Method and device for controlling an endoscope, surgical robot system

Abstract

The embodiment of the application provides a control method and device of a surgical endoscope, a surgical robot system, wherein in the case that a doctor does not apply a control force to the end of a mechanical arm, a zero point of a force sensor is calibrated to calculate a zero point value of the force sensor, and the zero point value represents the gravity of the force sensor itself; in the case that the doctor applies the control force to the end of the mechanical arm, the control force is matched with a plurality of control force segment thresholds set to determine a control force segment interval in which the control force is located; a mapping relationship between the control force corresponding to the control force segment interval in which the control force is located and a pose of the end of the mechanical arm is determined; and based on the mapping relationship, the pose of the end of the mechanical arm is determined according to the control force to control the movement of the end of the mechanical arm, so that the surgical endoscope reaches a target position under the driving of the end of the mechanical arm, thereby enabling the doctor to operate the robot to achieve the flexibility of holding the endoscope by hand; and meanwhile, the risk of collision between the surgical endoscope and the tissue of the target position in the surgical process is reduced.

Description

Technical Field

[0001] This invention relates to the field of digital control in surgical robots, specifically to a control method, device, and surgical robot system for a surgical endoscope. Background Technology

[0002] Currently, the annual incidence of spinal diseases, cerebral hemorrhage, and brain tumors is very high in China. Spinal endoscopy and neuroendoscopy, with their characteristics of being minimally invasive, precise, and providing clear visualization, have become effective surgical treatments for spinal hemorrhage, cerebral hemorrhage, and brain tumors after more than 10 years of rapid development. Traditional spinal hemorrhage and neurosurgical endoscopic surgeries involve the surgeon holding the endoscope in their left hand and using their right hand to operate surgical instruments to explore, grasp, and drill into the spine or brain. The drawback of this surgical model is that prolonged use of the endoscope without a handpiece can lead to fatigue, shaking, and errors.

[0003] With the rapid development of robotics technology, the high precision, flexible movement, and fine motion of robots have made robot-assisted endoscopic surgery increasingly accepted. However, the drawbacks of using robots to hold the endoscope are:

[0004] 1) Inaccurate monitoring of the external force at the end of the robotic arm leads to unsmooth human-machine interaction, and doctors cannot achieve the dexterity of holding a scope freehand when operating the robot;

[0005] 2) The robot lacks tactile feedback and cannot provide safety warnings when the endoscope collides with the spine, internal brain tissue, or other parts during surgery. Summary of the Invention

[0006] This invention provides a method, device, and surgical robot system for controlling surgical endoscopes, which can reduce the radiation dose to patients and avoid the influence of artifacts on verification.

[0007] The technical solution adopted in this invention is as follows:

[0008] A method for controlling a surgical endoscope, applied in neurosurgery or spinal surgery, characterized in that the surgical endoscope is mounted on a force sensor, the force sensor is mounted on the end effector of a robotic arm, and during the surgery, the surgeon applies a control force to the end effector of the robotic arm. The control method includes:

[0009] Without the doctor applying the control force to the end of the robotic arm, the force sensor is zero-point calibrated to calculate the zero-point value of the force sensor, which characterizes the magnitude of the force sensor's own weight.

[0010] When the doctor applies the control force to the end of the robotic arm, the control force is matched with multiple set control force segment thresholds to determine the control force segment interval in which the control force is located;

[0011] Determine the mapping relationship between the control force corresponding to the control force segment interval where the control force is located and the pose of the robotic arm end effector;

[0012] Based on the mapping relationship between the control force and the pose of the robotic arm end effector, the pose of the robotic arm end effector is determined according to the control force to control the movement of the robotic arm end effector, so that the surgical endoscope reaches the target position under the drive of the robotic arm end effector.

[0013] Optionally, the step of zero-point calibration of the force sensor to calculate the zero-point value of the force sensor includes:

[0014] Without the doctor applying the control force to the end of the robotic arm, the external force and corresponding external torque measured by the force sensor are acquired.

[0015] The force sensor is zero-point calibrated based on the external force and the corresponding external torque to calculate the zero-point value of the force sensor.

[0016] Optionally, the step of zero-point calibration of the force sensor based on the external force and the corresponding external torque to calculate the zero-point value of the force sensor includes:

[0017] Based on the external force and the corresponding external torque, calculate the coordinates of the surgical endoscope in the coordinate system where the force sensor is located, as well as the torque constant.

[0018] The zero-point calibration of the force sensor is performed based on the coordinates of the surgical endoscope in the coordinate system of the force sensor and the torque constant, so as to calculate the zero-point value of the force sensor.

[0019] Optionally, the zero-point value of the force sensor is calculated by zero-point calibration based on the following formula, according to the coordinates of the surgical endoscope in the coordinate system where the force sensor is located and the torque constant:

[0020]

[0021] Where (x,y,z) represents the coordinates of the surgical endoscope in the coordinate system of the force sensor, (k1,k2,k3) represents the torque constant, and (F x0 F y0 F z0 (M) represents the zero-point value of the force sensor. x0 M y0 M z0) represents the zero-point torque value of the force sensor.

[0022] Optionally, based on the least squares method, the coordinates of the surgical endoscope in the coordinate system where the force sensor is located and the torque constant are calculated according to the external force and the corresponding external torque.

[0023] Optionally, based on the least squares method, the force sensor is zero-point calibrated according to the coordinates of the surgical endoscope in the coordinate system where the force sensor is located and the torque constant, so as to calculate the zero-point value of the force sensor.

[0024] Optionally, the control force segmentation threshold includes a first control force segmentation threshold, a second control force division threshold, a third control force segmentation threshold, and a fourth control force division threshold, wherein the magnitudes of the first control force segmentation threshold, the second control force division threshold, the third control force segmentation threshold, and the fourth control force division threshold increase sequentially.

[0025] Correspondingly, the control force segment interval in which the control force is located is at least one of the following:

[0026] First control force segmentation interval: The control force does not exceed the first control force segmentation threshold;

[0027] Second control force segmentation interval: The control force is greater than the first control force segmentation threshold and less than or equal to the second control force segmentation threshold;

[0028] The third control force segmentation interval is: the control force is greater than the second control force segmentation threshold and less than or equal to the third control force division threshold.

[0029] Fourth control force segmentation interval: The control force is greater than the third control force segmentation threshold and less than or equal to the fourth control force division threshold;

[0030] Fifth control force segmentation interval: The control force is greater than the fourth control force scale threshold.

[0031] Optionally, the mapping relationships between the control forces corresponding to the first control force segment interval to the fifth control force segment interval and the pose of the robotic arm end effector are as follows:

[0032]

[0033] k1 represents the first control force segmentation threshold, k2 represents the second control force division threshold, k3 represents the third control force segmentation threshold, and k4 represents the fourth control force division threshold. ext Indicates control. The value represents the angular velocity at the end of the robotic arm, and emax represents the maximum angular displacement; M1, M2, and M3 represent the first specified constant, the second specified constant, and the third specified constant, respectively.

[0034] Optionally, the first control force segmentation interval creates a control force stop zone after the control force disappears, so that the end of the robotic arm is in a pose-holding state;

[0035] The second control force segmentation interval places the control force in the transition zone between the control force stop zone and the control force working zone, so that the end effector of the robotic arm transitions from the control force stop zone to the control force working zone.

[0036] The third control force segmentation interval ensures that the control force is within the control force working area, allowing the pose of the robotic arm's end effector to be dynamically adjusted.

[0037] The fourth control force segmentation interval makes the control force located in the transition zone between the control force working zone and the control force saturation zone, so that the end effector of the robotic arm transitions from the control force working zone to the control force saturation zone.

[0038] The fifth control force segmentation interval keeps the control force in the control force saturation region, thereby restricting the pose of the robotic arm end effector.

[0039] A control device for a surgical endoscope, used in neurosurgery or spinal surgery, wherein the surgical endoscope is mounted on a force sensor, the force sensor is mounted on the end effector of a robotic arm, and during the surgery, the surgeon applies a control force to the end effector of the robotic arm. The control device includes:

[0040] A calibration unit is used to perform zero-point calibration on the force sensor when the doctor does not apply the control force to the end of the robotic arm, so as to calculate the zero-point value of the force sensor, the zero-point value representing the magnitude of the force sensor's own gravity;

[0041] A matching unit is used to match the control force with a set number of control force segment thresholds when the doctor applies the control force to the end of the robotic arm, so as to determine the control force segment interval in which the control force is located.

[0042] The mapping unit is used to determine the mapping relationship between the control force corresponding to the control force segment interval where the control force is located and the pose of the robotic arm end effector.

[0043] The pose determination unit is used to determine the pose of the robotic arm end effector based on the mapping relationship between the control force and the pose of the robotic arm end effector, so as to control the movement of the robotic arm end effector and enable the surgical endoscope to reach the target position under the drive of the robotic arm end effector.

[0044] A surgical robot system includes: an endoscope, a force sensor, a robotic arm, and a main unit. The surgical endoscope is mounted on the force sensor, which is also mounted on the end effector of the robotic arm. During surgery, the surgeon applies control forces to the end effector of the robotic arm. The main unit is used to perform the following steps:

[0045] The force sensor is zero-point calibrated to calculate the zero-point value of the force sensor, which characterizes the magnitude of the gravitational force exerted by the force sensor and the surgical endoscope on the end of the robotic arm.

[0046] The control force is matched with a set control force segment threshold to determine the control force segment interval in which the control force is located;

[0047] Determine the mapping relationship between the control force corresponding to the segmented control force interval and the pose of the robotic arm end effector;

[0048] Based on the mapping relationship, the movement of the robotic arm end effector is controlled so that the surgical endoscope reaches the target position under the drive of the robotic arm end effector.

[0049] An electronic device includes a memory and a processor, wherein the memory stores computer-executable instructions, and the processor is configured to execute the computer-executable instructions to perform the method described in any one of the embodiments of this application.

[0050] A computer program product having computer-executable instructions stored thereon, wherein the computer-executable instructions, when executed, perform the operation corresponding to any of the methods described in the embodiments of this application.

[0051] A method for controlling a surgical instrument, the surgical instrument being mounted on a force sensor, the force sensor being mounted on the end effector of a robotic arm, wherein during surgery, a surgeon applies a control force to the end effector of the robotic arm, the control method comprising:

[0052] Without the doctor applying the control force to the end of the robotic arm, the force sensor is zero-point calibrated to calculate the zero-point value of the force sensor, which characterizes the magnitude of the force sensor's own weight.

[0053] When the doctor applies the control force to the end of the robotic arm, the control force is matched with multiple set control force segment thresholds to determine the control force segment interval in which the control force is located;

[0054] Determine the mapping relationship between the control force corresponding to the control force segment interval where the control force is located and the pose of the robotic arm end effector;

[0055] Based on the mapping relationship between the control force and the pose of the robotic arm end effector, the pose of the robotic arm end effector is determined according to the control force to control the movement of the robotic arm end effector, so that the surgical instrument reaches the target position under the drive of the robotic arm end effector.

[0056] In the technical solution provided by this invention, the surgical endoscope is mounted on a force sensor, which is mounted on the end of a robotic arm. During the surgery, the surgeon applies a control force to the end of the robotic arm. The control method includes: when the surgeon does not apply the control force to the end of the robotic arm, performing zero-point calibration on the force sensor to calculate the zero-point value of the force sensor, where the zero-point value characterizes the magnitude of the force sensor's own weight; and when the surgeon applies the control force to the end of the robotic arm, matching the control force with multiple preset control force segment thresholds to determine the control force at which the control force is located. The control force is segmented into intervals; the mapping relationship between the control force segment corresponding to the control force and the pose of the robotic arm end effector is determined; based on the mapping relationship between the control force and the pose of the robotic arm end effector, the pose of the robotic arm end effector is determined according to the control force to control the movement of the robotic arm end effector, so that the surgical endoscope reaches the target position under the drive of the robotic arm end effector. This allows for accurate monitoring of the external force on the robotic arm end effector, increases the compliance of human-computer interaction, and enables doctors to operate the robot with the flexibility of freehand endoscope operation; at the same time, it reduces the risk of collision between the endoscope and the target tissue during surgery. Attached Figure Description

[0057] Figure 1A This is a schematic flowchart of a control method for a surgical endoscope according to an embodiment of this application.

[0058] Figure 1B This is a schematic diagram of gravity in a surgical endoscope.

[0059] Figure 2 This is a schematic diagram of the structure of a control device for a surgical endoscope according to an embodiment of this application.

[0060] Figure 3 This is a schematic diagram of a surgical robot system according to an embodiment of this application.

[0061] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0062] Figure 5 This is a schematic diagram of a control method for a surgical instrument according to an embodiment of this application. Detailed Implementation

[0063] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0064] Figure 1A This is a schematic flowchart illustrating a control method for a surgical endoscope according to an embodiment of this application. Figure 1A As shown, this surgical endoscope is used in neurosurgery or spinal surgery. It is mounted on a force sensor, which is then attached to the end of a robotic arm. During the surgery, the surgeon applies control forces to the end of the robotic arm. The surgical endoscope includes, but is not limited to, spinal endoscopes and orthopedic endoscopes.

[0065] For example, the force sensor can be a six-dimensional force sensor, and the target location can be the location of the patient's lesion. Here, the six-dimensional force sensor is merely an example of a force sensor and is not the only one. Similarly, the lesion location is merely an example of a target location and is not the only one.

[0066] like Figure 1A As shown, the control method includes the following steps:

[0067] S101. Without the doctor applying the control force to the end of the robotic arm, the force sensor is zero-point calibrated to calculate the zero-point value of the force sensor, the zero-point value representing the magnitude of the force sensor's own gravity.

[0068] S102. When the doctor applies the control force to the end of the robotic arm, the control force is matched with multiple set control force segment thresholds to determine the control force segment interval in which the control force is located.

[0069] S103. Determine the mapping relationship between the control force corresponding to the control force segment interval where the control force is located and the pose of the robotic arm end;

[0070] S104. Based on the mapping relationship between the control force and the pose of the robotic arm end effector, determine the pose of the robotic arm end effector according to the control force, so as to control the movement of the robotic arm end effector, so that the surgical endoscope reaches the target position under the drive of the robotic arm end effector.

[0071] Optionally, the step of zero-point calibration of the force sensor to calculate the zero-point value of the force sensor includes:

[0072] Without the doctor applying the control force to the end of the robotic arm, the external force and corresponding external torque measured by the force sensor are acquired.

[0073] The force sensor is zero-point calibrated based on the external force and the corresponding external torque to calculate the zero-point value of the force sensor.

[0074] Optionally, the step of zero-point calibration of the force sensor based on the external force and the corresponding external torque to calculate the zero-point value of the force sensor includes:

[0075] Based on the external force and the corresponding external torque, calculate the coordinates of the surgical endoscope in the coordinate system where the force sensor is located, as well as the torque constant.

[0076] The zero-point calibration of the force sensor is performed based on the coordinates of the surgical endoscope in the coordinate system of the force sensor and the torque constant, so as to calculate the zero-point value of the force sensor.

[0077] Optionally, the zero-point value of the force sensor is calculated by zero-point calibration based on the following formula, according to the coordinates of the surgical endoscope in the coordinate system where the force sensor is located and the torque constant:

[0078]

[0079] Where (x, y, z) represents the coordinates of the center of gravity of the surgical endoscope in the coordinate system of the force sensor, (k1, k2, k3) represents the torque constant, (F x0 F y0 F z0 (M) represents the zero-point value of the force sensor. x0 M y0 M z0 ) represents the zero-point torque value of the force sensor.

[0080] Figure 1B This is a schematic diagram of the gravity of the surgical endoscope. Taking the center of mass of the tool (i.e., the surgical endoscope) as a reference, let the gravity of the surgical endoscope be G. Its force components along the three axes in the coordinate system of the sensor are (G... x G y G z The torque generated by the gravity of the surgical endoscope on the three axes of the sensor coordinate system is (M). gx M gy M gz ),but:

[0081]

[0082] The measurement value of the force sensor under no external force is called the zero point of the force sensor, which can be specifically set as (F). x0 F y0 F z0 M x0 M y0 M z0 ), where (F x0 F y0 Fz0 (M) represents the zero-point value of the force sensor. x0 M y0 M z0 ) represents the zero-point torque value of the force sensor.

[0083] When the doctor does not apply the control force to the end effector of the robotic arm, all forces (or external forces) and corresponding torques (or external torques) measured by the force sensor are (F x F y F z M x M y M z ), where (F x F y F z (M) represents the torque of all measured forces (including control forces, the force from the surgical endoscope, and the gravity from the force sensor). x M y M z () indicates the gravitational torque measured by the surgical endoscope;

[0084] Considering that all forces measured by the force sensor include the weight of the surgical endoscope, the zero-point value of the force sensor, and the control force applied by the doctor, and the corresponding torques include the torque generated by the weight of the surgical endoscope, the zero-point value of the force sensor, and the control force applied by the doctor, the following relationship exists:

[0085]

[0086] Where l1, l2, and l3 represent torque constants, or they can be referred to as the first torque constant, the second torque constant, and the third torque constant, respectively.

[0087] The coordinates (x, y, z) of the surgical endoscope in the coordinate system of the force sensor and the torque constant (l1, l2, l3) can be obtained by least squares calculation. The torque constant can be obtained by least squares calculation based on the above formula (2).

[0088] Furthermore, considering that gravity (including the gravity of the surgical endoscope and the gravity of the force sensor) can be represented as [0-g] in the world coordinate system... T Therefore, we can know that:

[0089]

[0090] in This represents the rotation matrix that transforms the gravity of the surgical endoscope from the world coordinate system to the coordinate system where the force sensor is located.

[0091] The zero-point value of the force sensor (F) can be calculated using the least squares method.x0 F y0 F z0 Substituting these values, we obtain the above formula (1):

[0092]

[0093] Optionally, based on the least squares method, the coordinates of the surgical endoscope in the coordinate system where the force sensor is located and the torque constant are calculated according to the external force and the corresponding external torque.

[0094] Optionally, based on the least squares method, the force sensor is zero-point calibrated according to the coordinates of the surgical endoscope in the coordinate system where the force sensor is located and the torque constant, so as to calculate the zero-point value of the force sensor.

[0095] In this embodiment, an admittance control algorithm is used to establish a mapping relationship between the control force and the pose of the robotic arm's end effector, such as... Figure 5 As shown:

[0096]

[0097] In formula (5), M and B represent the set mapping constants, and K represents the admittance coefficient. This represents the angular acceleration at the end of the robotic arm. denoted by ω, e represents the angular velocity at the end of the robotic arm, ω represents the angular displacement at the end of the robotic arm, and Fext represents the force of all measured forces (i.e., the external forces mentioned above) minus the gravity of the surgical endoscope and the zero-point value of the force sensor mentioned above, in order to reflect the magnitude of the control force.

[0098] The end-effector attitude acceleration can be calculated using Formula 5.

[0099]

[0100] When the doctor manipulates the end effector of the robotic arm, the arm is in a pure drag state. Therefore, we set K=0, then:

[0101]

[0102] angular acceleration at the end By performing two integrations, the angular displacement *e* can be obtained, thus establishing the mapping relationship between the control force and the end-effector pose of the robotic arm. However, in actual surgery, considering factors such as zero drift of the force sensor, the need for frequent endoscope movement to stop during surgery, and excessive control force applied by the surgeon, the aforementioned admittance mapping relationship is too idealistic and not applicable to actual surgery.

[0103] Therefore, in this embodiment of the application, multiple control force segment thresholds are preset so that when the doctor applies the control force to the end of the robotic arm, the control force is matched with the multiple preset control force segment thresholds to determine the control force segment interval in which the control force is located.

[0104] Therefore, in one example, optionally, the control force segmentation threshold includes a first control force segmentation threshold, a second control force division threshold, a third control force segmentation threshold, and a fourth control force division threshold, wherein the magnitudes of the first control force segmentation threshold, the second control force division threshold, the third control force segmentation threshold, and the fourth control force division threshold increase sequentially.

[0105] Correspondingly, the control force segment interval in which the control force is located is at least one of the following:

[0106] First control force segmentation interval: The control force does not exceed the first control force segmentation threshold;

[0107] Second control force segmentation interval: The control force is greater than the first control force segmentation threshold and less than or equal to the second control force segmentation threshold;

[0108] The third control force segmentation interval is: the control force is greater than the second control force segmentation threshold and less than or equal to the third control force division threshold.

[0109] Fourth control force segmentation interval: The control force is greater than the third control force segmentation threshold and less than or equal to the fourth control force division threshold;

[0110] Fifth control force segmentation interval: The control force is greater than the fourth control force scale threshold.

[0111] Optionally, the mapping relationships between the control forces corresponding to the first control force segment interval to the fifth control force segment interval and the pose of the robotic arm end effector are as follows:

[0112]

[0113] k1 represents the first control force segmentation threshold, k2 represents the second control force division threshold, k3 represents the third control force segmentation threshold, and k4 represents the fourth control force division threshold. ext Indicates control. The value represents the angular velocity at the end of the robotic arm, and emax represents the maximum angular displacement; M1, M2, and M3 represent the first specified constant, the second specified constant, and the third specified constant, respectively.

[0114] Optionally, the first control force segmentation interval creates a control force stop zone after the control force disappears, so that the end of the robotic arm is in a pose-holding state; for example, it can effectively prevent the robot from moving under the action of a small input force (such as sensor zero drift), so that the robot can smoothly maintain its original pose after the doctor stops dragging.

[0115] The second control force segmentation interval places the control force in a transition zone between the control force stop zone and the control force working zone, allowing the robotic arm end effector to transition from the control force stop zone to the control force working zone. For example, this transition zone can allow the robot's motion admittance mapping to smoothly change from the stop zone to the working zone.

[0116] The third control force segmentation interval places the control force within its working range, allowing the pose of the robotic arm's end effector to be dynamically adjusted: for example, by adjusting the size of this interval, the sensitivity of the robot's dragging motion can be dynamically adjusted.

[0117] The fourth control force segmentation interval places the control force in a transition zone between the control force working zone and the control force saturation zone, allowing the robotic arm end effector to transition from the control force working zone to the control force saturation zone; for example, this transition zone allows the robot's motion admittance mapping to smoothly change from the working zone to the saturation zone.

[0118] The fifth control force segmentation interval places the control force in the control force saturation zone, restricting the pose of the robotic arm end effector. At this point, even if the drag force at the end effector of the robotic arm continues to increase, the robot's response speed remains unchanged. This saturation zone is used to limit the robot's maximum drag response speed to prevent the robot from moving too fast and losing control.

[0119] The above example illustrates the establishment of five control force segment intervals. In fact, based on the objectives described above, multiple other control force segment intervals can be established to increase the accuracy of control.

[0120] Figure 2 This is a schematic diagram of the structure of a control device for a surgical endoscope according to an embodiment of this application. Figure 2 As shown, this control device is used in neurosurgery or spinal surgery. The surgical endoscope is mounted on a force sensor, which is mounted on the end effector of a robotic arm. During the surgery, the surgeon applies a control force to the end effector of the robotic arm. The control device includes:

[0121] The calibration unit 201 is used to perform zero-point calibration on the force sensor when the doctor does not apply the control force to the end of the robotic arm, so as to calculate the zero-point value of the force sensor, the zero-point value representing the magnitude of the force sensor's own gravity.

[0122] The matching unit 202 is used to match the control force with a set number of control force segment thresholds when the doctor applies the control force to the end of the robotic arm, so as to determine the control force segment interval in which the control force is located.

[0123] The mapping unit 203 is used to determine the mapping relationship between the control force corresponding to the control force segment interval where the control force is located and the pose of the robotic arm end.

[0124] The pose determination unit 204 is used to determine the pose of the robotic arm end based on the mapping relationship between the control force and the pose of the robotic arm end, and according to the control force, so as to control the movement of the robotic arm end, so that the surgical endoscope reaches the target position under the drive of the robotic arm end.

[0125] Figure 3 This is a schematic diagram of a surgical robot system according to an embodiment of this application. Figure 3 As shown, it includes: an endoscope (not shown), a force sensor (not shown), a robotic arm 101, and a main unit 102. The surgical endoscope is mounted on the force sensor, which is mounted on the end of the robotic arm. During the surgery, the surgeon applies a control force to the end of the robotic arm. The main unit is used to perform the following steps:

[0126] The force sensor is zero-point calibrated to calculate the zero-point value of the force sensor, which characterizes the magnitude of the gravitational force exerted by the force sensor and the surgical endoscope on the end of the robotic arm.

[0127] The control force is matched with a set control force segment threshold to determine the control force segment interval in which the control force is located;

[0128] Determine the mapping relationship between the control force corresponding to the segmented control force interval and the pose of the robotic arm end effector;

[0129] Based on the mapping relationship, the movement of the robotic arm end effector is controlled so that the surgical endoscope reaches the target position under the drive of the robotic arm end effector.

[0130] The exemplary explanations of the various steps performed by the host described above can be found in the above descriptions. Figure 1A As shown. Of course, in some other examples, this approach may not be used. Figure 1A The exemplary technical means shown are as follows.

[0131] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Figure 4As shown, it includes a memory 401 and a processor 402. The memory stores computer-executable instructions, and the processor is used to execute the computer-executable instructions to perform the method described in any of the embodiments of this application.

[0132] For example, the electronic device can serve as the host described above.

[0133] This application provides a computer program product that stores computer-executable instructions, which, when executed, perform the operation corresponding to any of the methods described in this application.

[0134] The solutions provided in the above embodiments can also be extended to other surgical scenarios besides endoscopy. Therefore, the following embodiments provide a control method for general surgical instruments in general scenarios.

[0135] Figure 5 This is a schematic flowchart of a control method for a surgical instrument according to an embodiment of this application. The surgical instrument is mounted on a force sensor, which is mounted on the end effector of a robotic arm. During the surgery, the surgeon applies a control force to the end effector of the robotic arm. The control method includes:

[0136] S501. Without the doctor applying the control force to the end of the robotic arm, the force sensor is zero-point calibrated to calculate the zero-point value of the force sensor, the zero-point value representing the magnitude of the force sensor's own gravity.

[0137] S502. When the doctor applies the control force to the end of the robotic arm, the control force is matched with multiple set control force segment thresholds to determine the control force segment interval in which the control force is located.

[0138] S503. Determine the mapping relationship between the control force corresponding to the control force segment interval where the control force is located and the pose of the robotic arm end;

[0139] S504. Based on the mapping relationship between the control force and the pose of the robotic arm end effector, determine the pose of the robotic arm end effector according to the control force, so as to control the movement of the robotic arm end effector, so that the surgical instrument reaches the target position under the drive of the robotic arm end effector.

[0140] The above Figure 5 The exemplary descriptions of each step are similar to those described above. Figure 1A Of course, in some other examples, this approach may not be necessary. Figure 1A The exemplary technical means shown are as follows.

[0141] The above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and are not intended to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, 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, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control device for a surgical endoscope, used in neurosurgery or spinal surgery, characterized in that, The surgical endoscope is mounted on a force sensor, which is mounted on the end effector of a robotic arm. During the surgery, the surgeon applies a control force to the end effector of the robotic arm. The control device includes: A calibration unit is used to perform zero-point calibration on the force sensor when the doctor does not apply the control force to the end of the robotic arm, so as to calculate the zero-point value of the force sensor, the zero-point value representing the magnitude of the force sensor's own gravity; A matching unit is used to match the control force with a set number of control force segment thresholds when the doctor applies the control force to the end of the robotic arm, so as to determine the control force segment interval in which the control force is located. The mapping unit is used to determine the mapping relationship between the control force corresponding to the control force segment interval where the control force is located and the pose of the robotic arm end effector. The pose determination unit is used to determine the pose of the robotic arm end based on the mapping relationship between the control force and the pose of the robotic arm end, according to the control force, so as to control the movement of the robotic arm end, so that the surgical endoscope reaches the target position under the drive of the robotic arm end. The control force segment thresholds include a first control force segment threshold, a second control force segment threshold, a third control force segment threshold, a fourth control force segment threshold, and a fifth control force segment threshold; The first control force segmentation threshold creates a control force stop zone after the control force disappears, so that the end of the robotic arm is in a pose-holding state. The second control force segmentation threshold makes the control force located in the transition zone between the control force stop zone and the control force working zone, so that the end effector of the robotic arm transitions from the control force stop zone to the control force working zone. The third control force segmentation threshold ensures that the control force is within the control force working area, allowing the pose of the robotic arm end effector to be dynamically adjusted. The fourth control force segmentation threshold makes the control force located in the transition zone between the control force working zone and the control force saturation zone, so that the end effector of the robotic arm transitions from the control force working zone to the control force saturation zone. The fifth control force segmentation threshold keeps the control force in the control force saturation zone, thereby restricting the pose of the robotic arm end effector.

2. A surgical robot system, characterized in that, include: The surgical endoscope, force sensor, robotic arm, and main unit are configured to perform the following steps: The force sensor is zero-point calibrated to calculate the zero-point value of the force sensor, which characterizes the magnitude of the gravitational force exerted by the force sensor and the surgical endoscope on the end of the robotic arm. The control force is matched with a set control force segment threshold to determine the control force segment interval in which the control force is located; Determine the mapping relationship between the control force corresponding to the segmented control force interval and the pose of the robotic arm end effector; Based on the mapping relationship, the movement of the robotic arm end effector is controlled so that the surgical endoscope reaches the target position under the drive of the robotic arm end effector. The control force segment thresholds include a first control force segment threshold, a second control force segment threshold, a third control force segment threshold, a fourth control force segment threshold, and a fifth control force segment threshold; The first control force segmentation threshold creates a control force stop zone after the control force disappears, so that the end of the robotic arm is in a pose-holding state. The second control force segmentation threshold makes the control force located in the transition zone between the control force stop zone and the control force working zone, so that the end effector of the robotic arm transitions from the control force stop zone to the control force working zone. The third control force segmentation threshold ensures that the control force is within the control force working area, allowing the pose of the robotic arm end effector to be dynamically adjusted. The fourth control force segmentation threshold makes the control force located in the transition zone between the control force working zone and the control force saturation zone, so that the end effector of the robotic arm transitions from the control force working zone to the control force saturation zone. The fifth control force segmentation threshold keeps the control force in the control force saturation zone, thereby restricting the pose of the robotic arm end effector.

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