Surgical robotic system and control method, readable storage medium and electronic device

Abstract

The application provides a surgical robot system, a control method, a readable storage medium and an electronic device. The control method comprises the following steps: acquiring a safety operation space of a target object; acquiring a working space of a tool installed at the end of a mechanical arm; and acquiring a target space according to the safety operation space and the working space, wherein the target space is located in the safety operation space and the working space at the same time; and the target space is the operation space of the tool in actual surgery. The control method takes into account the safety operation space of the target object and the working space of the tool, thereby protecting the mechanical arm and avoiding damage to other objects around the target object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical robot system, a control method, a readable storage medium and an electronic device. BACKGROUND

[0002] In the prior art, the surgical operation applied to the surgical robot system is often only set by the limiting mechanism of each joint of the mechanical arm to set the motion range boundary of the mechanical arm, without considering the specific clinical application scene. In this way, it can only ensure that the mechanical arm will not be damaged due to over-limit motion, but cannot prevent the tool carried by the mechanical arm from causing damage to the normal bones or normal tissues of the patient when performing the surgical operation. That is, the surgical robot system in the prior art can only protect the mechanical arm when performing the surgical operation, but cannot protect the patient, which is prone to cause surgical risks. SUMMARY

[0003] The purpose of the present application is to provide a surgical robot system machine control method, a readable storage medium and an electronic device, which aims to protect the mechanical arm while performing or assisting in performing the surgical operation on the patient by the surgical robot system, and to reduce or even avoid damage to the patient in combination with the actual application scene.

[0004] To achieve the above-mentioned purpose, the present application provides a control method of a surgical robot system, comprising the following steps:

[0005] Obtaining a safe operation space of a target object;

[0006] Obtaining a working space of a tool installed at the end of a mechanical arm; and

[0007] Obtaining a target space according to the safe operation space and the working space, the target space being located in the safe operation space and the working space at the same time.

[0008] Optionally, the step of obtaining the safe operation space comprises:

[0009] Setting a plurality of discrete pre-registration points on a virtual three-dimensional model of the target object;

[0010] Obtaining a plurality of discrete registration points on the target object according to a plurality of discrete pre-registration points;

[0011] Positioning a plurality of discrete registration points; and

[0012] Obtaining the safe operation space according to the positions of a plurality of discrete registration points.

[0013] Optionally, the step of obtaining the working space comprises:

[0014] calling a random function and generating a random step;

[0015] calculating an end position of the tool according to the random step and physical information of the robot arm;

[0016] judging whether the number of times of generating the random step reaches a maximum value of random samples, if yes, drawing a point cloud of the end position of the tool and fitting the point cloud to obtain the work space, if no, calling the random function again and generating the random step.

[0017] Optionally, the step of obtaining the target space comprises:

[0018] obtaining a relative position relationship between the safe operation space and the work space;

[0019] if the safe operation space is located in the work space, taking the safe operation space as the target space;

[0020] if the safe operation space intersects with the work space, performing grid processing on boundaries of the safe operation space and boundaries of the work space to obtain scattered points of the boundaries of the safe operation space and scattered points of the boundaries of the work space, deleting the scattered points located outside the safe operation space or outside the work space, and fitting the scattered points located in the safe operation space and in the work space.

[0021] Optionally, the control method further comprises:

[0022] controlling the tool to work in the target space;

[0023] the step of controlling the tool to work in the target space comprises:

[0024] obtaining a relative position relationship between the tool and the target space;

[0025] if the tool is outside the target space, applying a restoring force to the tool through the robot arm to make the tool return to the target space;

[0026] the step of controlling the tool to work in the target space further comprises:

[0027] if the tool is in the target space, when the tool moves in a direction approaching the boundary of the target space, applying a resistance to the tool through the robot arm, and the value of the resistance is inversely proportional to the distance from the tool to the boundary of the target space;

[0028] If the tool is located on the boundary of the target space, a resistance is applied to the tool by the mechanical arm so that the resultant force on the tool is zero;

[0029] The step of obtaining the relative position relationship between the tool and the target space comprises: obtaining the relative position relationship between the tool and the target space according to a direction vector between a specified point on the tool and a target point on the boundary of the target space; the target point is a point on the boundary of the target space that is closest to the line connecting the specified point.

[0030] Optionally, the control method further comprises:

[0031] The target space is superimposed and displayed in a real scene.

[0032] To achieve the above object, the application further provides a computer readable storage medium, which stores a program, and when the program is executed, the control method of the surgical robot system according to any one of the preceding embodiments is executed.

[0033] To achieve the above object, the application further provides an electronic device, which comprises a processor and the computer readable storage medium according to the preceding embodiment, and the processor is configured to execute the program stored in the computer readable storage medium.

[0034] To achieve the above object, the application further provides a surgical robot system, which comprises a mechanical arm and a control unit, the end of the mechanical arm is configured to install a tool that performs a predetermined operation on a target object, the control unit is communicatively connected with the mechanical arm and is configured to execute the control method of the surgical robot system according to any one of the preceding embodiments.

[0035] Optionally, the electronic device further comprises an augmented reality device, which is communicatively connected with the control unit and is configured to obtain the target space and superimpose and display the target space in a real scene.

[0036] Compared with the prior art, the surgical robot system and the control method, the computer readable storage medium and the electronic device have the following advantages:

[0037] The control method of the surgical robot system comprises the following steps: obtaining a safe operation space of a target object; obtaining a working space of a tool installed at the end of a mechanical arm; and obtaining a target space according to the safe operation space and the working space, the target space being located in the safe operation space and the working space at the same time. The target space obtained by the control method takes into account the working space of the tool and the safe operation space of the target object, so that when the tool works in the target space, the normal bones and tissues of the patient are protected while the mechanical arm itself is protected, and unnecessary damage to the normal bones or tissues of the patient is reduced or even avoided. Attached Figure Description

[0038] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0039] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot system provided by the present invention according to an embodiment;

[0040] Figure 2 This is a schematic diagram of a surgical robot system according to an embodiment of the present invention performing surgical operations on a target object;

[0041] Figure 3 This is a schematic diagram illustrating the positioning of a target object by a surgical robot system according to an embodiment of the present invention;

[0042] Figure 4 This is an overall flowchart of an orthopedic surgery performed with the assistance of a surgical robot system according to an embodiment of the present invention;

[0043] Figure 5 This is an overall flowchart of the control method of the surgical robot system executed by the control unit of the surgical robot system according to an embodiment of the present invention;

[0044] Figure 6 This is a flowchart illustrating the process of obtaining the safe operating space of a target object in the control method of a surgical robot system according to an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of a surgical robot system according to an embodiment of the present invention locating a target object, showing the registration point;

[0046] Figure 8 This is a schematic diagram of the operating space of the target object obtained in the control method of the surgical robot system provided according to an embodiment of the present invention;

[0047] Figure 9 This is a flowchart illustrating the process of obtaining the workspace of a tool in a control method for a surgical robot system according to an embodiment of the present invention.

[0048] Figure 10 This is a schematic diagram of the workspace of the tool obtained in the control method of the surgical robot system provided according to an embodiment of the present invention;

[0049] Figure 11 This is a flowchart of the method for obtaining the target space in the control method of the surgical robot system according to an embodiment of the present invention;

[0050] Figure 12is a schematic diagram of a target space acquired in a control method of a surgical robot system according to an embodiment of the present application, showing the intersection of a safe operating space of a target object and a working space of a tool;

[0051] Figure 13 is a schematic diagram of a virtual boundary acquired in a control method of a surgical robot system according to an embodiment of the present application, showing the smoothing of the virtual boundary;

[0052] Figure 14 is a schematic diagram of a target space acquired in a control method of a surgical robot system according to an embodiment of the present application, showing the intersection of a safe operating space of a target object and a working space of a tool;

[0053] Figure 15 is a flowchart of a control method of a surgical robot system according to an embodiment of the present application, showing the control of a tool working in a target space;

[0054] Figure 16 is a schematic diagram of a distance between a specified point on a tool and a target point on a boundary of a target space in a control method of a surgical robot system according to an embodiment of the present application;

[0055] Figure 17 is a schematic diagram of a control method of a surgical robot system according to an embodiment of the present application, showing the application of a restoring force by a robot arm to a tool when the tool is outside a target space;

[0056] Figure 18 is a schematic diagram of a control method of a surgical robot system according to an embodiment of the present application, showing the application of a resistance by a robot arm to a tool when the tool is inside a boundary of a target space;

[0057] Figure 19 is a schematic diagram of a control method of a surgical robot system according to an embodiment of the present application, showing the application of a resistance by a robot arm to a tool when the tool is on a boundary of a target space. DETAILED DESCRIPTION

[0058] Other advantages and effects of the present application will be easily understood by those skilled in the art from the above description of the embodiments of the present application. The present application can also be implemented or applied in other different embodiments, and the details in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the diagrams provided in the embodiments only schematically illustrate the basic concepts of the present application, and thus the diagrams only show the components related to the present application without showing the number, shape and size of the components in actual implementation. The shapes, number and proportions of the components in actual implementation can be arbitrarily changed, and the layout of the components can be more complicated.

[0059] In addition, each of the embodiments described below has one or more technical features, but this does not mean that all technical features in any embodiment must be implemented at the same time, or that only one or more technical features in different embodiments can be implemented separately. In other words, under the premise of being possible, those skilled in the art can selectively implement some or all of the technical features in any embodiment, or selectively implement a combination of some or all of the technical features in multiple embodiments, according to the disclosure of the present application, and according to design specifications or implementation needs, thereby increasing the flexibility of the implementation of the present application.

[0060] As used in this specification, the singular forms "a," "an" and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense of "and / or" unless the content clearly dictates otherwise, and the terms "mounting", "connected", "connecting" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium, or it can be an internal communication or interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0061] In order to make the purpose, advantages and characteristics of the present application clearer, the present application will be further described in detail below in combination with the drawings. It should be noted that the drawings are very simplified and use non-precise proportions, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present application. The same or similar reference numerals in the drawings represent the same or similar parts.

[0062] Figure 1 An application scenario of a surgical robot system is shown. As shown in Figure 1 , the surgical robot system includes a mechanical arm 100 and a control unit (not labeled in the figure). The end of the mechanical arm 100 is used to install a tool 20, which is used to perform a predetermined operation on a target object 10 (such as Figure 2 ). Here, the specific type of tool 20 is selected according to the actual scene, for example, as shown in Figure 2 , if the surgical robot system is used to assist in performing a hip joint orthopedic surgery, the target object 10 can be the acetabulum, the tool 20 can be a bone grinding device, and the predetermined operation can be a grinding operation. The control unit is in communication connection with the mechanical arm 100, and is configured to send instructions to the mechanical arm 100 to make the mechanical arm 100 apply a force to the tool 200 or drive the tool 200 to move. In addition, the surgical robot system can also include a target 300 (such asFigure 3 The system includes an optical positioning device 400 (shown in the figure), a target 300 (set on the target object 10), and a display device (not shown in the figure). The optical positioning device 400 is communicatively connected to the control unit and is used to identify the target 300 to obtain the position information of the target object 10. The optical positioning device 400 is also used to send the obtained position information to the control unit. The display device is communicatively connected to the control unit and can be used to receive and display the safety operating space, work space, target space, etc., as described later.

[0063] In this embodiment of the invention, the control unit is further configured to execute a control method for a surgical robot system, so that during the execution of surgery or assisted execution of surgery, the surgical robot system can protect the robotic arm 100 from exceeding its movement limits and causing malfunctions, and also protect other objects around the target object 10 from accidental injury by the tool 20. It should be noted that this control method is a method executed according to preset control logic; its essence is autonomous selection of the surgical category, not identification of the target object 10. It is understood that since identification of the target object 10 is not required, these operations can still be performed even if the target object 10 is a human tissue model, organ model, bone model, or other object. Therefore, the surgery here does not specifically refer to surgical procedures performed on a patient, but merely a set of operational steps executed according to preset control logic, such as applications for simulation training (where the target object 10 is various models or other objects). It should also be noted that when describing the target object 10 as an example in the following text, it is not explicitly stated whether the target object 10 is a real human tissue, a model, or something else. However, the target object 10 in this article includes models or other objects. In other words, when it is mentioned that "the target object 10 is the acetabulum as an example", the acetabulum includes the acetabulum model.

[0064] The overall process of performing or assisting in surgery using a surgical robot system is as follows: Figure 4 As shown, it includes:

[0065] Step S100: acquiring necessary information. The necessary information referred to herein can include relevant information of the target object 10, such as a virtual three-dimensional model of the target object 10 and its surrounding space, which can be constructed from images of the target object 10 and its surrounding space acquired before the operation, in a specific implementation, can be obtained directly by CT scanning. The necessary information can also include relevant information of the robotic arm 100, such as physical information of the robotic arm 100, which can specifically include the length of each link of the robotic arm 100, the relative angle, the coordinate system of each joint of the robotic arm 100, the transformation relationship between the coordinate systems of adjacent two joints, etc. The physical information of the robotic arm 100 can be customized by those skilled in the art according to the specific type of the robotic arm 100, or the physical information of the robotic arm 100 known in advance can be directly called.

[0066] Step S200: the control unit executes a control method of the surgical robot system based on the necessary information to obtain a target space 3 (as Figure 14 annotated). The target space 3 is the operating space of the tool 20 in the actual operation process.

[0067] Step S300: performing a surgical operation based on the target space 3.

[0068] It should be noted that some operations in step S100 can be performed before step S200, and some steps can be performed simultaneously with some operations in step S200 or after some operations in step S200. Step S300 is performed simultaneously with some operations in step S200. That is, the sequence of steps and the direction of arrows between steps in Figure 4 do not limit the execution order of the steps.

[0069] Next, the control method of the surgical robot system executed by the control unit will be described in detail.

[0070] Figure 5 The overall flowchart of the control method of the surgical robot system is shown. As Figure 5 shown, the control method includes the following steps:

[0071] Step S210: obtaining a safe operating space 1 (as Figure 8 annotated) of the target object 10. The principle of defining the safe operating space 1 is that when the tool 20 works in the safe operating space 1, the tool 20 will only perform the predetermined operation on the target object 10, and will not injure other bones and tissues around the target object 10.

[0072] Step S220: obtaining a working space 2 (as Figure 10 annotated) of the tool 20. The working space 2 is the set of all points that the tool 20 can reach.

[0073] Step S230: Obtain a target space 3, which is located within both the safe operation space 1 of the target object 10 and the working space 2 of the tool 20. That is, the target space 3 is limited by both the working space 2 of the tool 20 and the safe operation space 1 of the target object 10, so that when the surgical robot system is working, the tool 20 can perform operations within the target space 3, so as to ensure that each joint of the robotic arm 100 moves within the limit to avoid the situation that the robotic arm 100 moves out of limit, and to avoid that the tool 20 causes damage to other objects except the target object 10. Here, "within the target space 3" includes the area inside the boundary of the target space 3 and the boundary of the target space 3 itself. "Outside the target space 3" mentioned hereafter refers to the area outside the boundary of the target space 3.

[0074] Preferably, as shown in Figure 5 the control method can further include a step S240 of controlling the tool 20 to work within the target space 3, so as to avoid that the tool 20 works outside the target space due to the operation mistake of the medical staff, and causes damage to the robotic arm 100 or other objects except the target object 10.

[0075] Further preferably, the control method further includes a step S250 of superimposing the target space 3 in the display scene. In this way, the medical staff can more intuitively see the boundary of the target space 3, which is beneficial for the medical staff to directly observe whether the tool 20 is located within the target space 3. In this way, the surgical robot system further includes an augmented reality device (not shown in the figure), which is in communication connection with the control unit, and is configured to receive the target space 3 and superimpose the target space 3 in the real scene.

[0076] The specific process of obtaining the safe operation space 1 can be as shown in Figure 6 , which includes a step S211, a step S212, a step S213 and a step S214.

[0077] The step S211 includes setting a plurality of discrete pre-registration points on the virtual three-dimensional model of the target object 10. In this step, any suitable method can be used to set the pre-registration points, for example, set by the medical staff according to experience. In addition, the control unit can obtain the virtual three-dimensional model of the target object 10 and its surrounding space by any suitable way, such as wireless transmission or manual input.

[0078] The step S212 includes obtaining a plurality of discrete registration points 11 on the target object 10 according to the plurality of discrete pre-registration points (as shown in Figure 7The skilled person knows how to obtain the actual registration points on the target object 10 from the pre-registered points on the virtual three-dimensional model of the target object 10, which will not be described here.

[0079] The step S213 comprises positioning the plurality of registration points 11 respectively to obtain the positions of the plurality of registration points 11. In this step, the positioning of the registration points 11 is realized by the target 300 and the optical positioning device 400. As shown in Figure 7 The target 300 is a sharp target, which comprises a connecting body 310 and a plurality of reflective balls 320, the connecting body 310 is T-shaped and comprises a first connecting rod 311 and a second connecting rod 312 connected to each other, the first connecting rod 311 is sharp at an end away from the second connecting rod 312, and the plurality of reflective balls 320 are arranged on the first connecting rod 311 and the second connecting rod 312 respectively. The specific operation of positioning the plurality of registration points 11 is that first, the sharp end of the target 300 is brought into contact with one registration point 11 (which is referred to as a first registration point), and at the same time, the target 300 is identified by the optical positioning device 400, so that the position of the first registration point can be obtained. Then, the target 300 is moved so that the sharp end of the target 300 is in contact with another registration point 11 (which is referred to as a second registration point), and at the same time, the target 300 is identified by the optical positioning device 400, so that the position of the second registration point can be obtained. The operation is repeated until the positions of all the registration points 11 are obtained.

[0080] The step S214 comprises generating the boundary of the safe operation space 1 of the target object 10 according to the positions of the plurality of discrete registration points 11, that is, obtaining the safe operation space 1 of the target object 10. Taking the target object 10 as the acetabulum for example, the safe operation space 1 is a hemispherical structure as shown in Figure 8 The specific size of the safe operation space 1 of the target object 10 is determined according to the contour of the acetabulum, and is usually about 25 mm. The control unit can send the safe operation space 1 of the target object 10 obtained in this step to the display device for display.

[0081] The workspace 2 of the tool 20 is the set of all points that the tool 20 can actually reach, which is related to the movable range of each joint of the robot arm 100 and the size of each connecting rod. The step S220 can be executed synchronously with the step S210, or can be executed after the step S210, or can be executed before the step S210, which is not limited in the embodiments of the present application. The specific process of the step S220 is shown in Figure 9

[0082] Step S221: calling a random function and generating a random step. In this step, the random step can be generated by the Monte Carlo numerical method.

[0083] ​Step S222: calculating the end position of the tool 20 according to the physical information of the mechanical arm 100 and the random step generated in step S221. Wherein, the physical information of the mechanical arm 100 is mainly used to solve the forward kinematics equation of the robot, and those skilled in the art know how to calculate the end position of the tool 20 in combination with the forward kinematics equation of the robot and the random step, which is not described here.

[0084] Step S223: judging whether the generation number of the random step reaches the maximum value of the random sample (that is, judging whether the execution number of steps S221 and S222 reaches the maximum value of the random sample), if yes, sequentially executing steps S224 and S225, if not, returning to execute steps S221 and S222, that is, calling the random function again and generating the random step, and calculating the end position of the tool 20 again.

[0085] Step S224: drawing the point cloud of the end position of the tool 20.

[0086] Step S225: fitting the point cloud of the end position of the tool 20 to obtain the working space 2. Generally, the working space 2 of the tool 20 is a sphere or an ellipsoid, and its schematic diagram is shown in Figure 10 The radius of the working space 2 is usually several hundred millimeters. The working space 2 obtained in this step can be sent to a display device and displayed through the display device.

[0087] Step S230 is executed after steps S210 and S220, and the flow of step S230 is shown in Figure 11 It at least includes steps S231, S232 and S234.

[0088] Step S231 includes obtaining the relative position relationship between the safety operating space 1 of the target object 10 and the working space 2 of the tool 20. The relative position relationship here includes two cases, one is that the safety operating space 1 of the target object 10 is located in the working space 2 of the tool 20 (not shown in the figure), and the other is that the safety operating space 1 of the target object 10 intersects with the working space 2 of the tool 20 (as shown in Figure 12 ).

[0089] If the safety operating space 1 of the target object 10 is located in the working space 2 of the tool 20, the safety operating space 2 of the target object 10 is taken as the target space 3. If the safety operating space 1 of the target object 10 intersects with the working space 2 of the tool 20, steps S232, S233 and S234 are sequentially executed.

[0090] Step S232 includes meshing the boundary of the safe operating space 1 of the target object 10 and the boundary of the workspace 2 of the tool 20, and obtaining the scatter points of the boundary of the safe operating space 1 and the scatter points of the boundary of the workspace 2. This step obtains that part of the scatter points of the boundary of the safe operating space 1 is located within the workspace 2, and part of the scatter points of the boundary of the safe operating space 1 is located outside the workspace 2. Also, part of the scatter points of the boundary of the workspace 2 is located within the safe operating space 1, and part of the scatter points of the boundary of the workspace 2 is located outside the safe operating space 1. Here, the workspace 2 includes the region inside the boundary of the workspace 2 and the boundary of the workspace 2 itself, and the workspace 2 outside refers to the region outside the boundary of the workspace 2. Similarly, the safe operating space 1 includes the region inside the boundary of the safe operating space 1 and the boundary of the safe operating space 1 itself, and the safe operating space 1 outside refers to the region outside the boundary of the safe operating space 1.

[0091] Step S233 includes deleting the scatter points located outside the safe operating space 1 or outside the workspace 2.

[0092] Step S234 includes fitting the scatter points located within the safe operating space 1 and within the workspace 2 to obtain a virtual boundary. In this step, any suitable model can be used to fit the virtual boundary. The optional models include but are not limited to any one of the polynomial model, the Bezier model, the B-spline model, and the NURBS model. In a non-limiting embodiment, a second-order polynomial model is used and the least square method is used to solve the second-order polynomial to obtain the virtual boundary. The second-order polynomial model is as follows:

[0093] z = a1 * x 2 + a2 * y 2 + a3 * x * y + a4 * x + a5 * y + a6

[0094] wherein x, y, z are the coordinates of a point on the virtual boundary in the x-axis, the y-axis, and the z-axis, and a1, a2, a3, a4, a5, a6 are constants obtained by fitting.

[0095] In some embodiments, the space defined by the virtual boundary obtained in step S234 is directly used as the target space 3. In other embodiments, step S230 further includes step S235: smoothing the virtual boundary to obtain a smooth boundary, and the region inside the smooth boundary and the smooth boundary itself constitute the target space 3 (as shown in FIG. 2B). Figure 14 As shown in FIG. 2B, the virtual boundary can be smoothed based on the surface interpolation method. Figure 13

[0096] ​It should be noted that generally, the workspace 2 of the tool 20 is much larger than the safe operation space 1 of the target object 10, so there is no case that the workspace 2 of the tool 20 is located in the safe operation space 1 of the target object 10. In addition, for the target object 10, the workspace 2 of the tool 20 is not limited to the workspace 2 shown in FIG. 2A, and can be any workspace 2 as long as the tool 20 can operate on the target object 10. Figure 12 It only shows one intersection case of the workspace 2 and the safe operation space 1, in practice, due to different positioning of the patient or the human body model, the relative position between the mechanical arm 100 and the target object 10 is different, and then the intersection position and angle of the workspace 2 and the safe operation space 1 are different, and then the shape and volume of the intersection of the workspace 2 and the safe operation space 1 are different, so Figure 12 it cannot represent all intersection cases of the workspace 2 and the safe operation space 1. However, no matter how the safe operation space 1 and the workspace 2 intersect, the same method can be used to obtain the target space 3. In addition, Figure 12 the boundary of the workspace 2 shown in the above is only a part of the actual boundary of the workspace 2, as described above, the workspace 2 is generally much larger than the safe operation space 1, so in Figure 12 the boundary of the workspace 2 shown in the above is only a part of the actual boundary of the workspace 2, as described above, the workspace 2 is generally much larger than the safe operation space 1, so in

[0097] After obtaining the target space 3, the surgical operation can be performed. Taking the target object 10 as the acetabulum as an example, the surgical operation includes the medical staff applying a force F1 to the bone grinding device (i.e. the tool 20) to push the bone grinding device 20 to move, so that the bone grinding device performs grinding operation on the inner side of the acetabulum. In this process, the control unit performs step S240 and controls the bone grinding device in the target space 3 to avoid causing damage to other bones or tissues around the acetabulum.

[0098] Figure 15 The detailed flow of step S240 is shown. As shown in Figure 15 step S240 includes step S243: obtaining the relative position relationship between the tool 20 and the target space 3, that is, judging whether the tool 20 is in the target space 3. Then, according to the relative position relationship between the tool 20 and the target space 3, the mechanical arm 100 is controlled to perform corresponding operation, so that the tool 20 is in the target space 3.

[0099] Herein, as shown in Figure 16 , whether the tool 20 is released in the target space is judged according to the direction vector between the specified point 21 on the tool 20 and the target point 30 on the boundary of the target space 3. The target point 30 is the point on the boundary of the target space 3 which is the shortest to the line of the specified point.

[0100] Therefore, as shown in Figure 15 , the step S240 further includes sequentially performing step S241 and step S242.

[0101] Step S241 involves calculating the shortest distance between the specified point 21 on the calculation tool 20 and the boundary of the target space 3 to obtain the target point 30 on the boundary of the target space 3. Specifically, the objective function S = (x - x1) can be solved using the Lagrange multiplier method. 2 +(y-y1) 2 +(z-z1) 2 Therefore, when solving for the objective function S, the constraint condition is that the surface equation G(x,y,z) = 0 of the virtual boundary is used. S is the square of the distance from the specified point 21 to a point on the boundary of the target space 3, where (x,y,z) are the coordinates of the specified point 21, and (x1,y1,z1) are the coordinates of the point on the boundary of the target space 3. After obtaining the minimum value of S, taking the square root of S yields the shortest distance between the specified point 21 and the boundary of the target space 3, and thus the coordinates of the target point 30 can be obtained.

[0102] Step S242 includes calculating the direction vector between the specified point 21 and the target point 30. Then, step S243 can be executed. The specific determination method for step S243 is as follows: Figure 16 The middle arrow P points in the positive direction. If the direction vector f between the specified point 21 and the target point 30 points from the specified point 21 to the target point 30, and the direction vector f is a positive vector or zero, then the tool 20 is determined to be within the target space 3. This can be understood as follows: when the direction vector f is zero, the specified point 21 and the target point 30 coincide, meaning the specified point 21 is on the boundary of the target space 3. If the direction vector f between the specified point 21 and the target point 30 points from the specified point 21 to the target point 30, and the direction vector f is a negative vector, then the tool 20 is determined to be outside the target space 3. It should be noted that "the tool 20 is outside the target space 3" here refers to the tool 20 being outside the target space 3 at a certain instant. After subsequent operations are performed, the tool 20 immediately returns to the target space 3. Therefore, this does not contradict the previously mentioned "controlling the tool 20 to work within the target space 3."

[0103] In one exemplary embodiment, such as Figure 16 As shown, the bone grinding device includes a straight shank 22 and a grinding head 23 connected to the end of the straight shank 22. The grinding head 23 is spherical. The axis of the straight shank 22 and the outer surface of the grinding head 23 have a first intersection point and a second intersection point. The first intersection point is located at the connection between the straight shank 22 and the grinding head 22, and the second intersection point is away from the connection between the straight shank 22 and the grinding head 22. In practice, the second intersection point can be used as a designated point 21.

[0104] Then, the control unit executes corresponding steps based on the relative positional relationship between the tool 20 and the target space 3, specifically, as follows: Figure 17 As shown, if tool 20 is outside the target space 3, then step S244 is executed (e.g., Figure 15(As shown): The robotic arm 100 applies a restoring force F2 to the tool 20, causing the tool 20 to return to the target space 3. It can be understood that if medical personnel apply a restoring force F2 to the tool 20 at this time... Figure 16 If the force F1 is indicated by the middle arrow P, then the restoring force F2 should be greater than the force F1 applied by the medical staff to ensure that tool 20 can return to the target space 3. Figure 18 and Figure 19 As shown, if tool 20 is within target space 3, then when medical personnel apply force to tool 20 to cause tool 20 to move along the boundary near target space 3, step S245 is executed (e.g., Figure 15 (As shown): The robotic arm 100 applies resistance F3 to the tool 20, and the value of resistance F3 is inversely proportional to the distance from the tool 20 to the boundary of the target space 3. That is, the smaller the distance of the tool 20 to the boundary of the target space 3, the greater the resistance F2 experienced by the tool 20. This can indicate to medical personnel that the tool 20 is approaching the boundary of the target space 3. Preferably, when the tool 20 is at the boundary of the target space 3, the value of resistance F3 is equal to the force F1 applied by the medical personnel, so that the net force on the tool 20 is zero. This allows the tool 20 to slide along the boundary of the target space 3 without exceeding it. Here, "the tool 20 is at the boundary of the target space 3" means that a designated point 21 on the tool 20 is located on the boundary of the target space 3, such as... Figure 19 As shown.

[0105] Furthermore, embodiments of the present invention also provide a control method for a surgical robot system, the control method including the control method executed by the aforementioned control unit.

[0106] Furthermore, embodiments of the present invention also provide a computer-readable storage medium having a program stored thereon, which, when executed, performs the aforementioned control method for the surgical robot system.

[0107] Furthermore, embodiments of the present invention also provide an electronic device, including a processor and the aforementioned computer-readable storage medium, wherein the processor is configured to execute a program stored on the computer-readable storage medium.

[0108] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed, a control method for a surgical robot system is performed, the control method comprising the following steps: Obtain the safe operating space of the target object; To obtain the workspace for a tool mounted at the end effector of a robotic arm; and, A target space is obtained based on the safe operating space and the work space, wherein the target space is located simultaneously within the safe operating space and the work space; The steps for obtaining the target space include: Obtain the relative positional relationship between the safe operating space and the workspace; If the safe operating space is located within the workspace, then the safe operating space is used as the target space; If the safe operating space intersects with the work space, then the boundaries of the safe operating space and the work space are meshed to obtain scattered points of the boundary of the safe operating space and the boundary of the work space. Scattered points located outside the safe operating space or outside the work space are deleted, and scattered points located in both the safe operating space and the work space are fitted.

2. The computer-readable storage medium according to claim 1, characterized in that, The steps for obtaining the secure operating space include: Multiple discrete pre-registration points are set on the virtual 3D model of the target object; Multiple discrete registration points on the target object are obtained based on multiple discrete pre-registration points; Locate multiple discrete registration points; and, The secure operating space is obtained based on the locations of multiple discrete registration points.

3. The computer-readable storage medium according to claim 1, characterized in that, The steps for obtaining the workspace include: Call the random function and generate a random step size; The end position of the tool is calculated based on the random step size and the physical information of the robotic arm; If the number of times the random step size is generated reaches the maximum value of the random sample, then the point cloud of the end position of the tool is plotted and fitted to the point cloud of the end position to obtain the workspace; otherwise, the random function is called again and the random step size is generated.

4. The computer-readable storage medium according to claim 1, characterized in that, The control method further includes: Control the tool to operate within the target space; The control of the tool to work within the target space includes: obtaining the relative positional relationship between the tool and the target space; If the tool is outside the target space, a restoring force is applied to the tool by the robotic arm to bring the tool back into the target space; If the tool is within the target space, then when the tool moves in a direction close to the boundary of the target space, the robotic arm applies resistance to the tool, and the value of the resistance is inversely proportional to the distance from the tool to the boundary of the target space; If the tool is located on the boundary of the target space, the robotic arm applies resistance to the tool so that the net force on the tool is zero.

5. The computer-readable storage medium according to claim 4, characterized in that, The steps for obtaining the relative positional relationship between the tool and the target space include: The relative positional relationship between the tool and the target space is obtained based on the direction vector between a designated point on the tool and a target point on the boundary of the target space; the target point is the point on the boundary of the target space with the shortest line connecting it to the designated point.

6. The computer-readable storage medium according to claim 1, characterized in that, The control method further includes: The target space is overlaid and displayed in the real scene.

7. An electronic device, characterized in that, It includes a processor and a computer-readable storage medium as claimed in any one of claims 1-6, the processor being configured to execute a program stored on the computer-readable storage medium.

8. A surgical robot system, characterized in that, The device includes a robotic arm and a control unit. The end of the robotic arm is used to mount a tool for performing a predetermined operation on a target object. The control unit is communicatively connected to the robotic arm and is configured to execute a program stored in a computer-readable storage medium as described in any one of claims 1-6.

9. The surgical robot system according to claim 8, characterized in that, It also includes an augmented reality device, which is communicatively connected to the control unit, for acquiring the target space and overlaying the target space onto the real scene.

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