allows the relative spatial pose between each surgical instrument 400 to be obtained. Then, based on the second spatial pose and the field of view α, the relative positional relationship of each surgical instrument 400 in the field of view of the endoscope 4500 can be obtained, and it can be determined whether the target spatial pose needs to be calculated and whether the endoscope 500 needs to be adjusted.

[0084] Specifically, in an actual surgical scenario, the surgeon operates a main control arm 110 with each hand, thereby using two robotic arms 220 to operate two different surgical instruments 400 (denoted as the first surgical instrument 401 and the second surgical instrument 402, respectively). The surgical procedure is completed through the cooperation of the first surgical instrument 401 and the second surgical instrument 402. The first spatial pose of the first surgical instrument 401 and the first spatial pose of the second surgical instrument 402 can be obtained through their respective robotic arms 220, and the relative spatial poses of the first surgical instrument 401 and the second surgical instrument 402 can be obtained accordingly. Then, based on the second spatial pose and the field of view α, it can be determined whether the first surgical instrument 401 and the second surgical instrument 402 are both within the ideal area of ​​the endoscope 500's field of view. Furthermore, the target spatial pose can be calculated using the first spatial pose, the second spatial pose, and the field of view α corresponding to each of the first surgical instruments 401.

[0085] In one embodiment, regarding the description of the ideal region, when the axis of the endoscope 500 is located between the ends of the at least two surgical instruments 400 based on the first spatial pose, the second spatial pose, and the field of view α of each of the at least two surgical instruments 400, and the connection direction of the ends of the at least two surgical instruments 400 is perpendicular to the axis of the endoscope 500, then it is determined that the surgical instrument 400 is within the ideal region.

[0086] Figure 6A This is a schematic diagram illustrating two surgical instruments positioned within the ideal field of view of an endoscope according to an embodiment of the present invention. Figure 6B This is a schematic diagram of the image information fed back by the endoscope when the two surgical instruments are located within the ideal area of ​​the endoscope's field of view according to an embodiment of the present invention. For example, referring to Figures 5 and 6, the doctor's left hand manipulates the first surgical instrument 401 through the corresponding main control arm 110 and robotic arm 220, and the doctor's right hand manipulates the second surgical instrument 402 through the corresponding main control arm 110 and robotic arm 220. When both the first surgical instrument 401 and the second surgical instrument 402 are within the field of view of the endoscope 500, and the ends of the first surgical instrument 401 and the second surgical instrument 402 are located on opposite sides of the axis of the endoscope 500, and the line connecting the ends of the first surgical instrument 401 and the second surgical instrument 402 is perpendicular to the axis of the endoscope 500, the image information on the second display unit will show that the ends of the first surgical instrument 401 and the second surgical instrument 402 are located on the left and right sides of the image, respectively, and soft tissue information is displayed around the image. At this time, it can be considered that both the first surgical instrument 401 and the second surgical instrument 402 are within the ideal area of ​​the field of view of the endoscope 500. Preferably, when the positions of the ends of the first surgical instrument 401 and the second surgical instrument 402 are symmetrical about the axis of the endoscope 500, the first surgical instrument 401 and the second surgical instrument 402 can be considered to be within the ideal area.

[0087] S4: Control the endoscope 500 to move to the target spatial pose according to the trajectory, and optimize and update the trajectory in real time during the movement of the endoscope 500 to avoid the expected collision of the endoscope 500.

[0088] Specifically, see Figure 7 , Figure 7 This is a schematic diagram illustrating how an endoscope, according to an embodiment of the present invention, adjusts from its current spatial pose to a target spatial pose. When it is determined that the end of the surgical instrument 400 is outside the ideal area, the surgical robot automatically plans a trajectory based on the second spatial pose (which is understood to be the current spatial pose of the endoscope 500) and the calculated target spatial pose. It then controls the robotic arm 220 connected to the endoscope 500 to move along this trajectory to the target spatial pose, so that each surgical instrument 400 is once again within the ideal area of ​​the endoscope 500's field of vision. Furthermore, during the movement of the endoscope 500 along the trajectory, the surgical robot detects and avoids objects in real time, and replans the trajectory accordingly to prevent collisions between the endoscope 500 and the objects, thereby ensuring surgical safety.

[0089] Furthermore, the objects to be avoided include, but are not limited to, soft tissues within the patient's body and surgical instruments 400 inserted into the patient's body through a puncture hole. Correspondingly, the expected collision scenarios for the endoscope 500 include, but are not limited to, collisions between the endoscope 500 and the surgical instruments 400, and collisions between the endoscope 500 and soft tissues.

[0090] In one embodiment, when the anticipated collision occurs, including a collision between the endoscope 500 and the surgical instrument 400, the endoscope pose adjustment method includes: calculating the distance between the surgical instrument 400 and the endoscope 500 in real time based on the first spatial pose and the second spatial pose, and recording the distance between them as a first calculated distance; if the first calculated distance is less than a first safe distance set by the surgical robot, then optimizing and updating the trajectory line to avoid the collision. It is understood that this collision avoidance scheme does not require image information fed back by the endoscope 500; it can be achieved based on the joint information of the robotic arm 220 connected to the surgical instrument 400 and the joint information of the robotic arm 220 connected to the endoscope 500.

[0091] In another embodiment, when the anticipated collision includes a collision between the endoscope 500 and the soft tissue, the endoscope pose adjustment method includes: calculating the distance between the endoscope 500 and the soft tissue in real time based on the image information fed back by the endoscope 500, thereby forming a second calculated distance; if the second calculated distance is less than a second safe distance set by the surgical robot, then optimizing and updating the trajectory line to avoid the collision. Furthermore, the image information fed back by the endoscope 500 is visualized through the second display unit 120, facilitating real-time observation of the relative positional relationship between the endoscope 500 and the soft tissue by the doctor, thereby enabling appropriate safe operations and further improving surgical safety.

[0092] Preferably, the endoscope pose adjustment method further includes: planning the motion information of the endoscope 500 along the trajectory line based on the second spatial pose and the target spatial pose. The motion information includes, but is not limited to, the motion speed and direction of the endoscope 500, so that the motion speed and / or motion direction of the endoscope 500 on each segment of the trajectory line 500 can be planned in advance, ensuring that the endoscope 500 can be stably adjusted to the target spatial pose.

[0093] Preferably, the endoscope pose adjustment method further includes: displaying the movement state of the endoscope along the trajectory line on a visualization device, which can ensure that the doctor can monitor the movement state of the endoscope 500 in real time, and mapping the movement information of the endoscope 500 along the trajectory line on the visualization device through an identifier 600. The visualization device here can be, for example, a first display unit 310, a second display unit 120, or other configured display devices.

[0094] The form of the identifier is not limited in this implementation. In an exemplary embodiment, please refer to [link to example]. Figure 8 , Figure 8 This is a schematic diagram of an identifier according to an embodiment of the present invention. The identifier 600 can be, for example, an arrow, or more specifically, a one-way arrow. The direction of the one-way arrow indicates the movement direction of the endoscope 500, and the length of the one-way arrow indicates the speed of the movement of the endoscope 500.

[0095] Optionally, the endoscopic pose adjustment method further includes: generating a first prompt signal when the surgical instrument 400 is outside the ideal area; providing at least one trigger switch (the trigger switch may be set on the doctor's console 100), and determining whether the trigger switch needs to be triggered based on the first prompt signal; wherein, when the trigger switch is triggered, the corresponding robotic arm 220 drives the endoscope 500 to move to the target spatial pose along the trajectory line. The trigger switch here includes, but is not limited to, a foot switch, an adjustment button, and a touch screen. Accordingly, when the foot switch 130 is pressed by the user, it is considered that the foot switch 130 is triggered; when the adjustment button is pressed, it is considered that the adjustment button is triggered; when the touch screen is touched on a relevant area, it is considered that the touch screen is triggered. The first prompt signal here may be, for example, an audio signal (such as a voice prompt, a ringtone, etc.), a visual signal (color, text, image, etc.), or an audiovisual signal (a combination of visual and auditory signals).

[0096] Specifically, when the surgical instrument 400 is determined to be outside the ideal field of view of the endoscope 500, the surgical robot generates a first prompt signal, such as a visual signal, which appears as a pop-up window on the display component (e.g., the first display unit 310 or the second display unit 120) asking "Does the endoscope need adjustment?". The doctor can confirm whether subsequent adjustments to the endoscope 500 are necessary based on this pop-up. Further, taking the triggering of an adjustment button as an example, if the doctor receives the first prompt signal, they can determine whether to press the adjustment button. If the user determines that the adjustment button needs to be pressed and performs the pressing action, the adjustment button is triggered, thereby activating the corresponding module to automatically complete the subsequent adjustments to the endoscope 500. In other embodiments, after receiving the first prompt signal, the doctor can also activate the corresponding module to complete the subsequent adjustments to the endoscope 500 by pressing the foot switch 130, or by touching the corresponding area on the touchscreen. This allows doctors to determine whether subsequent endoscopic procedures are necessary based on the initial prompt signal, enhancing their proactive control and improving the safety of the surgical robot.

[0097] Furthermore, when the trigger switch is triggered, a second prompt signal is generated. The endoscope pose adjustment method further includes: determining whether the trigger switch needs to be triggered again based on the second prompt signal generated each time the trigger switch is triggered; and after the number of times the trigger switch is triggered reaches a preset number, the robotic arm drives the endoscope 500 to move to the target spatial pose according to the trajectory line. The form of the second prompt signal can be the same as that of the first prompt signal, and the second prompt signal can also be a visual signal, an auditory signal, or an audiovisual signal.

[0098] Specifically, after the surgical robot generates a first prompt signal, the user determines that the trigger switch needs to be activated. After the user activates the trigger switch once, the trigger switch generates a second prompt signal. Based on the second prompt signal, the user determines that the trigger switch needs to be activated again. After the second activation, the trigger switch generates a second prompt signal again, and the user determines that the trigger switch needs to be activated again. This process is repeated multiple times until the trigger switch has been activated by the user a preset number of times (the specific number is not limited, and those skilled in the art can configure it according to the actual surgical scenario, for example, the preset number is configured to be 3 times). After this, the trigger switch causes the corresponding robotic arm 220 to drive the endoscope 500 to move to the target spatial pose according to the trajectory line. With this configuration, considering that the trigger switch may be accidentally activated in a surgical scenario, such as when the user does not receive the first prompt signal but accidentally activates the trigger switch, this embodiment greatly improves the safety of the surgical robot by generating a second prompt signal through the trigger switch and requiring the trigger switch to be activated multiple times before the endoscope 500 adjustment steps can be performed. In addition, if the user does accidentally trigger the switch, the user can also determine that the switch has been accidentally triggered at the current moment based on the second prompt signal, and then take subsequent safety measures.

[0099] The example is a foot switch on the console 100. To prevent the endoscope 500 from changing its position due to the doctor accidentally stepping on the foot switch 130, the foot switch 130 in this embodiment needs to be stepped on multiple times to confirm the endoscope's position adjustment. Specifically, see [link to relevant documentation]. Figure 9 , Figure 9 This is a flowchart illustrating an embodiment of the present invention where a foot switch controls the spatial orientation adjustment of an endoscope. When the doctor presses the foot switch 130 for the first time, a corresponding prompt is displayed on the software interface. This prompt is the second prompt signal. For example, a pop-up message appears on the software interface: "Entering endoscope adjustment mode, please release the foot switch and press it again." If the doctor confirms that the endoscope 500 needs adjustment, they press the foot switch 130 again. The pop-up message "Entering endoscope adjustment mode, please release the foot switch and press it again" appears again. After the doctor presses the foot switch 130 multiple times (e.g., three times), the surgical robot automatically performs subsequent adjustments to the endoscope 500. Preferably, during the automatic adjustment of the endoscope 500, a pop-up message "The system is automatically adjusting the endoscope's orientation" may also appear on the software interface, allowing the doctor to monitor the status of the endoscope 500 in real time.

[0100] Figure 10 This is another flowchart of an embodiment of the present invention for adjusting the spatial pose of an endoscope. In some embodiments, see [link to flowchart]. Figure 10During the surgery, the surgical robot prepares to enter master-slave control mode. When it determines that the surgical instrument 400 is within the ideal area, the surgical robot directly enters master-slave control mode. If it determines that the surgical instrument 400 is outside the ideal area, it can prompt the doctor to press the foot switch 130 according to the first prompt signal mentioned above. After multiple confirmations of the second prompt signal, the surgical robot automatically adjusts the endoscope 500 until the endoscope reaches the target spatial pose, at which point the surgical robot enters master-slave control mode. It should be noted that during the surgery, when the surgical instrument 400 is not within the ideal area of ​​the endoscope 500's field of view, the surgical robot cannot automatically enter master-slave control mode. It can perform subsequent related operations according to the first prompt signal. Whether the surgical robot enters master-slave control mode here is determined by whether the surgical instrument 400 is within the ideal area of ​​the endoscope 500's field of view, rather than by the doctor actively interrupting and exiting the master-slave control mode of the surgical robot by pressing the foot switch, as is the case in the existing technology.

[0101] Preferably, the endoscopic posture adjustment method further includes: when the surgical instrument 400 first enters the patient's lesion area through the puncture hole, adjusting the posture of the endoscope 500 so that at least two surgical instruments are within the ideal area. For example, when the first surgical instrument 401 and the second surgical instrument 402 first enter the lesion area, the surgeon can actively manipulate the main control arm 110 and then operate the robotic arm 220 to make the endoscope 500 meet the target spatial posture requirements. Alternatively, the surgeon can drive a corresponding trigger switch to allow the surgical robot to automatically adjust the posture of the endoscope 500 to the target spatial posture via the robotic arm 220, ensuring that both the first surgical instrument 401 and the second surgical instrument 402 are within the ideal area of ​​vision upon first entry into the lesion area. This effectively improves the efficiency of confirming the initial position and initial posture of at least two surgical instruments 400.

[0102] Furthermore, when the surgical instrument 400 and endoscope 500 are initially inserted into the patient's abdominal cavity, the initial position of the surgical instrument 400 is not within the field of view of the endoscope 500. The position of the endoscope 500 needs to be continuously adjusted to ensure that the surgical instrument 400 appears in the field of view and is located within the ideal area. However, there is still a situation where, for multiple (e.g., two) surgical instruments 400, no matter how the endoscope 500 is adjusted, it is impossible to ensure that all surgical instruments 400 are simultaneously within the ideal area. Based on this, the endoscopic adjustment method of this embodiment further includes: when the surgical instrument 400 first enters the patient's lesion area (inside the abdominal cavity) through the puncture hole, the spatial pose (first spatial pose) of the surgical instrument 400 is adjusted by the spatial pose (second spatial pose) of the endoscope 500 until the target spatial pose can be calculated based on the first spatial pose, second spatial pose, and field of view α of at least two surgical instruments 400. In other words, when it is detected that the endoscope 500 cannot simultaneously display the ends of each surgical instrument 400 no matter how it is adjusted, the spatial pose of each surgical instrument 400 needs to be adjusted multiple times until it is detected that the spatial pose of the endoscope 500 can be adjusted to the target spatial pose based on the first spatial pose of each surgical instrument 400, the second spatial pose of the endoscope 500, and the field of view α, so that the ends of each surgical instrument 400 can be displayed simultaneously.

[0103] Specifically, see Figure 11 , Figure 11This is a flowchart illustrating the initial position setting of surgical instruments based on the spatial orientation of an endoscope, according to an embodiment of the present invention. In clinical use, it is necessary to confirm the initial position and orientation of the surgical instruments 400. During this process, after at least two surgical instruments 400 and the endoscope 500 are inserted into the patient's abdominal cavity, the doctor presses the foot switch 130. The surgical robot automatically determines whether the endoscope 500 can be adjusted to a certain spatial orientation to display the end-effector states of each surgical instrument 400. If it can be displayed, it indicates that the target spatial orientation of the endoscope 500 is adjustable. The surgical robot then automatically adjusts the endoscope 500 so that the surgical instruments 400 are within the ideal field of view of the endoscope 500 after initial insertion into the abdominal cavity. If the surgical robot automatically determines that the end-effector states of each surgical instrument 400 cannot be displayed simultaneously regardless of the spatial orientation adjustment of the endoscope 500, it indicates that the endoscope 500... If the target spatial pose is not adjustable, the surgical robot will provide surgical instrument adjustment instructions based on the current spatial poses of the surgical instrument 400 and the endoscope 500. The surgeon can adjust the spatial pose of the surgical instrument 400 using the main control arm 110 and the robotic arm 220, or the surgical robot can automatically adjust the spatial pose of the surgical instrument 400 until the surgical robot determines, based on the relative spatial poses between the surgical instrument 400 and the endoscope 500 and the field of view α, that adjusting the endoscope 500 will display the ends of each surgical instrument 400. This indicates that after multiple adjustments to the spatial pose of the surgical instrument 400, the target spatial pose of the endoscope 500 is adjustable. The surgical robot will then automatically adjust the endoscope 500 to ensure that the surgical instrument 400 is within the ideal area of ​​the endoscope 500's field of view after its initial insertion into the abdominal cavity.

[0104] Of course, when there is only one surgical instrument in the patient's body, it is possible that no matter how the position of the endoscope 500 is adjusted, the surgical instrument 400 cannot be placed within the ideal field of view of the endoscope 500. In this case, it is necessary to control the corresponding robotic arm 220 to adjust the spatial position of the surgical instrument 400 multiple times. After the surgical instrument 400 has been adjusted multiple times, the surgical robot can determine from the relative spatial position between the surgical instrument 400 and the endoscope 500 and the field of view α that adjusting the endoscope 500 will display the end of the surgical instrument 400 within the ideal area. This indicates that after multiple adjustments to the spatial position of the surgical instrument 400, the target spatial position of the endoscope 500 is adjustable. Then the surgical robot will automatically adjust the endoscope 500 so that the surgical instrument 400 can be placed within the ideal field of view of the endoscope 500 after its first insertion into the abdominal cavity.

[0105] Alternatively, for another adjustment scenario where at least two surgical instruments 400 are inserted: regardless of how the endoscope 500 is positioned, it is not possible for all surgical instruments 400 to be simultaneously within the ideal area. The operator can also first select any one surgical instrument 400 and ensure that the selected surgical instrument appears within the ideal area of ​​the endoscope's field of view. For specific adjustment methods, please refer to the above-mentioned adjustment method for inserting a single surgical instrument 400, which will not be repeated here.

[0106] Based on the same inventive concept as the described endoscopic pose adjustment method, an embodiment of the present invention also provides a surgical robot. This surgical robot includes a controller, at least two robotic arms 220, an endoscope 500, and surgical instruments 400. The endoscope 500 and the surgical instruments 400 are respectively mounted on different robotic arms 220. The endoscope 500 is configured to provide a field of view of the lesion area, and the controller is configured to perform the various steps of the endoscopic pose adjustment method described above. Further, considering that in practical applications doctors typically use both hands to simultaneously operate two robotic arms 220 via a doctor's console 100, the surgical robot includes at least three robotic arms 220 and at least two surgical instruments 400, with the at least two surgical instruments 400 respectively mounted on different robotic arms 220.

[0107] Preferably, the surgical robot includes at least one trigger switch communicatively connected to the controller. The surgical robot generates a first prompt signal when the surgical instrument 400 is outside the ideal area. The trigger switch determines whether it needs to be triggered based on the first prompt signal. The trigger switch is used to be triggered so that the controller controls the robotic arm 220 to drive the endoscope 500 to move to the target spatial pose along the trajectory.

[0108] Furthermore, when the trigger switch is triggered, a second prompt signal is generated. The trigger switch determines whether it needs to be triggered again based on the second prompt signal generated each time it is triggered. After the number of times the trigger switch is triggered reaches a preset number, the trigger switch causes the controller to control the robotic arm 220 to drive the endoscope 500 to move to the target spatial pose along the trajectory.

[0109] It should be noted that those skilled in the art can refer to the relevant documents. Figures 1-3 The surgical robot described above, along with the endoscopic pose adjustment method mentioned earlier, will be used to understand the surgical robot here, and will not be elaborated further here.

[0110] Based on the above-described endoscopic pose adjustment method, an embodiment of the present invention also provides a storage medium storing a readable and writable program. When the program is executed, it can realize the endoscopic pose adjustment method as described above. Specifically, the endoscopic pose adjustment method provided by the present invention can be programmed into software and stored on the readable storage medium. In actual use, the program stored on the readable storage medium is used to execute the various steps of the endoscopic pose adjustment method. The readable storage medium can be integrated into the controller of a surgical robot or independently installed in other hardware.

[0111] In summary, the endoscope pose adjustment method, surgical robot, and storage medium provided by this invention include: obtaining a first spatial pose of the surgical instrument based on joint information of a robotic arm connected to the surgical instrument, and obtaining a second spatial pose of the endoscope based on joint information of the robotic arm connected to the endoscope; determining whether the end of the surgical instrument is within the ideal area of ​​the endoscope's field of view based on the first spatial pose, the second spatial pose, and the field of view of the endoscope; if the surgical instrument is outside the ideal area, calculating the target spatial pose of the ideal area corresponding to the endoscope based on the first spatial pose, the second spatial pose, and the field of view, and planning a trajectory line based on the second spatial pose and the target spatial pose; and controlling the endoscope to move to the target spatial pose according to the trajectory line, and optimizing and updating the trajectory line in real time during the movement of the endoscope to avoid collisions that the endoscope is expected to experience. This configuration offers several advantages. First, compared to traditional methods that require the surgical robot to exit master-slave control mode and the user to manually control the main control arm while adjusting the endoscope's position based on the endoscope's image, this invention can determine whether the surgical instruments are within the endoscope's ideal area based on known joint parameters of the robotic arm and the endoscope's field of view. It also determines whether to adjust the endoscope to the target spatial pose according to the planned trajectory. This invention eliminates the need for the surgical robot to exit master-slave control mode and requires no manual user adjustment. It automatically determines the relative position of the surgical instruments and endoscope and performs subsequent endoscope pose adjustments, improving the efficiency of endoscope pose adjustment. It also significantly enhances the user experience by eliminating the need to change the user's pose. Notably, this invention does not require the endoscope's feedback image during adjustment, overcoming the limitation that surgical instruments must be within the endoscope's feedback image. Second, by continuously optimizing and updating the trajectory during endoscope movement to avoid anticipated collisions, this invention prevents interference and collisions that may occur during endoscope movement, improving surgical safety.

[0112] The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A storage medium having a readable and writable program stored thereon, characterized in that, When the program is executed, it enables an endoscope pose adjustment method, which includes: The first spatial pose of the surgical instrument is obtained based on the joint information of the robotic arm connected to the surgical instrument, and the second spatial pose of the endoscope is obtained based on the joint information of the robotic arm connected to the endoscope. Based on the first spatial pose, the second spatial pose, and the field of view of the endoscope, determine whether the tip of the surgical instrument is within the ideal area of ​​the endoscope's field of view; If the surgical instrument is outside the ideal region, then the target spatial pose of the endoscope corresponding to the ideal region is calculated based on the first spatial pose, the second spatial pose, and the field of view, and a trajectory is planned according to the second spatial pose and the target spatial pose; and, The endoscope is controlled to move to the target spatial pose according to the trajectory, and the trajectory is optimized and updated in real time during the movement of the endoscope to avoid the expected collision of the endoscope.

2. The storage medium according to claim 1, characterized in that, The number of surgical instruments is one or at least two; when the number of surgical instruments is at least two, the endoscopic position adjustment method includes: Based on the first spatial pose, the second spatial pose, and the field of view of each of the at least two surgical instruments, it is determined whether the ends of the at least two surgical instruments are within the ideal region; If at least two of the surgical instruments are outside the ideal region, the target spatial pose of the endoscope corresponding to the ideal region is calculated based on the first spatial pose, the second spatial pose, and the field of view of each of the at least two surgical instruments.

3. The storage medium according to claim 2, characterized in that, When the end of the surgical instrument is located on the axis of the endoscope based on the first spatial pose, the second spatial pose, and the field of view of the surgical instrument, it is determined that the surgical instrument is within the ideal area. When the axis of the endoscope is located between the ends of at least two surgical instruments based on the first spatial pose, the second spatial pose, and the field of view of each of the at least two surgical instruments, and the connection direction of the ends of the at least two surgical instruments is perpendicular to the axis of the endoscope, then the surgical instruments are determined to be within the ideal region.

4. The storage medium according to claim 2, characterized in that, The endoscope pose adjustment method also includes: When the surgical instruments first enter the lesion area, the position of the endoscope is adjusted so that at least one of the surgical instruments is within the ideal area.

5. The storage medium according to claim 1, characterized in that, The anticipated collision scenarios include collisions between the endoscope and the surgical instruments, and / or, the anticipated collision scenarios include collisions between the endoscope and soft tissue.

6. The storage medium according to claim 5, characterized in that, The anticipated collision scenarios include collisions between the endoscope and the surgical instruments. The endoscope positioning adjustment method includes: The distance between the surgical instrument and the endoscope is calculated in real time based on the first spatial pose and the second spatial pose, thereby forming a first calculated distance; If the first calculated distance is less than the first safe distance, the trajectory line is optimized and updated to avoid the collision.

7. The storage medium according to claim 5, characterized in that, When the anticipated collision occurs, including a collision between the endoscope and the soft tissue, the endoscope pose adjustment method includes: The distance between the endoscope and the soft tissue is calculated in real time based on the image information fed back by the endoscope, thereby forming a second calculated distance; If the second calculated distance is less than the second safe distance, the trajectory line is optimized and updated to avoid the collision.

8. The storage medium according to claim 1, characterized in that, The endoscope pose adjustment method also includes: The motion information of the endoscope along the trajectory is planned based on the second spatial pose and the target spatial pose.

9. The storage medium according to claim 8, characterized in that, The endoscope pose adjustment method also includes: The endoscope's movement along the trajectory is displayed on a visualization device, and the movement information of the endoscope along the trajectory is mapped on the visualization device by an identifier.

10. The storage medium according to claim 1, characterized in that, The endoscope pose adjustment method also includes: At least one trigger switch is provided, the trigger switch being triggered to cause the robotic arm to drive the endoscope to move to the target spatial pose along the trajectory; Whether to trigger the trigger switch is determined based on the first prompt signal generated by the surgical instrument when it is outside the ideal area.

11. The storage medium according to claim 10, characterized in that, When the trigger switch is triggered, a second prompt signal is generated, and the endoscope posture adjustment method further includes: Based on the second prompt signal generated each time the trigger switch is triggered, determine whether the trigger switch needs to be triggered again; and... After the trigger switch is triggered a preset number of times, the robotic arm drives the endoscope to move to the target spatial pose along the trajectory.

12. A surgical robot, characterized in that, The device includes a controller, at least two robotic arms, an endoscope, and surgical instruments, wherein the endoscope and the surgical instruments are respectively mounted on different robotic arms, the endoscope is configured to provide a field of view of a lesion area, and the controller is configured to perform an endoscope pose adjustment method implemented by the storage medium of any one of claims 1-11.

13. The surgical robot according to claim 12, characterized in that, The surgical robot includes at least three robotic arms and at least two surgical instruments, with the at least two surgical instruments mounted on different robotic arms.

14. The surgical robot according to claim 12, characterized in that, The surgical robot includes at least one trigger switch that is communicatively connected to the controller. The surgical robot generates a first prompt signal when the surgical instruments are outside the ideal area. The trigger switch determines whether it needs to be triggered based on the first prompt signal. The trigger switch is used to be triggered so that the controller controls the robotic arm to drive the endoscope to move to the target spatial pose along the trajectory.

15. The surgical robot according to claim 14, characterized in that, When the trigger switch is triggered, a second prompt signal is generated. The trigger switch determines whether it needs to be triggered again based on the second prompt signal generated each time it is triggered. After the number of times the trigger switch is triggered reaches a preset number, the trigger switch causes the controller to control the robotic arm to drive the endoscope to move to the target spatial pose along the trajectory.

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