Motion control methods and devices for surgical robots, and surgical robots themselves

Abstract

This disclosure relates to a motion control method, device, and surgical robot for a surgical robot, belonging to the technical field of surgical robots. The method includes: acquiring a desired position of a second end and a first deflection angle of the desired position relative to a preset initial position of the second end; obtaining a second deflection angle corresponding to each movable joint based on the desired position, the first deflection angle, and the length of each of a plurality of links; determining a target position corresponding to each movable joint based on the second deflection angle corresponding to each movable joint; generating a first drive command corresponding to each movable joint based on the target position corresponding to each movable joint; and outputting the corresponding first drive command to the motor corresponding to the movable joint.

Description

TECHNICAL FIELD

[0001] The embodiment of the present disclosure relates to the technical field of surgical robots, and more particularly, to a motion control method and device of a surgical robot and the surgical robot. BACKGROUND

[0002] With the intelligent development of surgical robots, a physician can contact a patient by operating a surgical robot to reduce the infection caused by the direct contact between the physician and the patient. At present, the physician can adjust the position of the surgical robot in a manual adjustment manner, so that the accuracy of the position of the mechanical arm of the surgical robot is low. SUMMARY

[0003] An object of the embodiment of the present disclosure is to provide a new technical solution of a motion control method and device of a surgical robot and the surgical robot.

[0004] According to a first aspect of the present disclosure, a motion control method of a surgical robot is provided, the surgical robot comprising a base, a cross beam and a mechanical arm, a first end of the cross beam being connected with the base, a second end of the cross beam being connected with the mechanical arm, the cross beam comprising a plurality of rod portions connected in series between the first end and the second end, adjacent rod portions being connected through a movable joint; the method comprising: obtaining a desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end; obtaining a second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle and the length of each rod portion in the plurality of rod portions; determining a target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint; generating a first driving instruction corresponding to the movable joint according to the target position corresponding to each movable joint; wherein the first driving instruction is used to drive the corresponding movable joint to move to the target position; and outputting the first driving instruction corresponding to the movable joint to a motor corresponding to the movable joint.

[0005] Optionally, the first end is connected with an adjacent rod portion through a movable joint, and the second end is connected with an adjacent rod portion through a movable joint.

[0006] Optionally, the first driving instruction is a command for driving the corresponding movable end to move from a current position to a corresponding target position based on a set speed.

[0007] Optionally, the preset initial position is the position of the second end when the movable joints of the surgical robot are located on the same straight line in a set direction.

[0008] Optionally, the obtaining the second deflection angle corresponding to each movable end according to the desired position, the first deflection angle, and the preset length of the rod corresponding to each movable end comprises: inputting the first deflection angle, the desired position, and the length of the rod corresponding to each movable end into a preset angle generation model to obtain the second deflection angle corresponding to each movable end.

[0009] Optionally, after obtaining the second deflection angle corresponding to each movable end according to the desired position, the first deflection angle, and the preset length of the rod corresponding to each movable end, the method further comprises: obtaining a third deflection angle at which the second end of the cross beam maintains the set angle when each movable end rotates to the corresponding second deflection angle according to the set angle of the second end of the cross beam; generating a second driving instruction for the second end according to the third deflection angle; and outputting the second driving instruction to the second end.

[0010] According to a second aspect of the present disclosure, a motion control device of a surgical robot is also provided, which comprises: a desired position acquisition module configured to acquire a desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end; a second deflection angle obtaining module configured to obtain a second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle, and the length of each rod in the plurality of rods; a target position determination module configured to determine a target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint; a first driving instruction generation module configured to generate a first driving instruction corresponding to each movable joint according to the target position corresponding to each movable joint; wherein the first driving instruction is used to drive the corresponding movable joint to move to the target position; and a first driving instruction output module configured to output the first driving instruction corresponding to each movable joint to a motor corresponding to each movable joint.

[0011] Optionally, the device further comprises: a third deflection angle obtaining module configured to obtain a third deflection angle at which the second end of the cross beam maintains the set angle when each movable end rotates to the corresponding second deflection angle according to the set angle of the second end of the cross beam; a second driving instruction generation module configured to generate a second driving instruction for the second end according to the third deflection angle; and a second driving instruction output module configured to output the second driving instruction to the second end.

[0012] According to a third aspect of the present disclosure, a motion control device of a surgical robot is also provided, which comprises a memory and a processor, wherein the memory is configured to store a computer program; and the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.

[0013] According to a fourth aspect of the present disclosure, there is also provided a surgical robot comprising the motion control device according to the second aspect or the third aspect of the present disclosure.

[0014] One beneficial effect of the embodiments of the present disclosure is that, by obtaining the desired position of the second end and the first deflection angle, the second deflection angle of each movable joint can be obtained. By the second deflection angle, the target position corresponding to each movable joint can be obtained, so that each movable joint on the cross beam is controlled to move so that the robot arm on the second end can reach the desired position, thereby improving the accuracy of adjusting the position of the robot arm.

[0015] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0017] Figure 1 is a schematic diagram of the structure of a motion control system of a surgical robot capable of applying a motion control method of a surgical robot according to an embodiment;

[0018] Figure 2 is a schematic diagram of the structure of a motion control system of a surgical robot capable of applying a motion control method of a surgical robot according to an embodiment;

[0019] Figure 3 is a schematic diagram of the structure of a motion control system of a surgical robot capable of applying a motion control method of a surgical robot according to an embodiment;

[0020] Figure 4 is a schematic diagram of the structure of a motion control system of a surgical robot capable of applying a motion control method of a surgical robot according to an embodiment;

[0021] Figure 5 is a schematic diagram of the structure of a motion control system of a surgical robot capable of applying a motion control method of a surgical robot according to an embodiment;

[0022] Figure 6 is a schematic diagram of the structure of a motion control system of a surgical robot capable of applying a motion control method of a surgical robot according to an embodiment; DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the present disclosure will now be described in detail below with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present disclosure, unless otherwise specifically stated.

[0024] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application or its application or uses.

[0025] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and apparatus should be considered as being part of the specification.

[0026] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0027] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and thus once an item is defined in one drawing, it is not necessary that it be further discussed in subsequent drawings.

[0028] <SYSTEM EMBODIMENT>

[0029] Figure 1 is a schematic diagram of a structural composition of a motion control system of a surgical robot capable of applying a motion control method of a surgical robot according to an embodiment. As shown in the figure, the system includes a base 100, a crossbeam 200, a mechanical arm 300, and a motion control device. The system can be applied to the scene of a surgical robot. Figure 1

[0030] The base 100 can be communicatively connected with the control device, so that the base 100 can be controlled by the control device to realize the function of stretching up and down, so as to realize the adjustment of the overall height of the mechanical arm 300.

[0031] The crossbeam 200 can include a plurality of rod portions 210 connected in series, and adjacent rod portions 210 are connected through a movable joint 220. In the embodiment, there are two rod portions 210, and the two rod portions 210 are connected through one movable joint 220. The first end of the crossbeam 200 can be connected with the base 100, and the second end of the crossbeam 200 can be connected with the mechanical arm 300 used for surgical operation. The first end can be connected with the adjacent rod portion through the movable joint 220, and the second end can also be connected with the adjacent rod portion through the movable joint 220. Each movable joint 220 corresponds to an electric motor respectively, so as to control the movable joint 220 to drive the rod portion 210 to rotate horizontally. The motion control device can be communicatively connected with each movable joint 220, so as to control the rotation of the movable joint 220 through the motion control device, and then realize the movement of the mechanical arm 300 to the corresponding position.

[0032] The motion control device can be an electronic device with communication function, and is used for controlling the base 100, the crossbeam 200, and the mechanical arm 300. ​

[0033] In the embodiments of the present disclosure, the memory of the motion control device is configured to store a computer program for controlling the processor of the motion control device to operate to implement the motion control method of the surgical robot according to any embodiment. The computer program can be designed according to the scheme of the embodiments of the present disclosure. How the computer program controls the processor to operate is known in the art, and thus will not be described in detail herein.

[0034] <Method Embodiment>

[0035] Figure 2 is a flowchart of a motion control method of a surgical robot according to an embodiment. The embodiment subject is, for example, the motion control device described above.

[0036] As shown in Figure 2 , the motion control method of the surgical robot according to the embodiment can include the following steps S210-S250:

[0037] In one embodiment, the first end is connected to the adjacent rod portion by an active joint, and the second end is connected to the adjacent rod portion by an active joint.

[0038] Specifically, the first end of the cross beam is connected to the adjacent rod portion by an active joint, and the second end of the cross beam is also connected to the adjacent rod portion by an active joint. In other words, the cross beam can rotate around the base, so that the mechanical unit can move to any position within a circle with the limit length of the two rod portions as the radius, so as to expand the movement range of the mechanical unit, and further improve the flexibility of the surgical robot.

[0039] In one embodiment, the preset initial position is the position of the second end when the active joint of the surgical robot is located on the same straight line in the set direction.

[0040] Specifically, the motion control device can preset the initial position. Specifically, as shown in Figure 3 , taking the first end connected to the adjacent rod portion by an active joint and the second end connected to the adjacent rod portion by an active joint as an example, Z1 is the active joint corresponding to the first end, Z3 is the active joint corresponding to the second end, Z2 is the active joint between the first end and the second end, the length of the rod portion between Z1 and Z1 is l1, and the length of the rod portion between Z2 and Z3 is l2. Then, the set direction is the X direction, a coordinate system is constructed with the X direction as the horizontal coordinate and the Y direction as the vertical coordinate, and the corresponding preset initial position can be (l1+l2, 0) in the coordinate system. In other words, the preset initial position can be used to determine the deflection angle of the rod portion connected to the cross beam, so as to realize the subsequent control of the rotation of different active joints.

[0041] Step S210: obtaining the desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end.

[0042] Specifically, the physician can output the desired position of the second end of the crossbeam through the operation table connected with the motion control device. Accordingly, the motion control device can obtain the desired position of the second end, which can be a coordinate position in the above-mentioned coordinate system. And the first deflection angle can be obtained by the desired position of the second end relative to the initial position of the second end.

[0043] Step S220: obtaining a second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle and the length of each rod part.

[0044] Specifically, the motion control device can obtain the second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle and the length of each rod part.

[0045] In one embodiment, step S220 can include the following content: inputting the first deflection angle, the desired position and the length of the rod part corresponding to each movable end into a preset angle generation model to obtain the second deflection angle corresponding to each movable end of the crossbeam.

[0046] In which, as shown in the above-mentioned coordinate system, the motion control device is preset with an angle generation model, and the specific expression of the angle generation model can be as follows: Figure 4

[0047]

[0048]

[0049] In formula (1) and formula (2), θ relative1-3 is the first deflection angle, x Target is the horizontal coordinate of the second end, y Target is the vertical coordinate of the second end, and accordingly, θ 1Target is the rotation angle of the movable joint of the first end of the crossbeam, and θ 2Target is the rotation deflection angle of the movable joint of the intermediate end, i.e. the second deflection angle corresponding to the first end and the intermediate end of the crossbeam.

[0050] In other words, the corresponding second deflection angle can be obtained through the above-mentioned formula, and the control of each movable joint can be realized.

[0051] ​In one embodiment, after step S220, the following is further included: obtaining, according to the set angle of the second end of the crossbeam, a third deflection angle at which the second end of the crossbeam maintains the set angle when each movable joint rotates to the corresponding second deflection angle; generating, according to the third deflection angle, a second driving instruction for the second end; and outputting the second driving instruction to the second end.

[0052] wherein the specific expression of the angle generation model can further include:

[0053] θ 3Target = -(θ 1Target + θ 2Target ) formula (3)

[0054] In formula (3), θ 3Target is the rotation angle of the movable joint of the second end, i.e., the third deflection angle corresponding to the second end of the crossbeam.

[0055] Specifically, the physician can set the corresponding angle of the second end of the crossbeam to adjust the angle of the mechanical arm. In the case of rotation of the movable joint of the crossbeam, the motion control device can obtain, by formula (5) and the set angle, a third deflection angle at which the second end of the crossbeam maintains the set angle when each movable joint rotates to the corresponding second deflection angle. The motion control device generates, according to the third deflection angle, a second driving instruction for the second end of the crossbeam, and outputs the second driving instruction to the second end of the crossbeam, so that the movable joint of the second end also rotates in the case of rotation of other movable joints, so that the angle of the mechanical arm does not change. In other words, by the above-mentioned manner, the workload of the physician to reposition the angle of the mechanical arm can be reduced, and the work efficiency of the physician can be improved.

[0056] Step S230: determining a target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint.

[0057] Specifically, the motion control device determines a target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint. The determination of the position corresponding to each movable joint according to the second deflection angle can be determined by robot kinematics, which is prior art and will not be described in detail.

[0058] Step S240: generating a first driving instruction corresponding to the movable joint according to the target position corresponding to each movable joint; wherein the first driving instruction is used to drive the corresponding movable joint to move to the target position.

[0059] Specifically, the motion control device generates a first driving instruction corresponding to the movable joint according to the target position corresponding to each movable joint.

[0060] The motion control device can determine the angle of the movable joint at the first end of the cross beam and the angle of the movable joint at the intermediate end. Taking the above coordinate system as an example, the control motion device is preconfigured with a position generation model, and the specific expression of the position generation model can be as follows:

[0061] x Current = l1 x cos θ1 + l1 x cos (θ1 + θ2) Equation (4)

[0062] y Current = l1 x sin θ1 + l1 x sin (θ1 + θ2) Equation (5)

[0063] In the equations (4) and (5), θ1 is the angle of the movable joint at the first end of the cross beam before rotation or during rotation, θ2 is the angle of the movable joint at the intermediate end before rotation or during rotation, and correspondingly, (x Current , y Current ) is the position of the second end of the cross beam before rotation or during rotation.

[0064] Correspondingly, the second end of the cross beam reaches the desired position, i.e., the motion ends, when the difference between the position of the second end of the cross beam before rotation or during rotation and the desired position is 0.

[0065] In one embodiment, the first driving instruction is an instruction for driving the corresponding movable end to move from the current position to the corresponding target position based on the set speed.

[0066] In other words, by setting the speed to control the movement of different movable joints, the situation that the movable joint is damaged due to the excessive movement amplitude caused by the excessive movement speed is reduced, so as to improve the service life of the surgical robot.

[0067] Step S250, outputting the corresponding first driving instruction to the motor corresponding to the movable joint.

[0068] Specifically, the motion control device outputs the corresponding first driving instruction to the motor corresponding to the movable joint, so that the output shaft of the motor rotates to drive the movable joint to rotate, so as to adjust the position of the mechanical unit.

[0069] <Device Embodiment One>

[0070] Figure 5 is a principle block diagram of a motion control device according to an embodiment. As shown in Figure 5As shown, the motion control device 500 can include: a desired position acquisition module 510, configured to acquire a desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end; a second deflection angle obtaining module 520, configured to obtain a second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle, and a length of each rod portion; a target position determination module 530, configured to determine a target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint; a first driving instruction generation module 540, configured to generate a first driving instruction corresponding to the movable joint according to the target position corresponding to each movable joint; wherein the first driving instruction is used to drive the corresponding movable joint to move to the target position; and a first driving instruction output module 550, configured to output the corresponding first driving instruction to the motor corresponding to the movable joint.

[0071] Optionally, the second deflection angle obtaining module is further configured to input the first deflection angle, the desired position, and the length of the rod portion corresponding to each movable end into a preset angle generation model to obtain the second deflection angle corresponding to each movable end of the cross beam.

[0072] Optionally, the device further includes: a third deflection angle obtaining module, configured to obtain a third deflection angle at which the second end of the cross beam maintains the set angle when each movable end rotates to the corresponding second deflection angle according to the set angle of the second end of the cross beam; a second driving instruction generation module, configured to generate a second driving instruction for the second end according to the third deflection angle; and a second driving instruction output module, configured to output the second driving instruction to the second end.

[0073] The motion control device 500 can be the motion control device described above.

[0074] <Device Embodiment Two>

[0075] Figure 6 is a hardware structure schematic diagram of a motion control device according to another embodiment.

[0076] As shown, the motion control device 600 includes a processor 610 and a memory 620, the memory 620 is used to store an executable computer program, and the processor 610 is used to execute the method of any method embodiment described above according to the control of the computer program. Figure 6

[0077] The modules of the motion control device 500 described above can be implemented by the processor 610 in this embodiment executing the computer program stored in the memory 620, or can be implemented by other structures, which are not limited here.

[0078] ​The embodiments of the present disclosure also provide a surgical robot comprising the motion control device 500 or the motion control device 600.

[0079] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present application.

[0080] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched tape, a magnetically encoded device such as magnetic strip cards, an optically encoded device such as a compact disc (CD) or DVD, and / or any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0081] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0082] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0083] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0084] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0085] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0086] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions ("instructions"). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0087] Embodiments of the application have been described above, and the description is intended to be illustrative of the embodiments of the application and not exhaustive. Numerous modifications and adaptations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The scope of the application is defined by the appended claims.

Claims

1. A motion control method of a surgical robot, characterized by, The surgical robot comprises a base, a crossbeam and a mechanical arm, a first end of the crossbeam is connected with the base, a second end of the crossbeam is connected with the mechanical arm, the crossbeam comprises a plurality of rod portions connected in series between the first end and the second end, adjacent rod portions are connected through movable joints; the method comprises: obtaining a desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end; obtaining a second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle and the length of each rod portion in the plurality of rod portions; determining a target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint; generating a first driving instruction corresponding to the movable joint according to the target position corresponding to each movable joint; wherein the first driving instruction is used to drive the corresponding movable joint to move to the target position; outputting the first driving instruction corresponding to the movable joint to the motor corresponding to the movable joint; the first end and the adjacent rod portion are connected through the movable joint, and the second end and the adjacent rod portion are connected through the movable joint; obtaining the second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle and the preset length of the rod portion corresponding to each movable end of the crossbeam, comprising: inputting the first deflection angle, the desired position and the length of the rod portion corresponding to each movable end into a preset angle generation model to obtain the second deflection angle corresponding to each movable end of the crossbeam; wherein the angle generation model comprises: wherein is a first deflection angle, is an abscissa of the second end, is an ordinate of the second end, is a rotation angle of the movable joint of the first end of the crossbeam, is a rotation deflection angle of the movable joint of the intermediate end, i.e. the second deflection angle corresponding to the first end and the intermediate end, respectively.

2. The method of claim 1, wherein, the first driving instruction is a instruction for driving the corresponding movable end to move from the current position to the corresponding target position based on the set speed.

3. The method according to claim 1 or 2, characterized in that, The preset initial position is the position of the second end when the movable joints of the surgical robot are located on the same straight line in a set direction.

4. The method of claim 3, wherein, After obtaining the second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle and the preset length of the rod portion corresponding to each movable end of the crossbeam, further comprising: obtaining a third deflection angle in which the second end of the crossbeam maintains a set angle when each movable end rotates to the corresponding second deflection angle according to the set angle of the second end of the crossbeam; generating a second driving instruction for the second end according to the third deflection angle; outputting the second driving instruction to the second end.

5. A motion control device of a surgical robot characterized by comprising: The surgical robot comprises a base, a crossbeam and a mechanical arm, a first end of the crossbeam is connected with the base, a second end of the crossbeam is connected with the mechanical arm, the crossbeam comprises a plurality of rod portions connected in series between the first end and the second end, adjacent rod portions are connected through movable joints; the first end and the adjacent rod portion are connected through the movable joint, and the second end and the adjacent rod portion are connected through the movable joint; the device comprises: a desired position acquisition module, configured to obtain a desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end; a second deflection angle obtaining module, configured to obtain a second deflection angle corresponding to each of the movable joints according to the desired position, the first deflection angle, and a length of each of the plurality of rod portions; a target position determining module, configured to determine a target position corresponding to each of the movable joints according to the second deflection angle corresponding to each of the movable joints; a first driving instruction generating module, configured to generate a first driving instruction corresponding to each of the movable joints according to the target position corresponding to each of the movable joints; wherein the first driving instruction is used to drive the corresponding movable joint to move to the target position; a first driving instruction output module, configured to output the first driving instruction corresponding to each of the movable joints to a motor corresponding to each of the movable joints; the second deflection angle obtaining module is further configured to input the first deflection angle, the desired position, and the length of the rod portion corresponding to each of the movable ends into a preset angle generating model to obtain the second deflection angle corresponding to each of the movable ends of the cross beam; wherein the angle generating model comprises: wherein is a first deflection angle, is a horizontal coordinate of the second end, is a vertical coordinate of the second end, respectively, is a rotation angle of the movable joint of the first end of the crossbeam, is a rotation deflection angle of the movable joint of the intermediate end, i.e. the second deflection angle of the first end and the intermediate end, respectively.

6. The motion control apparatus of claim 5, wherein, the device further comprises: a third deflection angle obtaining module, configured to obtain a third deflection angle at which the second end of the cross beam maintains a set angle when each of the movable ends rotates to the corresponding second deflection angle according to the set angle of the second end of the cross beam; a second driving instruction generating module, configured to generate a second driving instruction for the second end according to the third deflection angle; a second driving instruction output module, configured to output the second driving instruction to the second end.

7. A motion control device of a surgical robot characterized by comprising: comprise a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions being executed by the processor to implement the steps of the motion control method of the surgical robot according to any one of claims 1-4.

8. A surgical robot, characterized by comprise: a base; a mechanical arm used for surgical operation; a cross beam, a first end of the cross beam being connected to the base, a second end of the cross beam being connected to the mechanical arm, the cross beam comprising a plurality of rod portions connected in series between the first end and the second end, adjacent rod portions being connected through movable joints; and a motion control device, the motion control device being the motion control device according to any one of claims 5-7.

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