Self-motion self-checking method, device, equipment and storage medium of surgical robot

Abstract

The present invention provides a self - motion self - inspection method, device, equipment and storage medium for a surgical robot, relating to the field of medical devices. The method includes: obtaining the current position of the operating hand and using the current position of the operating hand as the starting point; obtaining a preset number of trajectory target points, and when the trajectory target points are within a preset spatial range, generating a planned motion trajectory according to the starting point and the trajectory target points; controlling the operating hand to move according to the planned motion trajectory; and when the operating hand is moving, performing self - inspection on the surgical robot according to the self - inspection items. The self - motion self - inspection method of the surgical robot in the present invention generates the motion trajectory of the operating hand according to the starting point and the target point, conducts a comprehensive self - inspection on the surgical robot, ensures the long - term safe and stable operating state of the surgical robot, and improves the stability of the surgical robot and the safety of the surgery.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and more particularly, to a self-motion self-checking method, device, equipment and storage medium for a surgical robot. Background Art

[0002] In the medical field, surgical robots are used for surgeries, including minimally invasive laparoscopic surgeries. Since surgical robots can suture or tie knots in a narrow space, they are regarded as the best means for minimally invasive laparoscopic surgeries. However, due to the generally long duration of minimally invasive laparoscopic surgeries, in order to ensure that the surgical robot can maintain its operating state for a long time, it is necessary to perform self-checks on the surgical robot before operation to determine whether the surgical robot can operate safely and stably.

[0003] In the prior art, for the pre-operation self-check of a surgical robot, self-checks are generally performed through a preset self-check program. However, the preset self-check program can only perform self-checks from the steps set in the program and cannot simulate the surgical environment for automatic detection, resulting in a large limitation in self-checks and incomplete detection of the surgical robot, thus affecting the stability and safety of the surgical robot during the operation. Summary of the Invention

[0004] The main technical problem to be solved by the present invention is that the self-check method of the surgical robot is too simple and has large limitations, and cannot comprehensively perform pre-motion detection on the surgical robot, resulting in the stability of the surgical robot and the safety of the operation.

[0005] To solve the above problems, the present invention provides a self-motion self-checking method for a surgical robot. The self-motion self-checking method for a surgical robot is applied to a surgical robot, and the surgical robot includes an operating hand. The self-motion self-checking method for a surgical robot includes:

[0006] Obtain the current position of the operating hand, and use the current position of the operating hand as the starting point;

[0007] Obtain a preset number of trajectory target points. When the trajectory target points are within a preset spatial range, generate a planned motion trajectory according to the starting point and the trajectory target points;

[0008] Control the operating hand to move according to the planned motion trajectory;

[0009] When the operating hand is moving, perform self-checks on the surgical robot according to the self-check items.

[0010] Optionally, the surgical robot further includes an encoder, a motor and a joint. The encoder is arranged on the motor, and the joint is connected to the motor and the operating hand; controlling the operating hand to move according to the planned motion trajectory includes:

[0011] Obtain the next planned angle of the joint according to the next described trajectory target point;

[0012] Obtain the next pulse value of the encoder according to the next planned angle of the joint;

[0013] Control the motor to output a driving current according to the next pulse value of the encoder, and drive the joint to move from the current trajectory target point to the next trajectory target point.

[0014] Optionally, the obtaining of the preset number of trajectory target points includes:

[0015] Obtain vectors with multiple random directions and vectors with random lengths from the historical motion data of the surgical robot;

[0016] Use the vectors with multiple random directions and the vectors with random lengths as the trajectory target points.

[0017] Optionally, before obtaining the current position of the manipulator and using the current position of the manipulator as the starting point, it further includes:

[0018] When a self-check command is obtained, detect the hardware of the surgical robot;

[0019] When the hardware of the surgical robot meets the self-check conditions, obtain the self-check items.

[0020] Optionally, after controlling the manipulator to move according to the planned motion trajectory and performing a self-check on the surgical robot according to the self-check items, it further includes:

[0021] Use the duration from obtaining the current position to the end of the motion of the manipulator according to the planned motion trajectory as the self-check duration;

[0022] When the self-check duration is greater than or equal to the preset self-check duration, obtain the self-check information corresponding to the self-check items;

[0023] When the self-check duration is less than the preset self-check duration, re-obtain the preset number of trajectory target points.

[0024] Optionally, the self-motion self-check method of the surgical robot further includes: when the trajectory target point is outside the preset space range or above the preset range, re-obtain the preset number of trajectory target points.

[0025] Optionally, the self-check items include the status of the devices of the surgical robot;

[0026] When the self-check duration is greater than or equal to the preset self-check duration, obtaining the self-check information corresponding to the self-check item includes:

[0027] When the self-check duration is greater than or equal to the preset self-check duration, if the state of any device of the surgical robot in the self-check item is abnormal, the abnormal time, abnormal code, and abnormal note corresponding to the device are used as the self-check information.

[0028] The self-motion self-check method of the surgical robot of the present invention generates the motion trajectory of the operating hand according to the starting point and the target point, simulates the surgical process, and comprehensively self-checks the surgical robot according to the set self-check items, ensuring the long-term safe and stable operating state of the surgical robot and improving the stability of the surgical robot and the safety of the surgery.

[0029] The present invention provides a self-motion self-check device for a surgical robot. The self-motion self-check device for a surgical robot is applied to a surgical robot. The surgical robot includes an operating hand. The self-motion self-check device for a surgical robot includes:

[0030] A path planning unit, configured to obtain the current position of the operating hand, use the current position of the operating hand as the starting point; obtain a preset number of trajectory target points, and when the trajectory target points are within a preset spatial range, generate a planned motion trajectory according to the starting point and the trajectory target points;

[0031] A control unit, configured to control the operating hand to move according to the planned motion trajectory;

[0032] A self-check unit, configured to self-check the surgical robot according to the self-check items when the operating hand is moving.

[0033] The self-motion self-check device for a surgical robot of the present invention generates the motion trajectory of the operating hand according to the starting point and the target point, simulates the surgical process, and comprehensively self-checks the surgical robot according to the set self-check items, ensuring the long-term safe and stable operating state of the surgical robot and improving the stability of the surgical robot and the safety of the surgery.

[0034] The present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned self-motion self-check method for a surgical robot is implemented.

[0035] The computer device of the present invention generates the motion trajectory of the operating hand according to the starting point and the target point, simulates the surgical process, and comprehensively self-checks the surgical robot according to the set self-check items, ensuring the long-term safe and stable operating state of the surgical robot and improving the stability of the surgical robot and the safety of the surgery.

[0036] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the self-motion self-check method of the surgical robot according to any one of the above is implemented.

[0037] The computer-readable storage medium of the present invention generates the motion trajectory of the operating hand according to the starting point and the target point, simulates the surgical process, and comprehensively self-checks the surgical robot according to the set self-check items, ensuring the long-term safe and stable operation state of the surgical robot, and improving the stability of the surgical robot and the safety of the surgery. Description of the Drawings

[0038] Figure 1 It is a schematic structural diagram of the surgical robot in the embodiment of the present invention;

[0039] Figure 2 It is a flowchart of the self-motion self-check method of the surgical robot in the embodiment of the present invention;

[0040] Figure 3 It is a flowchart of the self-motion self-check method of the surgical robot in the embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of the self-motion self-check device of the surgical robot in the embodiment of the present invention;

[0042] Figure 5 It is a schematic diagram of the computer device in the embodiment of the present invention.

[0043] Description of the Reference Numerals:

[0044] 1 - Operating hand; 2 - Human-machine interaction screen; 3 - Surgical arm; 4 - Patient. Detailed Embodiments

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] Combined with Figure 1 As shown, the surgical robot includes an operating hand 1, a human-machine interaction screen 2, and a surgical arm 3. The surgical robot controls the surgical arm 3 through the operating hand 1 to perform surgery on the patient 4. When the surgical robot performs self-check, it also needs to control the operating hand 1 to simulate the surgical process and display the self-check results on the human-machine interaction screen 2.

[0047] Combined withFigure 2 As shown in Figure 2 , the self - motion self - inspection method of the surgical robot of the present invention is applied to a surgical robot, which includes an operating hand. The self - motion self - inspection method of the surgical robot includes:

[0048] S1: Obtain the current position of the operating hand and use the current position of the operating hand as the starting point;

[0049] S2: Obtain a preset number of trajectory target points. When the trajectory target points are within a preset space range, generate a planned motion trajectory according to the starting point and the trajectory target points;

[0050] S3: Control the operating hand to move according to the planned motion trajectory;

[0051] S4: When the operating hand is moving, self - inspect the surgical robot according to the self - inspection items.

[0052] In this embodiment, after the surgical robot is powered on, it is necessary to self - inspect the surgical robot. Therefore, it is necessary to simulate the surgical state of the surgical robot. The surgical robot includes an operating hand, which is a control device for controlling the movement of the surgical arm of the surgical robot. Plan the motion trajectory of the operating hand, make the operating hand move according to the motion trajectory, and perform the detection process during the movement of the operating hand;

[0053] Among them, for the planning of the motion trajectory of the operating hand, a method of randomly generating target points is adopted, and it is judged whether the target points are within the set preset space range. If so, the target points are used as trajectory target points. By detecting the position of the operating hand when the surgical robot is powered on and using this position as the starting point of the random motion trajectory, randomly connect the randomly generated trajectory target points starting from the starting point to generate a planned motion trajectory; control the operating hand to move according to the planned motion trajectory.

[0054] The self - motion self - inspection method of the surgical robot of the present invention generates the motion trajectory of the operating hand according to the starting point and the target point, simulates the surgical process, and comprehensively self - inspects the surgical robot according to the set self - inspection items, ensuring the long - term safe and stable operation state of the surgical robot and improving the stability of the surgical robot and the safety of the surgery.

[0055] Combined with Figure 3 As shown in Figure 3 , in the embodiment of the present invention, the surgical robot further includes an encoder, a motor, and a joint. The encoder is arranged on the motor, and the joint is connected to the motor and the operating hand. The control of the operating hand to move according to the planned motion trajectory includes:

[0056] S31: Obtain the next planned angle of the joint according to the next trajectory target point;

[0057] S32: Obtain the next pulse value of the encoder according to the next planned angle of the joint;

[0058] S33: Control the motor to output a driving current according to the next pulse value of the encoder, and drive the joint to move from the current trajectory target point to the next trajectory target point.

[0059] In this embodiment, in addition to the operating hand, the surgical robot further includes an encoder, a motor, and a joint. The surgical encoder is disposed on the motor and is used to measure the actual position of the motor. The motor is connected to the joint, and the motor is used to drive the joint to move. According to the randomly obtained trajectory target point, the movement angle of the corresponding joint is obtained. Since the joint is connected by the motor and the specific rotation of the motor is realized by the encoder, the pulse value of the encoder is obtained through the joint movement angle, and the motor rotates through the pulse value to drive the corresponding joint to move to the corresponding position, that is, move to the next trajectory target point.

[0060] The self-motion self-checking method of the surgical robot of the present invention randomly generates target points, and then randomly generates a planned motion trajectory. Through the random motion of the operating hand, it simulates the motion of the operating hand in the surgical environment, improves the comprehensiveness of the system's self-checking, and further improves the stability of the surgical robot.

[0061] In the embodiment of the present invention, the obtaining of the preset number of trajectory target points includes:

[0062] Obtain vectors with multiple random directions and vectors with random lengths from the historical motion data of the surgical robot;

[0063] Use the vectors with multiple random directions and the vectors with random lengths as the trajectory target points.

[0064] In this embodiment, through the motion trajectories of the operating hand recorded during the surgeries and trainings of the previous surgical robot, the corresponding trajectory target points are randomly obtained, and the direction vectors and length vectors are used as their coordinates within the preset space range. Among them, using the coordinate points of the motion trajectories in the historical records of the surgical robot can reduce the number of times that the randomly generated target points exceed the preset range.

[0065] The self-motion self-checking method of the surgical robot of the present invention obtains trajectory target points by using the motion trajectories in the historical motion data of the surgical robot, reduces the number of times that the randomly generated target points exceed the preset space range, and improves the self-checking efficiency.

[0066] In the embodiment of the present invention, before taking the current position of the operating hand as the starting point when obtaining the current position of the operating hand, it further includes:

[0067] After receiving the self-check command, the hardware of the surgical robot is detected;

[0068] After the hardware of the surgical robot meets the self-check conditions, self-check items are obtained.

[0069] In this embodiment, when the surgical robot is powered on, after sending an automatic master-slave interactive motion error self-check command to the surgical robot, the hardware of the surgical robot is detected. After determining that its hardware is okay, the automatic master-slave interactive motion error self-check command is received, the self-check items are set, and then sent to the system of the surgical robot.

[0070] The self-motion self-check method of the surgical robot of the present invention ensures that the surgical robot can smoothly perform corresponding control actions by performing a self-check on the internal hardware of the surgical robot before performing a program self-check on the system, and can perform a separate detection on a certain state of the surgical robot by autonomously setting self-check items.

[0071] In a preferred embodiment of the present invention, the self-check items can be set through a human-machine interaction screen connected to the operating hand, and then the self-check is performed according to the set self-check items.

[0072] In the embodiment of the present invention, after the surgical control operating hand moves according to the planned motion trajectory and the surgical robot performs a self-check according to the self-check items, it further includes:

[0073] The duration from obtaining the current position to the end of the motion of the operating hand according to the planned motion trajectory is used as the self-check duration;

[0074] When the self-check duration is greater than or equal to the preset self-check duration, the self-check information corresponding to the self-check item is obtained;

[0075] When the self-check duration is less than the preset self-check duration, the preset number of trajectory target points is obtained again.

[0076] In this embodiment, since the randomly generated planned motion trajectory is not fixed, the time required for the operating hand to complete one trajectory is different. Therefore, after completing one time, the time from when the operating hand starts to establish the planned motion trajectory to after completing the self-check is obtained. If the time does not reach the preset self-check duration set in advance, a new planned motion trajectory is obtained again, and the self-check motion is performed again. When the total self-check duration is greater than or equal to the preset self-check duration, the requirement for ending the self-construction is met, that is, the self-check is ended, and the self-check information is obtained.

[0077] The self - motion self - inspection method of the surgical robot of the present invention selects different self - inspection times according to the situation needs. The system conducts several self - inspections according to different self - inspection times, improving the accuracy of the self - inspection of the surgical robot, and thus improving the surgical safety.

[0078] In an embodiment of the present invention, when the trajectory target point is outside or above the preset space range, the preset number of trajectory target points are re - obtained.

[0079] In this embodiment, since surgeries such as laparoscopic surgeries need to be carried out in a narrow range, strict requirements are imposed on the trajectory. When the trajectory target point exceeds the preset space, it means that the operating hand cannot simulate the surgical environment, and the self - inspection conducted cannot represent the system state during surgery, so it does not have a reference basis. Therefore, the process of randomly selecting target points needs to be carried out again.

[0080] The self - motion self - inspection method of the surgical robot of the present invention more accurately simulates the surgical environment by restricting the trajectory target points within a preset range, improving the accuracy of the self - inspection of the surgical robot, and thus improving the surgical safety.

[0081] In an embodiment of the present invention, the self - inspection items include the state of the devices of the surgical robot;

[0082] When the self - inspection duration is greater than or equal to the preset self - inspection duration, obtaining the self - inspection information corresponding to the self - inspection items includes:

[0083] When the self - inspection duration is greater than or equal to the preset self - inspection duration, if the state of any device of the surgical robot in the self - inspection items is abnormal, the abnormal time, abnormal code, and abnormal note corresponding to the device are used as the self - inspection information.

[0084] In this embodiment, when the self - inspection duration is greater than the preset self - inspection duration, that is, the condition for ending the self - inspection is reached. At this time, the self - inspection information can be generated according to the self - inspection items. Among them, the abnormal time, abnormal code, and abnormal note are obtained and displayed.

[0085] In a preferred embodiment of the present invention, for the self - inspection of a laparoscopic surgical robot, the operating hand of the laparoscopic surgical robot includes seven motors and seven corresponding encoders. Among them, for the self - inspection of the laparoscopic surgical robot, its self - inspection information is composed of 12 - bit binary digits. The first seven bits represent the seven joints of the operating hand. When an abnormality occurs in a certain joint, the corresponding control bit changes from normal 0 to abnormal 1. The last five bits of the 12 - bit binary represent the error types, including: encoder failure, motor failure, master - slave position mapping out - of - tolerance, and instrument detection failure; where the error of the operating hand controlling the surgical arm exceeds the specified range, which represents master - slave position mapping out - of - tolerance.

[0086] In a preferred embodiment of the present invention, the above self-check information is displayed through a human-machine interaction screen, and can be read and analyzed for faults at the same time.

[0087] The self-motion self-check method of the surgical robot of the present invention expresses the results of the set self-check items in binary, which is convenient and fast to obtain the abnormal information of the surgical robot, helps to solve the abnormal problems of the surgical robot, and improves the surgical safety.

[0088] Combined Figure 4 As shown, the present invention also provides a self-motion self-check device 100 for a surgical robot. The self-motion self-check device for a surgical robot is applied to a surgical robot. The surgical robot includes an operating hand. The self-motion self-check device 100 for a surgical robot includes:

[0089] A path planning unit 110, configured to obtain the current position of the operating hand and use the current position of the operating hand as a starting point; obtain a preset number of trajectory target points, and when the trajectory target points are within a preset spatial range, generate a planned motion trajectory according to the starting point and the trajectory target points;

[0090] A control unit 120, configured to control the operating hand to move according to the planned motion trajectory;

[0091] A self-check unit 130, configured to perform a self-check on the surgical robot according to the self-check items when the operating hand is moving.

[0092] In an embodiment of the present invention, the path planning unit 110 is further configured to obtain the next planned angle of the joint according to the next trajectory target point; obtain the next pulse value of the encoder according to the next planned angle of the joint; control the motor to output a driving current according to the next pulse value of the encoder, and drive the joint to move from the current trajectory target point to the next trajectory target point;

[0093] The path planning unit 110 is further configured to obtain vectors with multiple random directions and vectors with random lengths from the historical motion data of the surgical robot; use the vectors with multiple random directions and the vectors with random lengths as the trajectory target points;

[0094] The self-check unit 130 is further configured to detect the hardware of the surgical robot when a self-check command is obtained; obtain self-check items when the hardware of the surgical robot meets the self-check conditions;

[0095] The self-check unit 130 is further configured to use the duration from obtaining the current position to the end of the movement of the operating hand according to the planned movement trajectory as the self-check duration; when the self-check duration is greater than or equal to the preset self-check duration, obtain the self-check information corresponding to the self-check item; when the self-check duration is less than the preset self-check duration, re-obtain the preset number of trajectory target points.

[0096] The path planning unit 110 is further configured to re-obtain the preset number of trajectory target points when the trajectory target point is outside the preset space range or above the preset range.

[0097] The self-check unit 130 is further configured to, when the self-check duration is greater than or equal to the preset self-check duration, if the state of any device of the surgical robot in the self-check item is abnormal, use the abnormal time, abnormal code, and abnormal comment corresponding to the device as the self-check information.

[0098] The self-motion self-check device of the surgical robot of the present invention generates the movement trajectory of the operating hand according to the starting point and the target point, simulates the surgical process, and comprehensively self-checks the surgical robot according to the set self-check items, ensuring the long-term safe and stable operating state of the surgical robot and improving the stability of the surgical robot and the safety of the surgery.

[0099] Combined with Figure 5 As shown, the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0100] Obtain the current position of the operating hand and use the current position of the operating hand as the starting point.

[0101] Obtain a preset number of trajectory target points. When the trajectory target point is within the preset space range, generate a planned movement trajectory according to the starting point and the trajectory target point.

[0102] Control the operating hand to move according to the planned movement trajectory.

[0103] When the operating hand is moving, self-check the surgical robot according to the self-check items.

[0104] The computer device of the present invention generates the movement trajectory of the operating hand according to the starting point and the target point, simulates the surgical process, and comprehensively self-checks the surgical robot according to the set self-check items, ensuring the long-term safe and stable operating state of the surgical robot and improving the stability of the surgical robot and the safety of the surgery.

[0105] The present invention also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0106] Obtain the current position of the manipulator, and use the current position of the manipulator as the starting point;

[0107] Obtain a preset number of trajectory target points. When the trajectory target points are within a preset spatial range, generate a planned motion trajectory according to the starting point and the trajectory target points;

[0108] Control the manipulator to move according to the planned motion trajectory;

[0109] During the movement of the manipulator, perform self-check on the surgical robot according to the self-check items.

[0110] The computer-readable storage medium of the present invention generates the motion trajectory of the manipulator according to the starting point and the target point, simulates the surgical process, and performs a comprehensive self-check on the surgical robot according to the set self-check items, ensuring the long-term safe and stable operating state of the surgical robot, and improving the stability of the surgical robot and the safety of the surgery.

[0111] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided by the present invention can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0112] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0113] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A self - motion self - inspection method for a surgical robot, characterized in that, the self - motion self - inspection method of the surgical robot is applied to a surgical robot, the surgical robot includes an operating hand, and the self - motion self - inspection method of the surgical robot includes: Obtain the current position of the operating hand, and use the current position of the operating hand as the starting point; Obtain a preset number of trajectory target points. Among them, through the recorded motion trajectories of the operating hand in previous surgeries and trainings of the surgical robot, corresponding trajectory target points are randomly obtained; when the trajectory target points are within a preset spatial range, generate a planned motion trajectory according to the starting point and the trajectory target points; Control the operating hand to move according to the planned motion trajectory; During the movement of the operating hand, self - inspect the surgical robot according to the self - inspection items; Take the duration from obtaining the current position to the end of the movement of the operating hand according to the planned motion trajectory as the self - inspection duration; When the self - inspection duration is greater than or equal to a preset self - inspection duration, obtain the self - inspection information corresponding to the self - inspection items; When the self - inspection duration is less than the preset self - inspection duration, re - obtain the preset number of trajectory target points.

2. The self - motion self - inspection method for a surgical robot according to claim 1, characterized in that, the surgical robot further includes an encoder, a motor and a joint, the encoder is arranged on the motor, and the joint is connected to the motor and the operating hand; The control of the operating hand to move according to the planned motion trajectory includes: Obtain the next planned angle of the joint according to the next trajectory target point; Obtain the next pulse value of the encoder according to the next planned angle of the joint; Control the motor to output a driving current according to the next pulse value of the encoder, and drive the joint to move from the current trajectory target point to the next trajectory target point.

3. The self - motion self - inspection method for a surgical robot according to claim 1, characterized in that, before obtaining the current position of the operating hand and using the current position of the operating hand as the starting point, it further includes: When a self - inspection command is obtained, detect the hardware of the surgical robot; When the hardware of the surgical robot meets the self - inspection conditions, obtain the self - inspection items.

4. The self - motion self - inspection method for a surgical robot according to claim 1, characterized in that, the self - motion self - inspection method of the surgical robot further includes: when the trajectory target points are outside the preset spatial range or above the preset range, re - obtain the preset number of trajectory target points.

5. The self - motion self - inspection method for a surgical robot according to claim 4, characterized in that, the self - inspection items include the status of the devices of the surgical robot; The step of when the self - inspection duration is greater than or equal to the preset self - inspection duration and obtaining the self - inspection information corresponding to the self - inspection items includes: When the self - inspection duration is greater than or equal to the preset self - inspection duration, if the status of any device of the surgical robot in the self - inspection items is abnormal, then use the abnormal time, abnormal code and abnormal note corresponding to the device as the self - inspection information.

6. A self - motion self - inspection device for a surgical robot, Characterized in that, The self - motion self - inspection device for the surgical robot is applied to the surgical robot, and the surgical robot includes an operating hand. The self - motion self - inspection device for the surgical robot includes: A path planning unit, configured to obtain the current position of the operating hand and use the current position of the operating hand as the starting point; obtain a preset number of trajectory target points. Among them, the corresponding trajectory target points are randomly obtained through the recorded movement trajectories of the operating hand in previous surgeries and trainings of the surgical robot; when the trajectory target points are within a preset spatial range, generate a planned movement trajectory according to the starting point and the trajectory target points; A control unit, configured to control the operating hand to move according to the planned movement trajectory; A self - inspection unit, configured to, when the operating hand is moving, perform self - inspection on the surgical robot according to self - inspection items; use the duration from obtaining the current position to the end of the movement of the operating hand according to the planned movement trajectory as the self - inspection duration; when the self - inspection duration is greater than or equal to a preset self - inspection duration, obtain the self - inspection information corresponding to the self - inspection items; when the self - inspection duration is less than the preset self - inspection duration, re - obtain the preset number of trajectory target points.

7. A computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, Characterized in that, When the processor executes the computer program, it implements the self - motion self - inspection method for the surgical robot according to any one of claims 1 to 5.

8. A computer - readable storage medium, on which a computer program is stored, Characterized in that, When the computer program is executed by a processor, it implements the self - motion self - inspection method for the surgical robot according to any one of claims 1 to 5.

Images