Instrument homing method, instrument homing system and device, storage medium

Abstract

The application relates to an instrument homing method, an instrument homing system and device, and a storage medium. An instrument is arranged at a moving end of a mechanical arm, and the method comprises the following steps: determining a virtual obstacle avoidance space of an instrument to be homed; determining a homing path space according to the virtual obstacle avoidance space and a current pose of the instrument to be homed, the homing path space being outside the range of the virtual obstacle avoidance space; and controlling the mechanical arm to drive the instrument to be homed to home according to the homing path space. Thus, the instrument to be homed can be homed while avoiding entering the virtual obstacle avoidance space, and the safety of the instrument to be homed during homing is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an instrument homing method, an instrument homing system and device, a computer device, and a storage medium. BACKGROUND

[0002] With the development of medical technology, minimally invasive technology has emerged, which makes a small incision at the action site of a patient, and then introduces a specially designed instrument into the patient's body under the guidance of a medical imaging device, so as to perform a minimally invasive operation on the patient. During the operation, the instrument often needs to be replaced or cleaned, so the instrument is frequently inserted into or removed from the action site of the patient during the operation.

[0003] In the traditional technology, when the instrument needs to be removed from the action site of the patient, the doctor manually removes the instrument by manual operation. However, the traditional manual operation for removing the instrument has low safety. SUMMARY

[0004] Therefore, it is necessary to provide an instrument homing method, an instrument homing system and device, and a storage medium, which can improve the safety of the instrument when removed from the patient's body.

[0005] An instrument homing method, wherein an instrument is arranged at a moving end of a mechanical arm, and the method comprises: determining a virtual obstacle avoidance space of a to-be-homed instrument, the virtual obstacle avoidance space being a space that needs to be avoided within a preset range of a current position of the to-be-homed instrument; determining a homing path space according to the virtual obstacle avoidance space, a current pose of the to-be-homed instrument, and a target position, the homing path space being outside the range of the virtual obstacle avoidance space; and controlling the mechanical arm to drive the to-be-homed instrument to home according to the homing path space.

[0006] In one of the embodiments, the determining of the homing path space according to the virtual obstacle avoidance space and the current pose of the to-be-homed instrument comprises: determining an initial trajectory according to the virtual obstacle avoidance space, the current position of the to-be-homed instrument, and the target position; sequentially setting a plurality of homing motion spaces on the initial trajectory according to a preset step length; and forming the homing path space according to the plurality of homing motion spaces.

[0007] In one of the embodiments, the controlling of the mechanical arm to drive the to-be-homed instrument to home according to the homing path space comprises: determining a reachable area of the to-be-homed instrument according to an instrument parameter of the to-be-homed instrument; and sequentially determining a target motion trajectory in each of the homing motion spaces according to the pose of the to-be-homed instrument and the reachable area of the to-be-homed instrument, so as to control the mechanical arm to drive the to-be-homed instrument to home.

[0008] In one of the embodiments, the method further comprises: if the current reachable area of the instrument to be homed does not overlap with the range of the next homing motion space, stopping the execution of the step of controlling the robot arm to home the instrument to be homed according to the homing path space, and controlling the robot arm to move the instrument to be homed to a safe position, the safe position being a position in the last homing motion space farthest from the virtual obstacle avoidance space.

[0009] In one of the embodiments, the method further comprises: if the current reachable area of the instrument to be homed does not overlap with the range of the next homing motion space, stopping the execution of the step of controlling the robot arm to home the instrument to be homed according to the homing path space, and controlling the robot arm to move the instrument to be homed to a safe position, the safe position being a position in the last homing motion space farthest from the virtual obstacle avoidance space.

[0010] In one of the embodiments, the robot arm comprises a translation joint and a rotation joint, and the step of controlling the robot arm to move the instrument to be homed from the current position to the sub-target position in the next homing motion space comprises: controlling the rotation joint of the robot arm to move the instrument to be homed in rotation; and if the instrument to be homed does not reach the sub-target position after the rotation, controlling the translation joint of the robot arm to move the instrument to be homed to reach the sub-target position.

[0011] In one of the embodiments, the step of determining the virtual obstacle avoidance space of the instrument to be homed comprises: determining the virtual obstacle avoidance space according to the first position information of the instrument to be homed and the second position information of the working instrument.

[0012] In one of the embodiments, the method further comprises: if a user instruction of homing the instrument to be homed is received, controlling the robot arm to home the instrument to be homed according to the homing path space.

[0013] In one of the embodiments, the instrument homing method further comprises: determining whether the instrument to be homed is idle; if the instrument to be homed is idle for a duration exceeding a preset threshold, and the current position of the instrument to be homed is within the range of the virtual obstacle avoidance space, controlling the robot arm to drive the instrument to be homed to home according to the homing path space.

[0014] An instrument homing system, comprising: an instrument to be homed; a robot arm connected to the instrument to be homed, for driving the instrument to be homed to move, so as to adjust the position and posture of the instrument to be homed; a processor connected to the robot arm, for determining a virtual obstacle avoidance space of the instrument to be homed, the virtual obstacle avoidance space being a space that the instrument to be homed needs to avoid; determining a homing path space according to the virtual obstacle avoidance space and the current pose of the instrument to be homed, the homing path space being outside the range of the virtual obstacle avoidance space; and controlling the robot arm to drive the instrument to be homed to home according to the homing path space.

[0015] In one of the embodiments, the instrument homing system further comprises: an image acquisition module arranged on the instrument to be homed, for acquiring image information within the preset range; and the processor is connected to the image acquisition module, for determining the virtual obstacle avoidance space according to the image information.

[0016] In one of the embodiments, the instrument homing system further comprises: an input device connected to the processor, for receiving user instructions; and the processor is configured to control the robot arm to drive the instrument to be homed to move according to the user instructions.

[0017] An instrument homing device, the instrument being arranged at the moving end of a robot arm, the device comprising:

[0018] An obstacle space acquisition module, for determining a virtual obstacle avoidance space of the instrument to be homed, the virtual obstacle avoidance space being a space that the instrument to be homed needs to avoid;

[0019] A homing space determination module, for determining a homing path space according to the virtual obstacle avoidance space and the current pose of the instrument to be homed, the homing path space being outside the range of the virtual obstacle avoidance space;

[0020] An execution module, for controlling the robot arm to drive the instrument to be homed to home according to the homing path space. In one of the embodiments,

[0021] A computer readable storage medium, having stored thereon a computer program, the computer program being executed by a processor to implement the following steps: determining a virtual obstacle avoidance space of an instrument to be homed, the virtual obstacle avoidance space being a space that the instrument to be homed needs to avoid; determining a homing path space according to the virtual obstacle avoidance space and a current pose of the instrument to be homed, the homing path space being outside the range of the virtual obstacle avoidance space; and controlling the robot arm to drive the instrument to be homed to home according to the homing path space.

[0022] The above instrument homing method, instrument homing system and device, and storage medium. First, the virtual obstacle avoidance space of the instrument to be homed is determined, so that the space that the instrument to be homed needs to avoid is clear, facilitating subsequent homing path planning. Then, the homing path space is determined according to the virtual obstacle avoidance space and the current pose of the instrument to be homed, the homing path space being outside the range of the virtual obstacle avoidance space, so that the homing path space is determined, and the homing path that can avoid the virtual obstacle avoidance space is determined. Then, the robot arm is controlled to drive the instrument to be homed to home according to the homing path space, so that the homing of the instrument can be realized while avoiding the virtual obstacle avoidance space. Thus, the instrument to be homed can be homed while avoiding entering the virtual obstacle avoidance space, and since the homing path space that can avoid the virtual obstacle avoidance space is first determined, the path is then determined from the homing path space, so that the homing path obtained is more accurate, and the safety of the instrument to be homed during homing is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0024] Figure 1 A flowchart of an instrument homing method in an embodiment;

[0025] Figure 2 A flowchart of a method for determining a homing path space in an embodiment;

[0026] Figure 3 A flowchart of a method for homing an instrument to be homed in an embodiment;

[0027] Figure 4 A schematic diagram of an accessible area of an instrument to be homed in an embodiment;

[0028] Figure 5 A flowchart of an instrument homing method in another embodiment;

[0029] Figure 6 Flow chart of a method for moving a robot arm in an embodiment;

[0030] Figure 7 Schematic diagram of a virtual obstacle avoidance space in an embodiment;

[0031] Figure 8 Flow chart of a method for determining whether an instrument is homed in an embodiment;

[0032] Figure 9 Block diagram of an instrument homing system in an embodiment;

[0033] Figure 10 Block diagram of an instrument homing system in another embodiment;

[0034] Figure 11 Schematic diagram of an instrument homing system in an embodiment;

[0035] Figure 12 Schematic diagram of an instrument in an embodiment;

[0036] Figure 13 Schematic diagram of a robot arm in an embodiment;

[0037] Figure 14 Partial schematic diagram of a robot arm in an embodiment;

[0038] Figure 15 Schematic diagram of a power box in an embodiment;

[0039] Figure 16 Schematic diagram of a trolley in an embodiment;

[0040] Figure 17 Block diagram of an instrument homing device in an embodiment;

[0041] Figure 18 Internal block diagram of a computer device in an embodiment.

[0042] BRIEF DESCRIPTION OF THE DRAWINGS 10 - instrument to be homed, 100 - reachable area of the instrument to be homed, 20 - working instrument, 200 - virtual obstacle avoidance space, 30 - robot arm, 40 - processor, 50 - image acquisition module, 60 - input device, 2 - master operating console, 3 - slave operating device, 22 - display, 70 - power box, 71 - rotating shaft, 61 - operating button, 36 - camera instrument, 37 - image processor, 38 - display screen. DETAILED DESCRIPTION

[0043] For the purpose of clarity, the present application will be described in greater detail below with reference to the accompanying drawings. The embodiments of the present application are shown in the drawings. However, the present application can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the application to those skilled in the art.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0045] It should be understood that the terms "first", "second", and so on as used herein can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0046] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through a central element. In addition, "connected" in the following embodiments should be understood as "electrically connected", "communicatively connected", etc. if there is transmission of electrical signals or data between the connected objects.

[0047] As used herein, the singular forms "a", "an" and "the" can include plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprise / comprising" or "have / having" specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0048] In one embodiment, as shown in Figure 1 An instrument homing method is provided, the instrument being arranged at a moving end of a mechanical arm, the method comprising:

[0049] Step S100, determining a virtual obstacle avoidance space of the instrument to be homed. The virtual obstacle avoidance space is a space that needs to be avoided within a preset range of the current position of the instrument to be homed. The preset range can be the range of the space of the virtual surgical operation

[0050] For example, the instrument to be returned to its original position can be an instrument used in minimally invasive surgery, which is inserted into the body of the patient during use. In this case, the virtual obstacle avoidance space can include the space occupied by the organs and tissues inside the patient's body. The instrument to be returned to its original position needs to avoid the organs and tissues inside the patient's body to avoid damage to the patient. On the other hand, during minimally invasive surgery, there may be more than one instrument inserted into the patient's body, including other working instruments besides the instrument to be returned to its original position. In this case, the virtual obstacle avoidance space can include the range of motion of the other working instruments. The instrument to be returned to its original position needs to avoid the range of motion of the other working instruments to avoid collision.

[0051] Step S110: Determine the repositioning path space based on the virtual obstacle avoidance space, the current pose of the device to be repositioned, and the target position. The repositioning path space is outside the range of the virtual obstacle avoidance space.

[0052] Based on the virtual obstacle avoidance space and the current pose of the device to be returned to its original position, a return path outside the virtual obstacle avoidance space can be determined. Then, based on the return path, the space outside the virtual obstacle avoidance space along the return path can be defined as the return path space. The target position is the position of the device when it returns to its original position.

[0053] Step S120: According to the return path space, control the robotic arm to drive the instrument to be returned to its position.

[0054] The robotic arm can move the device to be returned to its original position according to the space of the return path, so as to realize the return of the device to its original position.

[0055] In this embodiment, the virtual obstacle avoidance space of the device to be returned to its original position is first determined, thus clarifying the space that the device needs to avoid, facilitating subsequent return path planning. Then, based on the virtual obstacle avoidance space and the current pose of the device, a return path space is determined. Since this return path space is outside the virtual obstacle avoidance space, a return path that can avoid the virtual obstacle avoidance space is identified. Then, the robotic arm is controlled to return the device to its original position according to the return path space, achieving return while avoiding the virtual obstacle avoidance space. This allows the device to return without entering the virtual obstacle avoidance space. Furthermore, because a return path space that avoids the virtual obstacle avoidance space is determined first, and the path is then determined from this space, the resulting return path is more accurate, improving the safety of the device during return.

[0056] In one embodiment, such as Figure 2 As shown, step S110 determines the repositioning path space based on the virtual obstacle avoidance space and the current pose of the device to be repositioned. This includes:

[0057] Step S200: Determine the initial trajectory based on the virtual obstacle avoidance space, the current position of the device to be returned to its original position, and the target position.

[0058] The process involves taking the current position of the device to be returned to its original location as the starting point and the target position as the ending point. Then, a path is determined from the current position of the device to be returned to its target position, which is outside the virtual obstacle avoidance space. This path can be used as the initial trajectory.

[0059] If there are multiple path trajectories from the current position of the device to be returned to the target position of the device, and these trajectories are outside the virtual obstacle avoidance space, then the trajectory with the shortest distance will be selected as the initial trajectory.

[0060] For example, the current position of the device to be returned to its original position can be represented by the position of the feature point at the end of the device. The position of the feature point at the end of the device can be determined by the current pose of the device.

[0061] Step S210: Set multiple return motion spaces sequentially on the initial trajectory according to a preset step size.

[0062] For example, starting from the current position of the device to be returned to and ending at its target position, a spherical space of a preset radius is set at preset distances along the initial trajectory. Thus, multiple returning motion spaces are sequentially set according to a preset step size. The radius of each returning motion space can be the same or different, and can be determined based on the range of the virtual obstacle avoidance space around the actual initial trajectory, as long as the range of each returning motion space is outside the range of the virtual obstacle avoidance space.

[0063] Step S220: Form a repositioning path space based on multiple repositioning motion spaces.

[0064] Among them, after determining multiple homing motion spaces, the homing path space is formed by the joint formation of multiple homing motion spaces.

[0065] In this embodiment, an initial path is first determined to allow the device to be returned to its original position. Then, multiple returning motion spaces are sequentially set along the initial path based on the virtual obstacle avoidance space. These multiple returning motion spaces then together form the returning path space. This results in a returning path space that ensures the device will not move into the virtual obstacle avoidance space during the returning process, facilitating the safe returning of the device to its original position.

[0066] In one embodiment, such as Figure 3 As shown, in step S120, the robotic arm is controlled to return the device to its original position according to the spatial control of the return path. This includes:

[0067] At step S300, the reachable area of the instrument to be homed is determined according to the instrument parameter of the instrument to be homed.

[0068] The instrument parameter of the instrument to be homed can include a rotatable angle and a movable distance of the instrument to be homed, and a space occupied by the instrument to be homed itself, for example, the instrument to be homed has horizontal movement freedom, vertical movement freedom, rotation freedom, and the like, and the instrument to be homed can move to a range according to its own movement freedom, that is, the reachable area of the instrument to be homed.

[0069] For example, as shown in FIG. 3, the robot arm 30 has a plurality of rotation joints and translation joints, so that the reachable area 100 of the instrument to be homed 10 is a cylindrical area with a preset radius with the instrument to be homed 10 itself as the central axis. Figure 4

[0070] At step S310, the target movement trajectory in each homing movement space is determined in sequence according to the pose of the instrument to be homed, the reachable area of the instrument to be homed, so as to control the robot arm to drive the instrument to be homed to home.

[0071] After the plurality of homing movement spaces are determined, the target movement trajectory of the instrument to be homed can be determined in sequence according to the position and pose of the instrument to be homed, the reachable area of the instrument to be homed, and the plurality of homing movement spaces, and then the robot arm is controlled to drive the instrument to be homed to move according to the determined target movement trajectory, so that the instrument to be homed is homed.

[0072] In this embodiment, the reachable area of the instrument is determined according to the parameter of the instrument, and then the target movement trajectory in each homing movement space is determined in sequence according to the pose of the instrument to be homed and the reachable area of the instrument to be homed, so that the target movement trajectory is obtained, and the robot arm can drive the instrument to home according to the target movement trajectory.

[0073] In one embodiment, as shown in FIG. 3, at step S310, the target movement trajectory in each homing movement space is determined in sequence according to the pose of the instrument to be homed and the reachable area of the instrument to be homed, so as to control the robot arm to drive the instrument to be homed to home. This includes: Figure 5 At step S3101, it is determined whether the current reachable area of the instrument to be homed and the range of the next homing movement space at least partially coincide. If the current reachable area of the instrument to be homed and the range of the next homing movement space at least partially coincide, step S3102 is performed. If the current reachable area of the instrument to be homed and the range of the next homing movement space do not coincide, step S500 is performed to control the robot arm to move the instrument to be homed to a safe position.

[0074]

[0075] ​​In step S3102, a sub-target position is determined in the next homing motion space according to the current pose of the instrument to be homed and the reachable region.

[0076] If the current reachable region of the instrument to be homed at least partially coincides with the range of the next homing motion space, it means that the current instrument to be homed can move into the next homing motion space. Then, a position closest to the current position of the instrument to be homed is found in the range where the reachable region of the instrument to be homed coincides with the next homing motion space, and the position is taken as the sub-target position corresponding to the next homing motion space.

[0077] Exemplarily, after the sub-target position of the next homing motion space is determined, the motion angle and motion distance of each joint of the robotic arm of the instrument to be homed are determined according to the sub-target position of the next homing motion space and the current pose of the instrument to be homed. Thus, the instrument to be homed can be controlled to move.

[0078] Exemplarily, a plurality of points can also be selected in the range where the reachable region of the instrument to be homed coincides with the next homing motion space, the motion angle and motion distance of each joint of the robotic arm of the instrument to be homed corresponding to movement of the instrument to be homed from the current pose to each point are calculated respectively, and a point that makes the motion angle and motion distance of each joint of the robotic arm of the instrument to be homed the smallest in total is selected as the sub-target position of the next homing motion space.

[0079] In step S3103, it is determined whether the current position of the instrument to be homed is the target position. If the current position of the instrument to be homed is the target position, step S3104 is performed to stop controlling the robotic arm to move the instrument to be homed. If the current position of the instrument to be homed is not the target position, step S3105 is performed to control the robotic arm to move the instrument to be homed from the current position to the sub-target position of the next homing motion space. After step S3105 is performed, step S3102 is performed.

[0080] The target position is the sub-target position of the last homing motion space. The next homing motion space is the homing motion space closest to the current position of the instrument to be homed, and the sub-target position is the position closest to the current position of the instrument to be homed.

[0081] The next homing motion space is the homing motion space closest to the current position of the instrument to be homed, the sub-target position of the next homing motion space is repeatedly determined, and the steps of controlling the robot arm to move the instrument to be homed from the current position to the sub-target position of the next homing motion space are repeatedly executed until the instrument to be homed is moved to the target position. That is, the homing of the instrument to be homed is realized, and in the process of homing, the sub-target position of the next homing motion space is determined in real time according to the current position of the instrument to be homed, so that the sub-target positions in each homing motion space are sequentially determined, and the sub-target positions in each homing motion space are connected, that is, the target motion trajectory is obtained.

[0082] Exemplarily, the instrument to be homed is moved from the current position to the sub-target position of the i th homing motion space, and the i th homing motion space is the homing motion space closest to the current position of the instrument to be homed. Then the instrument to be homed is moved from the sub-target position of the i th homing motion space to the sub-target position of the i+1 th homing motion space, and the i+1 th homing motion space is the homing motion space closest to the sub-target position of the i th homing motion space. By analogy, the instrument to be homed is moved to the target position.

[0083] In step S500, the robot arm is controlled to move the instrument to be homed to a safe position. The safe position is the position farthest from the virtual obstacle space in the last homing motion space. Wherein, after the robot arm moves the instrument to be homed to the safe position, it returns to execute step S3101 to determine whether the current reachable area of the instrument to be homed coincides with the range of the next homing motion space.

[0084] Wherein, before the robot arm is controlled to move the instrument to be homed to the safe position, the control of the robot arm to drive the instrument to be homed to home is stopped.

[0085] Exemplarily, in the process of surgery, in addition to the instrument to be homed, there are other working instruments moving, which may block the homing path of the instrument to be homed for a period of time. At this time, the instrument to be homed is moved to the safe position for temporary parking, and then the homing of the instrument to be homed is continued until the homing path of the instrument to be homed is unblocked.

[0086] In this embodiment, based on the pose and reachable area of ​​the device to be returned to its original position, the target motion trajectory in each returning motion space is determined sequentially. This allows the robotic arm to control the device to return to its original position, thus achieving safe returning of the device. Each time the position of a sub-target in the next returning motion space is determined, it is based on the current position of the device. This segmented, sequential determination of sub-target positions results in a more accurate returning path and higher safety. Furthermore, if the device cannot move to the next returning motion space, it can be moved to a safe location for temporary placement, further improving the safety of the device's return. Therefore, both scenarios—whether the device can move to the next returning motion space or not—are addressed, enhancing the algorithm's reliability.

[0087] In one embodiment, the robotic arm includes translational joints and rotational joints, such as... Figure 6 As shown, step S3103, controlling the robotic arm to move the device to be returned from its current position to the sub-target position of the next returning motion space, includes:

[0088] Step S600: Control the rotational joint movement of the robotic arm to drive the device to be returned to its original position to rotate and move.

[0089] In step S610, if the device to be returned to its original position does not reach the sub-target position after rotation and movement, the translation joint of the robotic arm is controlled to move the device to be returned to its original position to reach the sub-target position.

[0090] In this embodiment, when the robotic arm moves the device, it first moves the rotary joint. If moving the rotary joint cannot move the device to the sub-target position, it then moves the translational joint. During the movement of the translational joint, if moving the rotary joint can move the device to the sub-target position, the movement of the translational joint is stopped. This minimizes the range of motion of the robotic arm.

[0091] In one embodiment, step S100 involves determining the virtual obstacle avoidance space for the device to be returned to its original position. Specifically, this includes determining the virtual obstacle avoidance space based on the first position information of the device to be returned to its original position and the second position information of the working device.

[0092] For example, such as Figure 8 As shown, the device 10 to be returned to its original position needs to avoid the activity range of the working device 20, i.e., the virtual obstacle avoidance space 200.

[0093] In this embodiment, the area of ​​human tissue surrounding the device to be returned to its original position can be determined based on the first position information, and the range of motion of the working device can be determined based on the second position information. The virtual obstacle avoidance space is jointly determined by the area of ​​human tissue surrounding the device to be returned to its original position and the range of motion of the working device.

[0094] In one embodiment, the device repositioning method further includes: if a user instruction to reposition the device to be repositioned is received, then the robotic arm is controlled to move the device to be repositioned according to the repositioning path space.

[0095] For example, a user can issue a user command to return the device to its original position when it needs to be cleaned, replaced, or returned to its original position.

[0096] In this embodiment, the user can issue user commands to control the device to be returned to its original position, thereby enabling the user to conveniently control the device.

[0097] In one embodiment, such as Figure 8 As shown, the instrument repositioning method also includes:

[0098] Step S800: Determine whether the device to be returned to its original position is idle.

[0099] For example, an instrument awaiting return to its place is idle, meaning that the instrument does not need to be used in the surgical procedure at this time.

[0100] In step S810, if the duration of the idle period of the device to be returned exceeds a preset threshold, and the current position of the device to be returned is within the range of the virtual obstacle avoidance space, then the robotic arm is controlled to return the device to its original position according to the return path space.

[0101] In this embodiment, when the instrument to be returned to its original position is idle for a duration exceeding a preset threshold, and the current position of the instrument to be returned to its original position is within the range of the virtual obstacle avoidance space, it means that the instrument to be returned to its original position may obstruct the operation of other instruments. In this case, the instrument to be returned to its original position is returned to its original position to avoid affecting the normal operation of the surgery.

[0102] It should be understood that, although Figure 1 , 2 The steps in the flowcharts 3, 5, 6, and 8 are shown sequentially as indicated by the arrows; however, these steps are not necessarily executed in the exact order indicated by the arrows. Unless explicitly stated herein, there is no strict order requirement for the execution of these steps, and they can be performed in other orders. Furthermore, Figure 1 , 2 At least some of the steps in 3, 5, 6, and 8 may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0103] In one embodiment, such as Figure 9As shown, a device repositioning system is provided, comprising: a device to be repositioned 10, a robotic arm 30, and a processor 40. Wherein:

[0104] The robotic arm 30 is connected to the device 10 to be returned to its original position and is used to move the device 10 to adjust its position and orientation.

[0105] The processor 40 is connected to the robotic arm 30 and is used to determine the virtual obstacle avoidance space of the device 10 to be returned to its original position. The virtual obstacle avoidance space is the space that the device 10 to be returned to its original position needs to avoid. The return path space is determined based on the virtual obstacle avoidance space and the current pose of the device 10 to be returned to its original position. The return path space is outside the range of the virtual obstacle avoidance space. The robotic arm 30 is controlled to drive the device 10 to be returned to its original position based on the return path space.

[0106] In this embodiment, the processor 40 first determines the virtual obstacle avoidance space of the device 10 to be returned to its original position, thereby clarifying the space that the device 10 needs to avoid, facilitating subsequent return path planning. Then, based on the virtual obstacle avoidance space, the current pose of the device 10, and the target position, a return path space is determined. Since the return path space is outside the virtual obstacle avoidance space, a return path that avoids the virtual obstacle avoidance space is determined. Then, based on the return path space, the robotic arm 30 is controlled to move the device 10 to its original position, thus achieving return while avoiding the virtual obstacle avoidance space. This allows the device 10 to return to its original position without entering the virtual obstacle avoidance space, improving the safety of the device 10 during return.

[0107] In one embodiment, such as Figure 10 As shown, the instrument repositioning system also includes an image acquisition module 50. The image acquisition module 50 is connected to the processor 40 and is used to acquire image information within the target area.

[0108] For example, the image acquisition module 50 can be an endoscope. The image acquisition module 50 is disposed on the instrument to be returned to its original position.

[0109] The processor 40 is used to determine the virtual obstacle avoidance space based on the image information.

[0110] For example, the processor 40 may use a depth estimation algorithm to process the image information to determine the virtual obstacle avoidance space.

[0111] In this embodiment, the image acquisition module 50 can acquire image information within the target area, which facilitates the processor 40 in determining the virtual obstacle avoidance space based on the image information.

[0112] In one embodiment, please see [link to embodiment]. Figure 10The instrument return system also includes an input device 60. The input device 60 is connected to the processor 40 and is used to receive user commands.

[0113] The processor 40 is used to control the robotic arm 30 to move the instrument 10 to be returned to its original position according to user instructions.

[0114] In this embodiment, by providing an input device 60, it is convenient for the user to send instructions to the processor 40.

[0115] For example, such as Figure 11 to Figure 12 The figures shown are schematic diagrams of an embodiment of the instrument repositioning system and partial schematic diagrams of the instrument itself.

[0116] The instrument repositioning system includes a main control panel 2 and a slave operating device 3 controlled by the main control panel 2. The main control panel 2 has an input device 60 and a display 22. The doctor sends control commands to the slave operating device 3 through the input device 60, so that the slave operating device 3 performs corresponding operations according to the control commands of the doctor through the input device 60, and observes the surgical area through the display 22. The slave operating device 3 has a drive arm, which has a robotic arm 30 and one or more operating arms detachably mounted at the distal end of the robotic arm 30. The robotic arm 30 includes a base and a connecting assembly connected in sequence, and the connecting assembly has multiple joint components. The robotic arm 30 includes a link 32, a connecting assembly 33, and an end effector 34 connected in sequence. The robotic arm 30 extends through a conduit 4. The connecting assembly 33 has multiple joint components, and the posture of the end effector 34 is adjusted by adjusting the joint components of the operating arm. The end effector 34 has an image end effector 34A and an operating end effector 34B. The image end effector 34A is used to acquire images within the field of view, and the display 22 is used to display the images. The end-effector 34B is used to perform surgical procedures such as cutting and suturing.

[0117] Figure 11In the instrument repositioning system demonstrated, each manipulator arm is inserted into the patient's body via a single trocar 4 mounted at the distal end of the robotic arm 30. The surgeon typically only controls the manipulator arms to complete basic surgical procedures. In this case, the manipulator arms of the single-port instrument repositioning system should simultaneously possess positional degrees of freedom (i.e., positioning degrees of freedom) and orientation degrees of freedom (i.e., orientation degrees of freedom) to achieve changes in position and orientation within a certain range. For example, the manipulator arm may have horizontal movement degrees of freedom x, vertical movement degrees of freedom y, rotation degrees of freedom α, pitch degrees of freedom β, and yaw degrees of freedom γ. The manipulator arm can also achieve forward and backward movement degrees of freedom z (i.e., feed degrees of freedom) driven by the distal joint assembly, i.e., the power mechanism 301, at the distal end of the robotic arm 30. Furthermore, in some embodiments, redundant degrees of freedom can be provided for the manipulator arm to enable more functions; for example, in addition to the aforementioned six degrees of freedom, one, two, or even more additional degrees of freedom can be added. For example, the power mechanism 301 has a guide rail and a power unit slidably disposed on the guide rail. The operating arm is detachably mounted on the power unit. On the one hand, the sliding of the power unit on the guide rail provides the operating arm with a forward and backward movement degree z. On the other hand, the power unit provides power to the joint assembly of the operating arm to realize the remaining 5 degrees of freedom (i.e. [x,y,α,β,γ]).

[0118] The instrument retrieval system also includes a processor. The processor can be integrated into the main control panel 2 or the slave control device 3. Of course, the processor can also be independent of the main control panel 2 and the slave control device 3; for example, it can be deployed locally, or the processor can be deployed in the cloud.

[0119] The instrument retrieval system also includes an input unit. The input unit can be integrated into the main control panel 2, i.e., input device 60. The input unit can also be integrated into the slave control device 3, such as... Figure 13 , Figure 14 As shown, the power box 70 of the robotic arm 30 is equipped with an operation button 61, which the user can use to control the robotic arm. Of course, the input unit can also be independent of the main control panel 2 and the slave control device 3. This input unit can be, for example, a mouse, keyboard, voice input device, or touchscreen. Using a touchscreen as the input unit, the touchscreen can be, for example, mounted on the armrest of the main control panel 2.

[0120] The manipulator also includes sensors that sense the joint variables of the joint components. These sensors include angle sensors that sense the rotational motion of the joint components and displacement sensors that sense the linear motion of the joint components; the specific sensors can be configured according to the type of joint component. The processor is coupled to these sensors and to the input unit and display 22.

[0121] For example, such as Figure 15 The diagram shown is a schematic of the power box 70. It includes multiple rotating shafts 71, which can rotate to drive the movement of the instrument.

[0122] For example, such as Figure 16 As shown, the instrument return system may also include an external image trolley, on which a camera instrument 36, an image processor 37, and a display screen 38 are installed. The camera instrument 36 can acquire images during the operation, which are then processed by the image processor 37 and displayed on the display screen 38.

[0123] In one embodiment, such as Figure 17 As shown, a device for repositioning a device is provided. The device is mounted on the moving end of a robotic arm. The device includes: an obstacle space acquisition module 1701, a repositioning space determination module 1702, and an execution module 1703, wherein:

[0124] The obstacle space acquisition module 1701 is used to determine the virtual obstacle avoidance space of the device to be returned to its original position. The virtual obstacle avoidance space is the space that the device to be returned to its original position needs to avoid.

[0125] The repositioning space determination module 1702 is used to determine the repositioning path space based on the virtual obstacle avoidance space, the current pose of the device to be repositioned, and the target position. The repositioning path space is outside the range of the virtual obstacle avoidance space.

[0126] The execution module 1703 is used to control the robotic arm to drive the instrument to be returned to its position according to the return path space.

[0127] In one embodiment, the obstacle space acquisition module 1701 includes a space determination unit, which is used to determine a virtual obstacle avoidance space based on the first position information of the instrument to be returned to its original position and the second position information of the working instrument.

[0128] In one embodiment, the relocation space determination module 1702 includes: a trajectory determination unit, a space setting unit, and a space forming unit. Wherein:

[0129] The trajectory determination unit is used to determine the initial trajectory based on the virtual obstacle avoidance space, the current position of the device to be returned to its original position, and the target position.

[0130] The space setting unit is used to sequentially set multiple return motion spaces on the initial trajectory according to a preset step size.

[0131] A spatial forming unit is used to form a homing path space based on multiple homing motion spaces.

[0132] In one embodiment, the execution module 1703 includes: a region determination unit and an execution unit. Wherein:

[0133] The area determination unit is used to determine the reachable area of ​​the device to be returned to its original position based on the device parameters.

[0134] The execution unit is used to determine the target motion trajectory in each positioning motion space according to the pose of the device to be positioned and the reachable area of ​​the device to be positioned, so as to control the robotic arm to drive the device to be positioned back to its original position.

[0135] In one embodiment, the execution unit includes a movement subunit. The movement subunit, if the reachable area of ​​the current repositioning device at least partially overlaps with the range of the next repositioning motion space, determines a sub-target position in the next repositioning motion space based on the current pose and reachable area of ​​the repositioning device, and controls the robotic arm to move the repositioning device from its current position to the sub-target position in the next repositioning motion space, until it reaches the target position.

[0136] In one embodiment, the device repositioning device further includes a safety execution module. The safety execution module is used to stop executing the step of controlling the robotic arm to reposition the device according to the repositioning path space if the reachable area of ​​the current device to be repositioned does not overlap with the range of the next repositioning motion space, and to control the robotic arm to move the device to be repositioned to a safe position.

[0137] Specific limitations regarding the instrument repositioning device can be found in the limitations of the instrument repositioning method described above, and will not be repeated here. Each module in the aforementioned instrument repositioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module. It should be noted that the module division in this embodiment is illustrative and only represents a logical functional division; other division methods may be used in actual implementation.

[0138] In one embodiment, a computer device is provided, the internal structure of which can be shown as follows: Figure 18 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a device repositioning method.

[0139] Those skilled in the art will understand that Figure 18The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0140] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0141] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0142] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0143] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0144] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0145] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0146] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for repositioning an instrument, characterized in that, The instrument is disposed at the moving end of the robotic arm, and the method includes: Determine the virtual obstacle avoidance space of the device to be returned to its original position. The virtual obstacle avoidance space is the space that needs to be avoided within a preset range of the current position of the device to be returned to its original position. The repositioning path space is determined based on the virtual obstacle avoidance space, the current pose of the device to be repositioned, and the target position. The repositioning path space is outside the range of the virtual obstacle avoidance space. The repositioning path space is formed based on multiple repositioning motion spaces. The multiple repositioning motion spaces are set sequentially according to a preset step length on the initial trajectory that causes the device to be repositioned. The robotic arm is controlled to return the instrument to its original position according to the return path space. The step of controlling the robotic arm to return the device to its original position according to the return path space includes: Based on the instrument parameters of the instrument to be returned to its original position, determine the reachable area of ​​the instrument to be returned to its original position. Based on the position and reachable area of ​​the device to be returned to its original position, the target motion trajectory in each of the returning motion spaces is determined sequentially to control the robotic arm to drive the device to be returned to its original position.

2. The method according to claim 1, characterized in that, The step of determining the repositioning path space based on the virtual obstacle avoidance space and the current pose of the device to be repositioned includes: The initial trajectory is determined based on the virtual obstacle avoidance space, the current position of the device to be returned to its original position, and the target position. Multiple repositioning motion spaces are sequentially set on the initial trajectory according to a preset step size; The repositioning path space is formed based on multiple repositioning motion spaces.

3. The method according to claim 1, characterized in that, The step of determining the target motion trajectory in each of the repositioning motion spaces in sequence according to the current pose of the device to be repositioned and the reachable area of ​​the device to be repositioned, so as to control the robotic arm to drive the device to be repositioned, includes: If the reachable area of ​​the current repositioning device at least partially overlaps with the range of the next repositioning motion space, then based on the current pose and reachable area of ​​the repositioning device, a sub-target position is determined in the next repositioning motion space, and the robotic arm is controlled to move the repositioning device from its current position to the sub-target position in the next repositioning motion space, until it reaches the target position, wherein the target position is the sub-target position of the last repositioning motion space; wherein the next repositioning motion space is the repositioning motion space closest to the current position of the repositioning device, and the sub-target position is the position closest to the current position of the repositioning device.

4. The method according to claim 1, characterized in that, The method further includes: If the reachable area of ​​the current repositioning device does not overlap with the range of the next repositioning motion space, then the step of controlling the robotic arm to reposition the device according to the repositioning path space is stopped, and the robotic arm is controlled to move the device to a safe position, which is the position farthest from the virtual obstacle avoidance space in the previous repositioning motion space.

5. The method according to claim 3, characterized in that, The robotic arm includes translational joints and rotational joints. Controlling the robotic arm to move the device to be returned from its current position to a sub-target position in the next return motion space includes: The rotary joint movement of the robotic arm is controlled to drive the device to be returned to its original position to rotate and move. If the device to be returned to its original position does not reach the sub-target position after rotation and movement, the translation joint of the robotic arm is controlled to move the device to the original position to reach the sub-target position.

6. The method according to claim 1, characterized in that, The process of determining the virtual obstacle avoidance space of the device to be returned to its original position includes: determining the virtual obstacle avoidance space based on the first position information of the device to be returned to its original position and the second position information of the working device.

7. The method according to claim 1, characterized in that, The method further includes: If a user instruction is received to return the device to its original position, the robotic arm is controlled to return the device to its original position according to the return path space.

8. The method according to claim 1, characterized in that, The method further includes: Determine whether the device to be returned to its original position is idle; If the idle duration of the device to be returned exceeds a preset threshold, and the current position of the device to be returned is within the range of the virtual obstacle avoidance space, then the robotic arm is controlled to return the device to its original position according to the return path space.

9. A device repositioning system, characterized in that, The system includes: Instruments awaiting return to their original positions; A robotic arm, connected to the device to be returned to its original position, is used to move the device to be returned to its original position in order to adjust the position and orientation of the device to be returned to its original position. A processor, connected to the robotic arm, is used to determine a virtual obstacle avoidance space for the device to be returned to its original position. This virtual obstacle avoidance space is the space that the device needs to avoid within a preset range of its current position. The processor also determines a return path space based on the virtual obstacle avoidance space and the current pose of the device. This return path space is outside the range of the virtual obstacle avoidance space. The return path space is formed based on multiple return motion spaces. These multiple return motion spaces are sequentially set according to a preset step size on the initial trajectory that causes the device to return to its original position. Finally, the processor controls the robotic arm to return the device to its original position based on the return path space. The processor is further configured to determine the reachable area of ​​the device to be returned to its original position based on the device parameters of the device to be returned to its original position; and to determine the target motion trajectory in each of the returning motion spaces in sequence based on the pose of the device to be returned to its original position and the reachable area of ​​the device to be returned to its original position, so as to control the robotic arm to drive the device to be returned to its original position.

10. The system according to claim 9, characterized in that, The instrument return system also includes: An image acquisition module is installed on the device to be returned to its original position, and is used to acquire image information within the preset range; The processor, connected to the image acquisition module, is used to determine the virtual obstacle avoidance space based on the image information.

11. The system according to claim 9, characterized in that, The instrument return system also includes: An input device, connected to the processor, is used to receive user instructions; The processor is used to control the robotic arm to move the instrument to be returned to its original position according to the user instructions.

12. A device for returning an instrument to its original position, characterized in that, The instrument is mounted on the moving end of the robotic arm, and the device includes: The obstacle space determination module is used to determine the virtual obstacle avoidance space of the device to be returned to its original position, wherein the virtual obstacle avoidance space is the space that the device to be returned to its original position needs to avoid. The repositioning space determination module is used to determine the repositioning path space based on the virtual obstacle avoidance space and the current pose of the device to be repositioned. The repositioning path space is outside the range of the virtual obstacle avoidance space. The repositioning path space is formed based on multiple repositioning motion spaces. The multiple repositioning motion spaces are set sequentially according to a preset step size on the initial trajectory that causes the device to be repositioned. The execution module is used to control the robotic arm to drive the device to be returned to its original position according to the return path space; The execution module is further configured to determine the reachable area of ​​the device to be returned to its original position based on the device parameters of the device to be returned to its original position; and to determine the target motion trajectory in each of the returning motion spaces in sequence based on the pose of the device to be returned to its original position and the reachable area of ​​the device to be returned to its original position, so as to control the robotic arm to drive the device to be returned to its original position.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the instrument repositioning method according to any one of claims 1 to 8.

14. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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