Force feedback method and device for surgical robot master

Abstract

The application provides a force feedback method and device for a surgical robot master manipulator, and the force feedback method comprises the following steps: acquiring first force feedback data and scene data of the surgical robot master manipulator; generating a virtual protection domain corresponding to the surgical robot master manipulator based on the scene data; generating target force feedback data by using an impedance control algorithm based on the first force feedback data and the virtual protection domain; and sending a first instruction to a force feedback device controller, wherein the first instruction is used to instruct the force feedback device controller to control the surgical robot master manipulator based on the target force feedback data. By using the above method, the design of the virtual protection domain can complete the construction of a repulsion force field or a pulling force field for the surgical robot master manipulator, so that tactile feedback can be provided to the surgical robot master manipulator, and doctors can truly feel the force feedback effect, thereby avoiding damage to human tissues.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a force feedback method and device for the main operating hand of a surgical robot. Background Technology

[0002] At present, complex and delicate surgical procedures place high demands on the surgical skills of doctors, and visual and tactile interaction technology has become a research hotspot in surgical procedures.

[0003] In related technologies, due to the limited operating space of the main manipulator of the surgical robot and the lack of tactile feedback, doctors may unconsciously over-operate the main manipulator of the surgical robot during the operation, causing the sharp surgical instruments at its end to accidentally injure other fragile organs and tissues around the lesion, resulting in secondary surgical damage, and in severe cases, even endangering the patient's life.

[0004] Therefore, how to provide tactile feedback to the main operator of the surgical robot so that doctors can truly feel the force feedback effect and avoid damage to human tissue is an urgent problem to be solved. Summary of the Invention

[0005] To address the problems existing in the prior art, embodiments of the present invention provide a force feedback method and device for the main operator of a surgical robot.

[0006] This invention provides a force feedback method for the master operator of a surgical robot, comprising:

[0007] Acquire first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot.

[0008] Based on the scene data and preset virtual protection domain parameters, a virtual protection domain corresponding to the main operator of the surgical robot is generated; the virtual protection domain parameters are used to assist in the generation of the virtual protection domain; the virtual protection domain is the area where the main operator of the surgical robot generates pulling or repulsive forces.

[0009] Based on the first force feedback data and the virtual protection domain, target force feedback data is generated using an impedance control algorithm.

[0010] A first instruction is sent to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling or repulsive force within the virtual protective domain based on the target force feedback data.

[0011] Optionally, the virtual protection domain is a spherical region centered at the point of contact between the main operating hand of the surgical robot and the human tissue; the virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain by using the surface of the human tissue in contact with the main operating hand of the surgical robot as a dividing plane.

[0012] The first virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot does not contact the surface of human tissue;

[0013] The second virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot comes into contact with the surface of human tissue.

[0014] Optionally, the preset virtual protection domain parameters include at least one of the following:

[0015] Virtual protection domain radius R;

[0016] The repulsive force layer's stacking height increment Δh;

[0017] Contact surface radius increment Δr;

[0018] Overall spherical radius increment ΔR;

[0019] The displacement distance L between the two contact points;

[0020] Virtual protection domain interval ΔL;

[0021] The planes at the two contact points form an angle θ along the normal.

[0022] Optionally, after generating the target force feedback data using the impedance control algorithm, the method further includes:

[0023] Based on the first resonant frequency of the end effector of the surgical robot's main manipulator and / or the second resonant frequency of the target force feedback data, determine whether the target force feedback data resonates;

[0024] When resonance is detected in the target force feedback data, the target force feedback data is adjusted based on the resonance flag; the resonance flag is the position indicated when resonance is detected in the target force feedback data.

[0025] Optionally, the method further includes:

[0026] The center of mass of each link of the main manipulator of the surgical robot is acquired in real time;

[0027] Based on the centroids, the gravity value at the end of the main manipulator of the surgical robot is calculated in real time;

[0028] The gravity compensation is performed on each link of the main operator of the surgical robot based on the gravity value.

[0029] Optionally, acquiring the first force feedback data and scene data of the surgical robot's main operator includes:

[0030] Acquire the original force feedback data and original scene data of the main operator of the surgical robot;

[0031] The original force feedback data and the original scene data are input into a preset input interface for processing to obtain the first force feedback data and the scene data.

[0032] Optionally, sending the first instruction to the force feedback device controller includes:

[0033] The target force feedback data is input into a preset output interface for processing to generate the first instruction;

[0034] The first instruction is sent to the force feedback device controller.

[0035] Optionally, the method further includes:

[0036] Send a second instruction to the display device; the second instruction is used to instruct the display device to display target information; the target information includes at least one of information reflecting the target force feedback data and human tissue-related information.

[0037] The present invention also provides a force feedback device for a surgical robot master hand, comprising:

[0038] The first acquisition module is used to acquire first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot.

[0039] The first generation module is used to generate a virtual protection domain corresponding to the main operator of the surgical robot based on the scene data and preset virtual protection domain parameters; the virtual protection domain parameters are used to assist in the generation of the virtual protection domain; the virtual protection domain is the area where the main operator of the surgical robot generates pulling or repulsive forces;

[0040] The second generation module is used to generate target force feedback data based on the first force feedback data and the virtual protection domain using an impedance control algorithm.

[0041] The first sending module is used to send a first instruction to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling force or a repulsive force within the virtual protection domain based on the target force feedback data.

[0042] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the force feedback method for the master manipulator of a surgical robot as described above.

[0043] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the force feedback method for the master manipulator of a surgical robot as described above.

[0044] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the force feedback method for the master manipulator of a surgical robot as described above.

[0045] The present invention provides a force feedback method and device for the main operating hand of a surgical robot. Based on scene data of the main operating hand and preset virtual protection domain parameters, a virtual protection domain with tensile or repulsive forces is generated for the main operating hand. Then, based on first force feedback data and the virtual protection domain, target force feedback data is generated using an impedance control algorithm. Since the target force feedback data is generated based on the first force feedback data and the virtual protection domain, the design of the virtual protection domain can complete the construction of a tensile or repulsive force field for the main operating hand of the surgical robot. Upon generating the target force feedback data, a first instruction is sent to the force feedback device controller, causing the controller to control the main operating hand of the surgical robot to generate tensile or repulsive forces within the virtual protection domain based on the target force feedback data. This allows tactile feedback to be transmitted to the main operating hand of the surgical robot, enabling the surgeon to truly feel the force feedback effect and avoid damage to human tissue. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a flowchart illustrating the force feedback method for the main operator of a surgical robot provided by the present invention.

[0048] Figure 2 This is a schematic diagram of generating repulsive forces in a virtual protection domain provided by the present invention;

[0049] Figure 3 This is one of the schematic diagrams of the virtual protection domain provided by the present invention;

[0050] Figure 4 This is the second schematic diagram of the virtual protection domain provided by the present invention;

[0051] Figure 5 This is the third schematic diagram of the virtual protection domain provided by the present invention;

[0052] Figure 6 This is the fourth schematic diagram of the virtual protection domain provided by the present invention;

[0053] Figure 7 This is the fifth schematic diagram of the virtual protection domain provided by the present invention;

[0054] Figure 8 This is a logical schematic diagram of the force feedback method for the main operator of a surgical robot provided by the present invention;

[0055] Figure 9 This is a schematic diagram of the display interface of the display device provided by the present invention;

[0056] Figure 10 This is a structural schematic diagram of the force feedback device for the main operator of a surgical robot provided by the present invention;

[0057] Figure 11 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0059] To facilitate a clearer understanding of the various embodiments of this application, some relevant background knowledge will be introduced as follows.

[0060] At present, complex and delicate surgical procedures place high demands on the surgical skills of doctors. Visual and tactile interaction technology has become a research hotspot in surgical simulators and actual surgical operations. The key issue is how to translate tactile sensation into the doctor's operating device so that the doctor can truly feel the feedback effect of force.

[0061] In existing surgical robot master hands, force feedback algorithms have not been effectively developed and used in actual surgical scenarios. In other words, the functional characteristics that can reflect real touch have not been widely embedded in force feedback master hand algorithms.

[0062] In minimally invasive surgery, limited surgical space, limited endoscopic imaging information, and insufficient information on instrument extension depth, coupled with the lack of tactile feedback, can lead to unintentional over-manipulation of the surgical device during the procedure. This can result in sharp surgical instruments accidentally injuring surrounding delicate organs and tissues, causing secondary surgical injury and, in severe cases, even endangering the patient's life. Therefore, implementing appropriate measures at the master end of the surgical hand to improve the safety of robot-assisted minimally invasive surgery has become a hot research topic in the field of minimally invasive surgical robot development.

[0063] The surgical force feedback manipulator is an operating device suitable for medical scenarios. It is custom-developed for surgical operators and related users, featuring a robust structure, lightweight design, and easy installation. Within this physical entity, the manipulator's force feedback control algorithm boasts high bandwidth in both mechanical and communication aspects, enabling the generation of several different types of forces and tactile sensations during actual use. These include constant forces, forces in different directions, force characteristics such as pulses / vibrations / stiffness, and tactile characteristics of rough or smooth surfaces, enhancing the realism of the surgical procedure.

[0064] The existing force feedback algorithms have the following problems:

[0065] (1) The application scenarios of force feedback algorithms are not suitable for surgical scenarios.

[0066] Firstly, existing force feedback scenarios primarily target the AR / VR field, providing relatively realistic tactile feedback for virtual reality and augmented reality players, or being applied to game controllers. These applications prioritize user experience and do not involve stringent real-time requirements or safety risk management. However, in surgical force feedback, real-time requirements are high, the force feedback scenario is complex, and the actual force feedback effect must be strictly controlled within a safe range. Furthermore, the design tailored to the surgeon's surgical habits is extremely important. Therefore, existing force feedback algorithms are not suitable for surgical scenarios.

[0067] (2) The force feedback algorithm has a single deployment target and can only be applied to specific force feedback operation master.

[0068] Existing commercial main operators are usually a mechanical structure design paired with a specific software algorithm. The deployment objects are singular and the coverage of the algorithm is very narrow. Therefore, there are also significant differences in kinematic and dynamic modeling of force feedback algorithms. This increases the complexity of software and algorithm design and is not conducive to the optimization and application of the algorithm.

[0069] (3) The force feedback algorithm has a lot of redundancy in the design of the interface and data, resulting in low efficiency.

[0070] Existing force feedback algorithms are all developed within a general PC framework, passing parameters to variables. Therefore, at the algorithm level, the interface and the actual operational effect of the data passed through the interface on the final force feedback are not fully considered.

[0071] In summary, in order to provide tactile feedback to the main manipulator of a surgical robot, enabling doctors to truly feel the force feedback effect and avoid damage to human tissue, this invention provides a force feedback method and device for the main manipulator of a surgical robot.

[0072] The following is combined Figure 1 The force feedback method for the main operator of a surgical robot provided by the present invention will be described in detail. Figure 1 This is a flowchart illustrating the force feedback method for the main operator of a surgical robot provided by the present invention. See [link / reference]. Figure 1 As shown, the method includes steps 101-104, wherein:

[0073] Step 101: Obtain the first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot.

[0074] First, it should be noted that the subject of this invention can be any electronic device capable of providing force feedback to the main operator of the surgical robot, such as a smartphone, smartwatch, desktop computer, laptop, or any other type.

[0075] In this embodiment, in order to provide tactile feedback to the main operator of the surgical robot, it is first necessary to obtain the first force feedback data and scene data of the main operator of the surgical robot.

[0076] Specifically, the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and attitude parameters of the main manipulator of the surgical robot, wherein the position parameters are the coordinates of the main manipulator of the surgical robot in Cartesian space; and the attitude parameters are the pitch angle, yaw angle, rotation angle, etc. of the main manipulator of the surgical robot.

[0077] Optionally, the first force feedback data and scene data can be obtained through the following steps 1)-2):

[0078] Step 1) Obtain the original force feedback data and original scene data of the main operator of the surgical robot;

[0079] Step 2) Input the original force feedback data and the original scene data into a preset input interface for processing to obtain the first force feedback data and the scene data.

[0080] In this embodiment, there are multiple ways to acquire raw force feedback data, such as acquiring raw force feedback data through a tactile sensor in a real surgical scenario; raw force feedback data can also come from a tactile rendering engine.

[0081] Then, the original force feedback data and original scene data are input into the preset input interface for processing.

[0082] In practical applications, the execution entity is equipped with input interfaces, from which raw force feedback data and raw scene data are obtained. These input interfaces include interfaces for receiving data from haptic sensors and interfaces for receiving data from the haptic rendering engine.

[0083] The input interface performs data parsing, data variable space allocation, data type conversion, data code point verification, and data extraction on the raw force feedback data and raw scene data. This enables efficient and rapid parsing of data obtained from external tactile sensors or tactile force rendering, thereby generating first force feedback data and scene data that can be used by subsequent algorithms.

[0084] Step 102: Based on the scene data and preset virtual protection domain parameters, generate a virtual protection domain corresponding to the main operator of the surgical robot; the virtual protection domain parameters are used to assist in generating the virtual protection domain; the virtual protection domain is the area where the main operator of the surgical robot generates pulling or repulsive forces.

[0085] In this embodiment, after obtaining the first force feedback data and scene data of the main operator of the surgical robot, it is necessary to generate a virtual protection domain corresponding to the main operator of the surgical robot based on the scene data and preset virtual protection domain parameters.

[0086] Specifically, when the tip of the surgical robot's main manipulator touches the virtual protective domain, the virtual protective domain will generate a pulling or repulsive force on the tip of the manipulator. The repulsive force can be the force generated when the surface of the human tissue deforms when the tip of the manipulator touches the surface of the human tissue; the pulling force can be the traction force generated when the tip of the manipulator adheres to the human tissue.

[0087] Step 103: Based on the first force feedback data and the virtual protection domain, generate target force feedback data using an impedance control algorithm.

[0088] In this embodiment, after generating the virtual protection domain, target force feedback data needs to be generated using an impedance control algorithm based on the first force feedback data and the virtual protection domain.

[0089] It should be noted that the target force feedback data includes several different types of force and tactile sensation, such as generating constant force, force in different directions, force characteristics such as pulse / vibration / stiffness, and tactile sensation characteristics of rough or smooth surfaces.

[0090] Step 104: Send a first instruction to the force feedback device controller. The first instruction is used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling or repulsive force within the virtual protection domain based on the target force feedback data.

[0091] In this embodiment, based on the target force feedback data, a first instruction is sent to the force feedback device controller, so that the force feedback device controller can feed back the target force feedback data to the tactile sensor of the main operator of the surgical robot under the instruction of the first instruction, which can enhance the sense of realism in the surgeon's actual surgical operation.

[0092] Optionally, a first command is sent to the force feedback device controller, which can be achieved through the following steps (1)-(2):

[0093] Step (1): Input the target force feedback data into a preset output interface for processing to generate the first instruction;

[0094] Step (2): Send the first instruction to the force feedback device controller.

[0095] In this embodiment, the execution body is provided with an output interface. The preset output interface is a physical entity interface that is compatible with the main operating hand of the surgical robot. The main power feedback device controller, display device and auxiliary control device, etc., are compatible with the preset output interface.

[0096] Specifically, after generating the target force feedback data, it needs to be processed by inputting it into a preset output interface to generate a first instruction, thereby adapting the main manipulator of the surgical robot to the force feedback device controller, and then, under the instruction of the first instruction, the force feedback device controller feeds back the target force feedback data to the tactile sensor of the main manipulator of the surgical robot.

[0097] It should be noted that, in the process of controlling the main manipulator of the surgical robot to provide force feedback based on the target force feedback data, the force feedback device controller needs to be divided into large-range force feedback output and fine tactile feedback output according to the requirements of the actual application scenario. The large-range force feedback output corresponds to the torque control of the joint motors of the main manipulator of the surgical robot, while the fine tactile feedback output corresponds to the tactile generator at the end of the main manipulator.

[0098] The force feedback method for the main manipulator of a surgical robot provided by this invention generates a virtual protection domain with tensile or repulsive forces on the main manipulator based on scene data of the main manipulator and preset virtual protection domain parameters. Then, based on the first force feedback data and the virtual protection domain, target force feedback data is generated using an impedance control algorithm. Since the target force feedback data is generated based on the first force feedback data and the virtual protection domain, the design of the virtual protection domain can complete the construction of the tensile or repulsive force field for the main manipulator of the surgical robot. When the target force feedback data is generated, a first instruction is sent to the force feedback device controller, so that the force feedback device controller controls the main manipulator of the surgical robot to generate tensile or repulsive forces within the virtual protection domain based on the target force feedback data. This allows tactile feedback to be transmitted to the main manipulator of the surgical robot, enabling the surgeon to truly feel the force feedback effect and avoid damage to human tissue.

[0099] Optionally, the virtual protection domain is a spherical region centered at the point of contact between the main operating hand of the surgical robot and the human tissue; the virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain by using the surface of the human tissue in contact with the main operating hand of the surgical robot as a dividing plane.

[0100] The first virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot does not contact the surface of human tissue;

[0101] The second virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot comes into contact with the surface of human tissue.

[0102] In this embodiment, the virtual protection domain adopts a spherical shape centered on the contact point between the main operating hand of the surgical robot and the human tissue, with the surface of the human tissue in contact with the main operating hand of the surgical robot as the dividing plane. The contact point between the main operating hand of the surgical robot and the human tissue is measured by sensor signals or visual images. If the main operating hand of the surgical robot does not contact the surface of the human tissue but touches the first virtual protection domain, a repulsive or pulling force is applied to the first virtual protection domain in advance, which serves as an early warning and buffer.

[0103] Correspondingly, when the main operating hand of the surgical robot pierces the surface of human tissue, it indicates that the second virtual protective domain has been touched. Then, a repulsive or pulling force is generated in the second virtual protective domain to represent the traction force generated by the adhesion between the main operating hand and human tissue. The above method can make the force feedback effect of the main operating hand more delicate.

[0104] In practical applications, the repulsive or tensile force ultimately generated within the virtual protection domain is a combination of two types of forces.

[0105] The first type of force is the force generated by the distance between the point of contact with the virtual protective domain and the point of contact with the surface of human tissue;

[0106] The second type of force is a force with transitional characteristics generated along a plane of equal height that is parallel to the contact surface of human tissue.

[0107] Figure 2 This is a schematic diagram of generating repulsive forces in a virtual protection domain provided by the present invention.

[0108] exist Figure 2 In the diagram, the virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain; the position point where the main operation of the surgical robot touches the first virtual protection domain is the surface repulsion detection position point; the position point where it touches the second virtual protection domain is the internal repulsion detection position point; the shaded area is the actual contact surface of the human tissue.

[0109] When the main manipulator of the surgical robot comes into contact with the surface repulsion detection position, the surface repulsion force f1 is composed of two types of forces: the first type of force is the force f2 generated by the distance between the point of contact with the surface repulsion detection position and the actual detection point; the second type of force is the force transition characteristic f3 generated by the plane of equal height cut parallel to the contact surface of the human tissue.

[0110] When the main manipulator of the surgical robot comes into contact with the internal repulsion detection position, the internal repulsion force f4 is composed of two types of forces: the first type of force is the force f5 generated by the distance between the point of contact with the internal repulsion detection position and the actual detection point; the second type of force is the force transition characteristic f4 generated by the plane of equal height cut parallel to the contact surface of the human tissue.

[0111] It should be noted that f1 and f4 are represented by the following formulas (1)-(2):

[0112] f1=(||∑Δr||·||∑Δh||) -1 ·F define (x,y,z) (1)

[0113] f4=(||∑Δr||·||∑Δh||)·F define (x,y,z) (2)

[0114] Where f1 represents surface repulsion; f4 represents internal repulsion; ||∑Δr|| and ||∑Δh|| respectively represent the uniform transition of force feedback effects along the mirror image and stacking height, to reflect the compliance of generating repulsion; F define (x,y,z) represents a predefined force imported from the outside. This force can come from data collected by actual sensors or from a simulator.

[0115] ||∑Δr|| and ||∑Δh|| are calculated using the following formulas (3) and (4), respectively:

[0116]

[0117] ||∑Δh||=||∑(||P n ,P n-1 ||·cos(∠P n ,P n-1 ))|| (4)

[0118] Among them, P n ,P n -1 represents two adjacent moving points; xn, y n z n These represent the Cartesian coordinates before the movement, x and x'. n y n z n These represent the Cartesian coordinates of the point after the movement.

[0119] Optionally, the preset virtual protection domain parameters include at least one of the following:

[0120] a) The radius R of the virtual protection domain;

[0121] Specifically, Figure 3 This is one of the schematic diagrams of the virtual protection domain provided by the present invention. Figure 3 In the diagram, the virtual protection domain is divided into the first virtual protection domain and the second virtual protection domain; the shaded area represents the actual human tissue surface in contact (i.e., the actual contact plane);

[0122] R is a virtual protection domain parameter: the virtual protection domain radius, which is the virtual protection radius extending outward from the contact center point, representing the range and size of the virtual protection domain.

[0123] b) The increase in the stacking height Δh of the repulsive force portion;

[0124] Specifically, Figure 4 This is the second schematic diagram of the virtual protection domain provided by this invention. Figure 4 In the diagram, the virtual protection domain is divided into the first virtual protection domain and the second virtual protection domain; the shaded area represents the actual human tissue surface in contact (i.e., the actual contact plane);

[0125] Δh is a parameter of the virtual protective domain: the increment of the stacking height of the repulsive part, indicating that the virtual protective domain provides protective force feedback on a certain thickness above the actual contact plane.

[0126] c) Increment of the contact surface radius Δr;

[0127] Specifically, Figure 5This is the third schematic diagram of the virtual protection domain provided by this invention. Figure 5 In the diagram, the virtual protection domain is divided into the first virtual protection domain and the second virtual protection domain; the shaded area represents the actual human tissue surface in contact (i.e., the actual contact plane);

[0128] Δr is a virtual protection domain parameter: the contact surface radius increment, which represents the protective force feedback provided within a certain radius increment on the actual contact plane.

[0129] d) Overall spherical radius increment ΔR;

[0130] Specifically, Figure 6 This is the fourth schematic diagram of the virtual protection domain provided by this invention. Figure 6 In the diagram, the virtual protection domain is divided into the first virtual protection domain and the second virtual protection domain; the shaded area represents the actual human tissue surface in contact (i.e., the actual contact plane);

[0131] ΔR is a virtual protection domain parameter: the overall spherical radius increment, representing the protective force feedback with a certain spherical radius increment formed around the contact point between the surgical robot's main operator and the human tissue.

[0132] e) The displacement distance L between the two contact points;

[0133] Specifically, Figure 7 This is the fifth schematic diagram of the virtual protection domain provided by this invention. Figure 7 The diagram includes two virtual protection domains, each of which is divided into a first virtual protection domain and a second virtual protection domain. Each virtual protection domain corresponds to the actual position detection point P1 and the actual position detection point P2, respectively. The shaded area represents the actual contact surface of the human tissue (i.e., the actual contact plane).

[0134] L is the virtual protection domain parameter: the displacement distance between the two contact points. This distance determines the intermediate transition length during the transformation from the actual position detection point P1 to the actual position detection point P2.

[0135] f) Virtual protection domain interval ΔL;

[0136] Specifically, since the geometric parameters of the virtual protection domains generated by the two actual location detection points are different, the resulting gap size is the virtual protection domain interval.

[0137] g) The angle θ between the two contact planes along the normal direction represents the angle formed by the normal directions of the contact planes.

[0138] like Figure 7 As shown, in Figure 7In this context, θ represents the angle between the two contact planes along the normal direction; ΔL represents the interval between the two virtual protective domains; when ΔL is zero, it means that the two actual contact planes are in contact, and the transmission of compliance force feedback during movement depends on the transmission of the parameters of the two virtual protective domains.

[0139] When ΔL is not zero, it indicates that the two actual contact planes are not in contact and there is a change in the material of the surface.

[0140] Specifically, when the actual contact surface is rough or there is a sudden change in material, the contact surfaces where the two actual detection points are located are not parallel, resulting in an angle between the normal vectors. Due to the setting of geometric parameters, ΔL may not be zero. Therefore, when ΔL is non-zero, the changes in material and the roughness of the actual contact surface can be reflected.

[0141] It should be noted that when ΔL is not zero, the motion calculation between the actual position detection point P1 and the actual position detection point P2 is mainly reflected in the force feedback calculation, which is based on the local coordinate system centered on the contact point. It does not require repeated iterative calculation of the force feedback parameters in the global coordinate system. The transformation of the actual position detection point coordinates is expressed by the following formula (5):

[0142] Co2(x,y,z,θ)=T point ·Co1(x,y,z,θ )(5)

[0143] Where Co1 represents the local coordinate system of the actual position detection point P1; Co2 represents the local coordinate system of the actual position detection point P2; T point This represents the transformation relationship between two local coordinate systems; x, y, z represent Cartesian coordinates; θ represents the angle between the planes at the two contact points along the normal.

[0144] In the above embodiments, by designing preset virtual protection domain parameters, a virtual protection domain with pulling or repulsive forces can be generated for the main manipulator of the surgical robot; thereby completing the construction of the pulling or repulsive force field for the main manipulator of the surgical robot, so that the force feedback device controller controls the main manipulator of the surgical robot to generate pulling or repulsive forces within the virtual protection domain based on the target force feedback data, thereby realizing tactile feedback to the main manipulator of the surgical robot, enabling doctors to truly feel the force feedback effect and avoid damage to human tissue.

[0145] Optionally, after generating the target force feedback data using the impedance control algorithm, it is also necessary to determine whether there is a resonance problem in the target force feedback data. If resonance exists, the target force feedback data needs to be adjusted, specifically through the following steps [1]-[2]:

[0146] Step [1]: Based on the first resonant frequency of the end effector of the main manipulator of the surgical robot and / or the second resonant frequency of the target force feedback data, determine whether the target force feedback data resonates;

[0147] Step [2]: When the target force feedback data is resonant, adjust the target force feedback data based on the resonance flag bit; the resonance flag bit is the position indicated when the target force feedback data is detected to be resonant.

[0148] In this embodiment, it is first necessary to detect whether the first resonant frequency of the end effector of the surgical robot exceeds the first preset threshold, and to detect whether the second resonant frequency of the target force feedback data exceeds the second preset threshold.

[0149] If the first resonant frequency of the surgical robot's master end effector exceeds a first preset threshold, and / or the second resonant frequency of the target force feedback data exceeds a second preset threshold, an adjusted force feedback value F is introduced based on the resonant flag. adj The target force feedback data is adjusted; specifically, this is expressed by the following formula (6):

[0150]

[0151] Where, sign ascillation Indicates the resonance flag; f Δx f represents the first resonant frequency at the end effector of the surgical robot's main manipulator; ΔF The second resonant frequency of the target force feedback data is represented by S{feature}; S{feature} represents the feature set of the force feedback characteristics, including displacement and force characteristics; F adj This indicates the force feedback value to be adjusted.

[0152] In the above implementation, by introducing an adjusted force feedback value, the target force feedback data can be adjusted, thereby suppressing resonance in the target force feedback data.

[0153] Figure 8 This is a logical schematic diagram of the force feedback method for the main operator of a surgical robot provided by the present invention.

[0154] Step 1: Input external force / tactile feedback through the input interface.

[0155] Specifically, tactile information can be collected through external sensors or generated by a simulator.

[0156] Step 2: Initialize the virtual protection domain.

[0157] Specifically, the position of the main manipulator of the surgical robot is first detected by providing feedback on its position; then, based on the initial information of the established contact points and the position of the main manipulator of the surgical robot, the virtual protection domain is initialized.

[0158] Step 3: Based on the external force / tactile input and the initialized virtual protective domain, force feedback is synthesized to obtain the synthesized force feedback data.

[0159] Specifically, the synthesized force feedback data includes inertial parameters, Coriolis force, gravity, and friction.

[0160] Step 4: Identify dynamic parameters based on the synthesized force feedback data to obtain the inertia, stiffness, and damping corresponding to the synthesized force feedback data; based on the inertia, stiffness, and damping, generate target force feedback data using an impedance control algorithm.

[0161] It should be noted that after the target force feedback data is generated, the joint motors of the main manipulator of the surgical robot can be driven by the Jacobian matrix.

[0162] Step 5: If the resonance detector detects resonance in the target force feedback data, the resonance of the target force feedback data is suppressed, and the force feedback is resynthesized based on the suppressed force feedback data.

[0163] Optionally, in one possible implementation of the present invention, in order to eliminate the weight of the main manipulator linkage of the surgical robot, reduce the fatigue of the surgeon, and avoid potential injury caused by the surgeon releasing the main manipulator, it is also necessary to perform gravity compensation on the main manipulator of the surgical robot, specifically through the following steps [a]-[c]:

[0164] Step [a]: Real-time acquisition of the center of mass of each link of the main manipulator of the surgical robot;

[0165] Step [b]: Based on each of the aforementioned centers of mass, calculate the gravity value at the end of the main operating hand of the surgical robot in real time;

[0166] Step [c]: Perform gravity compensation on each link of the main manipulator of the surgical robot based on the gravity value.

[0167] Optionally, in actual surgical operations, a display device adapted to the main operator of the surgical robot is needed. This device can integrate the status of the end-effectors during operation while ensuring the basic operation and force feedback characteristics of the main operator of the surgical robot, so that the surgeon can actually observe the necessary information in the surgical scene.

[0168] Specifically, a second instruction needs to be sent to the display device; the second instruction is used to instruct the display device to display target information; the target information includes at least one of information reflecting the target force feedback data and human tissue-related information.

[0169] Figure 9 This is a schematic diagram of the display interface of the display device provided by the present invention.

[0170] exist Figure 9 In the diagram, part a represents the area that generates force feedback upon contact with human tissue; part b represents the endoscopic field of view of the main surgical robot operator; and part c represents the end effector of the main surgical robot operator.

[0171] The display interface shows information reflecting the target force feedback data and human tissue-related information. Among them, the information reflecting the target force feedback data includes, for example, the navigation coordinates of the surgical robot's main manipulator (i.e., instrument navigation coordinates), the magnitude and direction information of the force feedback at the end of the surgical robot's main manipulator, force feedback coordinates, indication information 1 and 2 for assisting surgery, force feedback alarm information, etc. The force feedback alarm information is used to trigger an alarm when the force feedback exceeds a predetermined acceptable range.

[0172] Optionally, a "tissue inspection" component can be set in the display interface. In response to the "tissue inspection" component, relevant information about human tissue can be displayed in the display interface, such as the contact force between surgical instruments and the body surface, blood pressure, heart rate, etc.

[0173] In the above embodiments, by sending a second instruction to the display device, the display device can display target information, thereby realizing the visualization of the surgical scene; by combining the display device with force feedback, doctors can truly feel the force feedback effect and avoid damage to human tissue.

[0174] The force feedback device for the main manipulator of a surgical robot provided by the present invention will be described below. The force feedback device for the main manipulator of a surgical robot described below can be referred to in correspondence with the force feedback method for the main manipulator of a surgical robot described above. Figure 10 This is a structural schematic diagram of the force feedback device for the main operator of a surgical robot provided by the present invention, as shown below. Figure 10 As shown, the force feedback device 1000 for the main manipulator of a surgical robot includes: a first acquisition module 1001, a first generation module 1002, a second generation module 1003, and a first transmission module 1004, wherein:

[0175] The first acquisition module 1001 is used to acquire first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot.

[0176] The first generation module 1002 is used to generate a virtual protection domain corresponding to the main operator of the surgical robot based on the scene data and preset virtual protection domain parameters; the virtual protection domain parameters are used to assist in the generation of the virtual protection domain; the virtual protection domain is the area where the main operator of the surgical robot generates tensile or repulsive forces.

[0177] The second generation module 1003 is used to generate target force feedback data based on the first force feedback data and the virtual protection domain using an impedance control algorithm.

[0178] The first sending module 1004 is used to send a first instruction to the force feedback device controller. The first instruction is used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling force or a repulsive force in the virtual protection domain based on the target force feedback data.

[0179] The force feedback device for the main operating hand of a surgical robot provided by this invention generates a virtual protection domain with tensile or repulsive forces on the main operating hand based on scene data of the main operating hand and preset virtual protection domain parameters. Then, based on the first force feedback data and the virtual protection domain, target force feedback data is generated using an impedance control algorithm. Since the target force feedback data is generated based on the first force feedback data and the virtual protection domain, the design of the virtual protection domain can complete the construction of the tensile or repulsive force field for the main operating hand of the surgical robot. When the target force feedback data is generated, a first instruction is sent to the force feedback device controller, so that the force feedback device controller controls the main operating hand of the surgical robot to generate tensile or repulsive forces within the virtual protection domain based on the target force feedback data. This allows tactile feedback to be transmitted to the main operating hand of the surgical robot, enabling the surgeon to truly feel the force feedback effect and avoid damage to human tissue.

[0180] Optionally, the virtual protection domain is a spherical region centered at the point of contact between the main operating hand of the surgical robot and the human tissue; the virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain by using the surface of the human tissue in contact with the main operating hand of the surgical robot as a dividing plane.

[0181] The first virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot does not contact the surface of human tissue;

[0182] The second virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot comes into contact with the surface of human tissue.

[0183] Optionally, the preset virtual protection domain parameters include at least one of the following:

[0184] Virtual protection domain radius R;

[0185] The repulsive force layer's stacking height increment Δh;

[0186] Contact surface radius increment Δr;

[0187] Overall spherical radius increment ΔR;

[0188] The displacement distance L between the two contact points;

[0189] Virtual protection domain interval ΔL;

[0190] The planes at the two contact points form an angle θ along the normal.

[0191] Optionally, the device further includes:

[0192] The judgment module is used to determine whether the target force feedback data resonates based on the first resonant frequency of the end effector of the main manipulator of the surgical robot and / or the second resonant frequency of the target force feedback data;

[0193] An adjustment module is used to adjust the target force feedback data based on a resonance flag when resonance is detected in the target force feedback data; the resonance flag is the position indicated when resonance is detected in the target force feedback data.

[0194] Optionally, the device further includes:

[0195] The second acquisition module is used to acquire the center of mass of each link of the main manipulator of the surgical robot in real time;

[0196] The calculation module is used to calculate the gravity value at the end of the main manipulator of the surgical robot in real time based on each of the centroids;

[0197] The gravity compensation module is used to perform gravity compensation on each link of the main manipulator of the surgical robot based on the gravity value.

[0198] Optionally, the first acquisition module 1001 is further configured to:

[0199] Acquire the original force feedback data and original scene data of the main operator of the surgical robot;

[0200] The original force feedback data and the original scene data are input into a preset input interface for processing to obtain the first force feedback data and the scene data.

[0201] Optionally, the first transmitting module 1004 is further configured to:

[0202] The target force feedback data is input into a preset output interface for processing to generate the first instruction;

[0203] The first instruction is sent to the force feedback device controller.

[0204] Optionally, the device further includes:

[0205] The second sending module is used to send a second instruction to the display device; the second instruction is used to instruct the display device to display target information; the target information includes at least one of information reflecting the target force feedback data and human tissue-related information.

[0206] Figure 11 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 11 As shown, the electronic device may include: a processor 810, a communications interface 1120, a memory 1130, and a communications bus 1140, wherein the processor 1110, the communications interface 1120, and the memory 1130 communicate with each other through the communications bus 1140. The processor 1110 can call logic instructions in the memory 1130 to execute a force feedback method for the main manipulator of a surgical robot. This method includes: acquiring first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes position parameters and posture parameters of the main manipulator of the surgical robot; generating a virtual protection domain corresponding to the main manipulator of the surgical robot based on the scene data and preset virtual protection domain parameters; the virtual protection domain parameters are used to assist in generating the virtual protection domain; the virtual protection domain is the area where the main manipulator of the surgical robot generates tensile or repulsive forces; generating target force feedback data using an impedance control algorithm based on the first force feedback data and the virtual protection domain; and sending a first instruction to the force feedback device controller, the first instruction instructing the force feedback device controller to control the main manipulator of the surgical robot to generate tensile or repulsive forces within the virtual protection domain based on the target force feedback data.

[0207] Furthermore, the logical instructions in the aforementioned memory 1130 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0208] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the force feedback method for the main manipulator of a surgical robot provided by the above methods. The method includes: acquiring first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot; generating a virtual protection domain corresponding to the main manipulator of the surgical robot based on the scene data and preset virtual protection domain parameters; the virtual protection domain parameters are used to assist in generating the virtual protection domain; the virtual protection domain is the area where the main manipulator of the surgical robot generates tensile or repulsive forces; generating target force feedback data using an impedance control algorithm based on the first force feedback data and the virtual protection domain; and sending a first instruction to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the main manipulator of the surgical robot to generate tensile or repulsive forces within the virtual protection domain based on the target force feedback data.

[0209] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a force feedback method for a surgical robot master manipulator provided by the methods described above. The method includes: acquiring first force feedback data and scene data of the surgical robot master manipulator; the first force feedback data including the magnitude and direction of a force applied to the surgical robot master manipulator; the scene data including position parameters and posture parameters of the surgical robot master manipulator; generating a virtual protection domain corresponding to the surgical robot master manipulator based on the scene data and preset virtual protection domain parameters; the virtual protection domain parameters being used to assist in generating the virtual protection domain; the virtual protection domain being an area where the surgical robot master manipulator generates a pulling or repulsive force; generating target force feedback data using an impedance control algorithm based on the first force feedback data and the virtual protection domain; and sending a first instruction to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the surgical robot master manipulator to generate a pulling or repulsive force within the virtual protection domain based on the target force feedback data.

[0210] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0211] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0212] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A force feedback device for the main operating hand of a surgical robot, characterized in that, include: The first acquisition module is used to acquire first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot. The first generation module is used to generate a virtual protection domain corresponding to the main operator of the surgical robot based on the scene data and preset virtual protection domain parameters. The virtual protection domain parameters are used to assist in generating the virtual protection domain; The virtual protection domain is the area where the main operator of the surgical robot generates pulling or repulsive forces. The second generation module is used to generate target force feedback data based on the first force feedback data and the virtual protection domain using an impedance control algorithm. The first sending module is used to send a first instruction to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling or repulsive force within the virtual protection domain based on the target force feedback data; The virtual protection domain is a spherical region centered at the point of contact between the main operating hand of the surgical robot and the human tissue. The virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain, with the surface of the human tissue contacted by the main operating hand of the surgical robot as the dividing plane. The first virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot does not contact the surface of human tissue; The second virtual protection domain includes the virtual protection domain generated when the main operating hand of the surgical robot comes into contact with the surface of human tissue; If the main operating hand of the surgical robot does not touch the surface of human tissue but touches the first virtual protection zone, a repulsive or pulling force is applied to the first virtual protection zone in advance to serve as a warning and buffer. The repulsive or tensile force generated within the virtual protective domain is a combination of two types of forces. The first type of force is the force generated by the distance between the point that touches the virtual protective domain and the point that contacts the surface of the human tissue. The second type of force is the transitional characteristic of forces generated along a plane of equal height that is parallel to the surface of human tissue.

2. The force feedback device for the main operator's hand of a surgical robot according to claim 1, characterized in that, The preset virtual protection domain parameters include at least one of the following: Virtual protection domain radius R; The repulsive force layer's stacking height increment Δh; Contact surface radius increment Δr; Overall spherical radius increment ΔR; The displacement distance L between the two contact points; Virtual protection domain interval ΔL; The planes at the two contact points form an angle θ along the normal.

3. The force feedback device for the main operator of a surgical robot according to any one of claims 1 to 2, characterized in that, After generating the target force feedback data using the impedance control algorithm, the device is further configured to: Based on the first resonant frequency of the end effector of the surgical robot's main manipulator and / or the second resonant frequency of the target force feedback data, determine whether the target force feedback data resonates; If resonance exists in the target force feedback data, the target force feedback data is adjusted based on the resonance flag. The resonance flag is the position indicated when resonance is detected in the target force feedback data.

4. The force feedback device for the master operator of a surgical robot according to any one of claims 1 to 2, characterized in that, The device is also used for: The center of mass of each link of the main manipulator of the surgical robot is acquired in real time; Based on the centroids, the gravity value at the end of the main manipulator of the surgical robot is calculated in real time; The gravity compensation is performed on each link of the main operator of the surgical robot based on the gravity value.

5. The force feedback device for the master operator of a surgical robot according to any one of claims 1 to 2, characterized in that, The acquisition of the first force feedback data and scene data of the surgical robot's main operator includes: Acquire the original force feedback data and original scene data of the main operator of the surgical robot; The original force feedback data and the original scene data are input into a preset input interface for processing to obtain the first force feedback data and the scene data.

6. The force feedback device for the master operator of a surgical robot according to any one of claims 1 to 2, characterized in that, The force feedback device controller sends a first instruction, including: The target force feedback data is input into a preset output interface for processing to generate the first instruction; Send the first instruction to the force feedback device controller.

7. The force feedback device for the master operator of a surgical robot according to any one of claims 1 to 2, characterized in that, The device is also used for: Send a second instruction to the display device; the second instruction is used to instruct the display device to display target information; the target information includes at least one of information reflecting the target force feedback data and human tissue-related information.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements a force feedback method for the main manipulator of a surgical robot, which includes: Acquire first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot. Based on the scene data and preset virtual protection domain parameters, a virtual protection domain corresponding to the main operator of the surgical robot is generated; the virtual protection domain parameters are used to assist in the generation of the virtual protection domain; the virtual protection domain is the area where the main operator of the surgical robot generates pulling or repulsive forces. Based on the first force feedback data and the virtual protection domain, target force feedback data is generated using an impedance control algorithm. Send a first instruction to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling or repulsive force within the virtual protective domain based on the target force feedback data; The virtual protection domain is a spherical region centered at the point of contact between the main operating hand of the surgical robot and the human tissue; the virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain by using the surface of the human tissue in contact with the main operating hand of the surgical robot as a dividing plane. The first virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot does not contact the surface of human tissue; The second virtual protection domain includes the virtual protection domain generated when the main operating hand of the surgical robot comes into contact with the surface of human tissue; If the main operating hand of the surgical robot does not touch the surface of human tissue but touches the first virtual protection zone, a repulsive or pulling force is applied to the first virtual protection zone in advance to serve as a warning and buffer. The repulsive or tensile force generated within the virtual protective domain is a combination of two types of forces. The first type of force is the force generated by the distance between the point of contact with the virtual protective domain and the point of contact with the surface of the human tissue. The second type of force is the transitional characteristic of the force generated along the contour plane parallel to the surface of the human tissue.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements a force feedback method for the main manipulator of a surgical robot, comprising: Acquire first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot. Based on the scene data and preset virtual protection domain parameters, a virtual protection domain corresponding to the main operator of the surgical robot is generated; the virtual protection domain parameters are used to assist in the generation of the virtual protection domain; the virtual protection domain is the area where the main operator of the surgical robot generates pulling or repulsive forces. Based on the first force feedback data and the virtual protection domain, target force feedback data is generated using an impedance control algorithm. Send a first instruction to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling or repulsive force within the virtual protective domain based on the target force feedback data; The virtual protection domain is a spherical region centered at the point of contact between the main operating hand of the surgical robot and the human tissue; the virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain by using the surface of the human tissue in contact with the main operating hand of the surgical robot as a dividing plane. The first virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot does not contact the surface of human tissue; The second virtual protection domain includes the virtual protection domain generated when the main operating hand of the surgical robot comes into contact with the surface of human tissue; If the main operating hand of the surgical robot does not touch the surface of human tissue but touches the first virtual protection zone, a repulsive or pulling force is applied to the first virtual protection zone in advance to serve as a warning and buffer. The repulsive or tensile force generated within the virtual protective domain is a combination of two types of forces. The first type of force is the force generated by the distance between the point of contact with the virtual protective domain and the point of contact with the surface of the human tissue. The second type of force is the transitional characteristic of the force generated along the contour plane parallel to the surface of the human tissue.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a force feedback method for the main manipulator of a surgical robot, comprising: Acquire first force feedback data and scene data of the main manipulator of the surgical robot; the first force feedback data includes the magnitude and direction of the force applied to the main manipulator of the surgical robot; the scene data includes the position parameters and posture parameters of the main manipulator of the surgical robot. Based on the scene data and preset virtual protection domain parameters, a virtual protection domain corresponding to the main operator of the surgical robot is generated; the virtual protection domain parameters are used to assist in the generation of the virtual protection domain; the virtual protection domain is the area where the main operator of the surgical robot generates pulling or repulsive forces. Based on the first force feedback data and the virtual protection domain, target force feedback data is generated using an impedance control algorithm. Send a first instruction to the force feedback device controller, the first instruction being used to instruct the force feedback device controller to control the main operator of the surgical robot to generate a pulling or repulsive force within the virtual protective domain based on the target force feedback data; The virtual protection domain is a spherical region centered at the point of contact between the main operating hand of the surgical robot and the human tissue; the virtual protection domain is divided into a first virtual protection domain and a second virtual protection domain by using the surface of the human tissue in contact with the main operating hand of the surgical robot as a dividing plane. The first virtual protection domain includes the virtual protection domain generated when the main operator of the surgical robot does not contact the surface of human tissue; The second virtual protection domain includes the virtual protection domain generated when the main operating hand of the surgical robot comes into contact with the surface of human tissue; If the main operating hand of the surgical robot does not touch the surface of human tissue but touches the first virtual protection zone, a repulsive or pulling force is applied to the first virtual protection zone in advance to serve as a warning and buffer. The repulsive or tensile force generated within the virtual protective domain is a combination of two types of forces. The first type of force is the force generated by the distance between the point of contact with the virtual protective domain and the point of contact with the surface of the human tissue. The second type of force is the transitional characteristic of the force generated along the contour plane parallel to the surface of the human tissue.

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