Control methods and devices for surgical robots

Abstract

This application relates to a control method and apparatus for a surgical robot. The control method includes: acquiring the length of a first instrument; acquiring a first distance, a second distance, and a first pose of the puncture card when the first instrument is inserted into the puncture card, wherein the first distance is the distance between the front end of the first instrument and the front end of the puncture card when the first instrument is inserted into the puncture card, and the second distance is the distance between the front end of the puncture card mounting bracket and the front end of the slide when the first instrument is inserted into the puncture card; acquiring the length of a second instrument and a second pose of the puncture card after the first instrument is disengaged from the puncture card; and determining a target position of the slide card when the second instrument is inserted into the puncture card, based on the length of the second instrument, the length of the first instrument, and the second distance, provided that the second pose of the puncture card is the same as the first pose of the puncture card and the first distance is greater than or equal to a preset distance.

Description

Technical Field

[0001] This application relates to the field of laparoscopic surgery technology, and more specifically, to a control method and apparatus for a surgical robot. Background Technology

[0002] Laparoscopic surgical robots have been widely used in minimally invasive abdominal surgery. Compared with traditional manual laparoscopic surgery, the use of laparoscopic surgical robots can reduce patient pain, reduce the workload of doctors, and thus improve the success rate of surgery.

[0003] When performing laparoscopic surgical robots, the complex and ever-changing intraoperative situations necessitate the use of different surgical instruments depending on the circumstances. Typically, the surgeon raises the slide to a safe position before replacing the current instrument with the next. However, after each instrument replacement, the slide must be used to move the tip of the next instrument to the position of the current instrument to ensure the continuation of the surgery. Currently, this movement is usually manually controlled by the surgeon, resulting in low precision and low surgical efficiency. Summary of the Invention

[0004] One objective of this application is to provide a new technical solution for a control method and apparatus for a surgical robot.

[0005] According to a first aspect of this application, a control method for a surgical robot is provided. The surgical robot includes a robotic arm, a base plate mounted on the robotic arm, a trocar mounting bracket mounted on the front end of the base plate, a trocar mounted on the trocar mounting bracket and rotatably engaged with the trocar mounting bracket, and a slide table slidably engaged with the base plate. The slide table is used to move surgical instruments through the trocar to adjust the length of the front end of the surgical instrument extending beyond the trocar. The surgical instruments include a first instrument and a second instrument. The control method includes:

[0006] Obtain the length of the first instrument;

[0007] When the first instrument inserts the stamp card, a first distance, a second distance, and a first pose of the stamp card are obtained, wherein the first distance is the distance between the front end of the first instrument and the front end of the stamp card when the first instrument inserts the stamp card, and the second distance is the distance between the front end of the stamp card mounting bracket and the front end of the slide when the first instrument inserts the stamp card;

[0008] After the first device detaches from the stamp card, the length of the second device and the second pose of the stamp card are obtained;

[0009] When the second pose of the stamp card is the same as the first pose of the stamp card, and the first distance is greater than or equal to a preset distance, the target position of the slide is determined when the second instrument is inserted into the stamp card based on the length of the second instrument, the length of the first instrument, and the second distance.

[0010] Optionally, before acquiring the first distance, the second distance, and the first pose of the stamp card when the first instrument is inserted into the stamp card, the method further includes:

[0011] The slide table drives the first instrument through the stamp card, wherein the front end of the first instrument extends beyond the front end of the stamp card.

[0012] Optionally, when the second pose of the stamp card is the same as the first pose of the stamp card, and the first distance is greater than or equal to a preset distance, determining the target position of the slide when the second instrument is inserted into the stamp card based on the length of the second instrument, the length of the first instrument, and the second distance includes:

[0013] When the second pose of the stamp card is the same as the first pose of the stamp card, the difference in device length is determined based on the length of the second device and the length of the first device;

[0014] The sum of the instrument length difference and the second distance is determined as the third distance;

[0015] Based on the third distance and the position of the front end of the stamp card mounting bracket, the target position of the slide is determined when the second instrument inserts the stamp card.

[0016] Optionally, when the second pose of the stamp card is the same as the first pose of the stamp card, and the first distance is greater than or equal to a preset distance, after determining the target position of the slide when the second instrument is inserted into the stamp card based on the length of the second instrument, the length of the first instrument, and the second distance, the method further includes:

[0017] The second instrument is mounted on the slide;

[0018] The slide is controlled to move to the target position of the slide, so that the second instrument is inserted into the stamp card, wherein the distance between the front end of the second instrument and the front end of the stamp card is a first distance.

[0019] Optionally, after controlling the slide to move to the target position of the slide, causing the second instrument to insert into the stamp card, the method further includes:

[0020] Obtain the third pose of the stamp card;

[0021] If the third pose of the stamp card is the same as the first pose of the stamp card, the length value of the first device is updated to the length value of the second device, and the value of the second distance is updated to the value of the third distance.

[0022] According to a second aspect of this application, a control device for a surgical robot is also provided. The surgical robot includes a robotic arm, a base plate mounted on the robotic arm, a trocar mounting bracket mounted on the front end of the base plate, a trocar mounted on the trocar mounting bracket and rotatably engaged with the trocar mounting bracket, and a slide table slidably engaged with the base plate. The slide table is used to move surgical instruments through the trocar to adjust the length of the front end of the surgical instrument extending beyond the trocar. The surgical instruments include a first instrument and a second instrument. The device includes:

[0023] The first acquisition module is used to acquire the length of the first instrument;

[0024] The second acquisition module is used to acquire a first distance, a second distance, and a first pose of the stamp card when the first instrument inserts the stamp card, wherein the first distance is the distance between the front end of the first instrument and the front end of the stamp card when the first instrument inserts the stamp card, and the second distance is the distance between the front end of the stamp card mounting bracket and the front end of the slide when the first instrument inserts the stamp card;

[0025] The third acquisition module is used to acquire the length of the second device and the second pose of the stamp card after the first device is detached from the stamp card;

[0026] The determining module is used to determine the target position of the slide when the second instrument is inserted into the stamp card, based on the length of the second instrument, the length of the first instrument, and the second distance, when the second pose of the stamp card is the same as the first pose of the stamp card and the first distance is greater than or equal to a preset distance.

[0027] Optionally, the determining module is specifically used for:

[0028] When the second pose of the stamp card is the same as the first pose of the stamp card, the difference in device length is determined based on the length of the second device and the length of the first device;

[0029] The sum of the instrument length difference and the second distance is determined as the third distance;

[0030] Based on the third distance and the position of the front end of the stamp card mounting bracket, the target position of the slide is determined when the second instrument inserts the stamp card.

[0031] Optionally, the device further includes:

[0032] The fourth acquisition module is used to acquire the third pose of the stamp card;

[0033] The update module is used to update the length value of the first instrument to the length value of the second instrument and update the value of the second distance to the value of the third distance when the third pose of the stamp card is the same as the first pose of the stamp card.

[0034] According to a third aspect of this application, a control device for a surgical robot is also provided, including a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method according to the first aspect of this application.

[0035] According to a fourth aspect of this application, a computer-readable storage medium is also provided, on which a computer program is stored, the computer program implementing the method according to the first aspect of this application when executed by a processor.

[0036] One beneficial effect of this application embodiment is that, by obtaining the length of the first instrument and, when the first instrument is inserted into the puncture card, obtaining a first distance, a second distance, and a first position of the puncture card; and after the first instrument is removed from the puncture card, obtaining the length of the second instrument and a second position of the puncture card; and when the second position of the puncture card is the same as the first position of the puncture card, and the first distance is greater than or equal to a preset distance, the target position of the slide when the second instrument is inserted into the puncture card is determined based on the length of the second instrument, the length of the first instrument, and the second distance. When installing the second instrument, controlling the slide to move to the target position of the slide can make the position of the front end of the second instrument and the position of the front end of the first instrument be located at the same position. The method steps of this application are simple, and when the front end of the second instrument is moved to the position of the first instrument by the slide, the target position of the slide when the second instrument is installed can be accurately calculated, resulting in high control precision and effectively improving surgical efficiency.

[0037] Other features and advantages of the embodiments of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the embodiments of the present application.

[0039] Figure 1 This is a flowchart illustrating the control method provided in an embodiment of this application;

[0040] Figure 2 This is a structural block diagram of the surgical robot provided in the embodiments of this application;

[0041] Figure 3 This is one of the structural schematic diagrams of the surgical robot provided in the embodiments of this application;

[0042] Figure 4 This is a second schematic diagram of the structure of the surgical robot provided in the embodiments of this application;

[0043] Figure 5 This is a schematic diagram of the structure of a control device provided in one embodiment of this application;

[0044] Figure 6 This is a schematic diagram of the structure of a control device provided in another embodiment of this application. Detailed Implementation

[0045] Various exemplary embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0046] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0047] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0048] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0050] Figure 2 This is a structural block diagram of the surgical robot provided in an embodiment of this application. Figure 2As shown, the surgical robot system includes a surgical operation mechanical unit 201, a control processing device 202, and an operation control unit 203; wherein, the control processing device 202 receives operation signals from the operation control unit 203 and controls the surgical operation mechanical unit 201 to perform corresponding operations.

[0051] In this embodiment, the operation control unit 203 may include an active operating hand, which is used for the operator to grasp. The operator grasps the active operating hand and controls its movements. During the operation of the active operating hand, an operation signal is generated based on the movement of the active operating hand and sent to the control processing device 202.

[0052] In this embodiment, the control processing device 202 can be directly connected to the operation control unit 203 electrically, or it can communicate with the operation control unit 203 via wireless means such as Bluetooth. The control processing device 202 can process the operation signals input from the operation control unit 203 and generate corresponding control commands. The control processing device 202 outputs the control commands to the surgical operating mechanical unit 201, causing the surgical operating mechanical unit 201 to perform corresponding operations according to the control commands, such as suturing wounds or removing tumors. The control processing device 202 can be directly connected to the surgical operating mechanical unit 201 electrically, or it can communicate with the surgical operating mechanical unit 201 via wireless means such as Bluetooth.

[0053] Figure 3 This is one of the structural schematic diagrams of the surgical robot provided in the embodiments of this application. For example... Figure 3 As shown, in this embodiment, the surgical operation mechanical unit 201 may include a robotic arm 2011, a base plate 2012, a puncture card mounting bracket 2013, a puncture card 2014, a slide table 2015, and surgical instruments.

[0054] like Figure 3 and Figure 4 As shown, the surgical instruments include a first instrument 2016 and a second instrument 2017.

[0055] The robotic arm 2011 enables surgical instruments to move and position spatially according to surgical needs. A base plate 2012 is mounted at the end of the robotic arm 2011, providing mounting positions for the puncture card mounting bracket 2013 and the slide table 2015. The puncture card mounting bracket 2013 is fixedly mounted at the front end of the base plate 2012, and is used to mount the puncture card 2014 onto the base plate 2012. The puncture card 2014 is rotatably mounted on the puncture card mounting bracket 2013, and the puncture card 205 provides a channel for the surgical instrument 204 to enter the patient's body. The slide table 2015 is slidably mounted on the base plate 2012, and is used to control the surgical operation of the surgical instrument 204. The surgical instrument is inserted into the puncture card 2014 via the slide table 2015, with the front end of the surgical instrument extending beyond the front end of the puncture card 2014. The components and their connections in the surgical operation mechanical unit 100 described here are all existing technologies and will not be described in detail here.

[0056] Hereinafter, various embodiments and examples according to the present invention will be described with reference to the accompanying drawings.

[0057] <Method Implementation>

[0058] Figure 1 This is a flowchart illustrating a control method for a surgical robot according to one embodiment.

[0059] like Figure 1 As shown, the control method of this embodiment may include the following steps: Step 101, Step 104:

[0060] Step 101: Obtain the length L1 of the first instrument 2016.

[0061] In this embodiment, the length data of the first instrument 2016 can be pre-stored inside the surgical robot, or the length data of the first instrument 2016 can be obtained by measuring instruments.

[0062] In this embodiment, when the length data of the first instrument 2016 is pre-stored inside the surgical robot, when it is necessary to insert the first instrument 2016 into the puncture card 2014, the first instrument 2016 can be selected as the instrument to be inserted into the puncture card 2014 on the display interface of the surgical robot, and the surgical robot can obtain the length data corresponding to the first instrument 2016.

[0063] In this embodiment, the length data of the first instrument 2016 can be measured by a measuring instrument, and the measured length data of the first instrument 2016 can be input into the surgical robot so that the surgical robot can obtain the length data of the first instrument 2016.

[0064] In this embodiment, the length L1 of the first instrument 2016 is determined according to the actual surgical situation. For example, the length L1 of the first instrument 2016 can be 30 centimeters.

[0065] like Figure 3 As shown, in step 102, when the first instrument 2016 is inserted into the stamp card 2014, a first distance d1, a second distance d2, and a first pose of the stamp card 2014 are obtained. The first distance d1 is the distance between the front end of the first instrument 2016 and the front end of the stamp card 2014 when the first instrument 2016 is inserted into the stamp card 2014. The second distance d2 is the distance between the front end of the stamp card mounting bracket 2013 and the front end of the slide table 2015 when the first instrument 2016 is inserted into the stamp card 2014.

[0066] In this embodiment, inserting the first instrument 2016 into the stamp card 2014 means that the first instrument 2016 is inserted into the stamp card 2014, and the first instrument 2016 is located at the target position of the first instrument 2016.

[0067] like Figure 3 As shown, in this embodiment, the first distance d1 is the distance between the front end of the first instrument 2016 and the front end of the stamp card 2014 when the first instrument 2016 is inserted into the stamp card 2014. For example, the first distance d1 can be 13 centimeters.

[0068] like Figure 3 As shown, in this embodiment, the second distance d2 is the distance between the front end of the stamp card mounting bracket 2013 and the front end of the slide table 2015 when the first instrument 2016 is inserted into the stamp card 2014. For example, the second distance d2 can be 15 centimeters.

[0069] In this embodiment, it should be noted that the position of the front end of the stamp card mounting bracket 2013 remains unchanged even when the included angle between the axis of the stamp card 2014 and the axis of the base plate 2012 is arbitrary. The axis of the base plate 2012 is the axis along its length.

[0070] In this embodiment, the position of the stamp card 2014 is the angle between the axis of the stamp card 2014 and the axis of the base plate 2012 when the first instrument 2016 inserts the stamp card 2014.

[0071] In this embodiment, the first position of the puncture card 2014 is determined by the actual surgical situation. For example, the first position of the puncture card 2014 is an angle of 60° between the axis of the puncture card 2014 and the axis of the base plate 2012.

[0072] Step 103: After the first instrument 2016 is detached from the stamp card 2014, obtain the length of the second instrument 2017 and the second pose of the stamp card 2014.

[0073] In this embodiment, after the slide 2015 drives the first instrument 2016 to disengage from the stamp card 2014, the length L2 of the second instrument 2017 and the second pose of the stamp card 2014 are obtained.

[0074] In this embodiment, the length data of the second instrument 2017 can be pre-stored inside the surgical robot, or the length data of the second instrument 2017 can be obtained by measuring instruments.

[0075] In this embodiment, when the length data of the second instrument 2017 is pre-stored inside the surgical robot, when it is necessary to insert the second instrument 2017 into the puncture card 2014, the instrument to be inserted into the puncture card 2014 can be selected as the second instrument 2017 on the display interface of the surgical robot, and the surgical robot can obtain the length data corresponding to the second instrument 2017.

[0076] In this embodiment, the length data of the second instrument 2017 can be measured by a measuring instrument, and the measured length data of the second instrument 2017 can be input into the surgical robot so that the surgical robot can obtain the length data of the second instrument 2017.

[0077] In this embodiment, the length L2 of the second instrument 2017 is determined according to the actual surgical situation. For example, the length L2 of the second instrument 2017 can be 50 centimeters.

[0078] In this embodiment, the first instrument 2016 and the second instrument 2017 can be the same instrument or different instruments.

[0079] In this embodiment, the second pose of the stamp card 2014 is the pose of the stamp card 2014 after the first instrument 2016 is removed from the stamp card 2014 and before the second instrument 2017 is inserted into the stamp card 2014.

[0080] In this embodiment, the second position of the puncture card 2014 is determined by the actual surgical situation. For example, the second position of the puncture card 2014 is an angle of 60° between the axis of the puncture card 2014 and the axis of the base plate 2012.

[0081] Step 104: When the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014, and the first distance is greater than or equal to the preset distance, the target position of the slide table 2015 is determined according to the length L2 of the second instrument 2017, the length L1 of the first instrument 2016, and the second distance d2.

[0082] In this embodiment, the preset distance can be set by the user. This embodiment does not impose specific limitations on this. For example, the preset distance can be 10 centimeters.

[0083] In this embodiment, the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014, indicating that the pose of the stamp card 2014 does not change when the second instrument 2017 is installed. The position of the front end of the second instrument 2017 to be installed is located at the same position as the front end of the first instrument 2016. Therefore, the target position of the slide table 2015 when the second instrument 2017 is inserted into the stamp card 2014 can be determined based on the length L2 of the second instrument 2017, the length L1 of the first instrument 2016, and the second distance d2.

[0084] In this embodiment, the length of the first device 2016 is obtained, and when the first device 2016 is inserted into the stamp card 2014, a first distance, a second distance, and a first pose of the stamp card 2014 are obtained. The first distance is the distance between the front end of the first device 2016 and the front end of the stamp card 2014 when the first device 2016 is inserted into the stamp card 2014; the second distance is the distance between the front end of the stamp card mounting bracket 2013 and the front end of the slide table 2015 when the first device 2016 is inserted into the stamp card 2014. After the first device 2016 is disengaged from the stamp card 2014, the length of the second device 2017 and a second pose of the stamp card 2014 are obtained. The second pose of the stamp card 2014 is then used to determine the pose of the stamp card 2014 relative to the stamp card 2014. When the first position of the card 2014 is the same and the first distance is greater than or equal to the preset distance, the target position of the slide 2015 is determined according to the length of the second instrument 2017, the length of the first instrument 2016, and the second distance, when the second instrument 2017 is inserted into the card 2014. When the second instrument 2017 is installed, the slide 2015 is controlled to move to the target position of the slide 2015, so that the position of the front end of the second instrument 2017 is at the same position as the position of the front end of the first instrument 2016. The method of this application is simple and can accurately calculate the target position of the slide 2015 when the second instrument 2017 is installed by moving the front end of the second instrument 2017 to the position of the first instrument 2016 through the slide 2015. The control accuracy is high and the surgical efficiency is effectively improved.

[0085] In one embodiment, before obtaining the first distance d1, the second distance d2 and the first pose of the stamp card 2014 when the first instrument 2016 is inserted into the stamp card 2014, the method further includes: driving the first instrument 2016 through the stamp card 2014 via the slide table 2015, wherein the front end of the first instrument 2016 extends beyond the front end of the stamp card 2014.

[0086] In this embodiment, it should be noted that only one surgical instrument can be installed in the puncture card 2014 at a time; when installing a surgical instrument in the puncture card 2014, the surgical instrument needs to be inserted into the puncture card 2014 by the slide table 2015.

[0087] like Figure 3 and Figure 4As shown, in one embodiment, when the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014, and the first distance d1 is greater than or equal to a preset distance, determining the target position of the slide table 2015 when the second instrument 2017 is inserted into the stamp card 2014 based on the length L2 of the second instrument 2017, the length L1 of the first instrument 2016, and the second distance d2 includes:

[0088] When the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014, the difference in instrument length is determined based on the length L2 of the second instrument 2017 and the length L1 of the first instrument 2016.

[0089] The sum of the instrument length difference and the second distance d2 is determined as the third distance d3;

[0090] Based on the third distance d3 and the position of the front end of the stamp card mounting bracket 2013, the target position of the slide table 2015 is determined when the second instrument 2017 inserts the stamp card 2014.

[0091] In this embodiment, d3 = L2 - L1 + d2.

[0092] For example, the first pose of the stamp card 2014 is an angle of 60° between the axis of the stamp card 2014 and the axis of the base plate 2012; the second pose of the stamp card 2014 is also an angle of 60° between the axis of the stamp card 2014 and the axis of the base plate 2012; the length L2 of the second device 2017 is 50 cm; the length L1 of the first device 2016 is 30 cm; the first distance d1 is 13 cm; the second distance d2 is 15 cm; and the preset distance is 10 cm. At this time, the first pose of the stamp card 2014 and the stamp card... The second pose of 2014 is the same. Based on the length L2 of the second instrument 2017 and the length L1 of the first instrument 2016, the difference in instrument length is determined to be 20 cm. The sum of the difference in instrument length and the second distance d2 is then determined as the third distance d3, which is 35 cm. Based on the third distance d3 and the position of the front end of the stamp card mounting bracket 2013, the target position of the slide table 2015 when the second instrument 2017 is inserted into the stamp card 2014 can be determined.

[0093] In one embodiment, when the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014, and the first distance is greater than or equal to a preset distance, after determining the target position of the slide table 2015 when the second instrument 2017 is inserted into the stamp card 2014 based on the length of the second instrument 2017, the length of the first instrument 2016, and the second distance, the method further includes: mounting the second instrument 2017 on the slide table 2015; controlling the slide table 2015 to move to the target position of the slide table 2015, so that the second instrument 2017 is inserted into the stamp card 2014, wherein the distance between the front end of the second instrument 2017 and the front end of the stamp card 2014 is the first distance.

[0094] In this embodiment, when the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014, and the first distance is greater than or equal to a preset distance, the second instrument 2017 is mounted on the slide table 2015, and the slide table 2015 is controlled to move to the target position of the slide table 2015, so that the second instrument 2017 can be inserted into the stamp card 2014, and the second instrument 2017 is located at the target position of the second instrument 2017.

[0095] In this embodiment, when the second instrument 2017 is located at the target position of the second instrument 2017, the position of the front end of the second instrument 2017 is at the same position as the position of the front end of the first instrument 2016.

[0096] In one embodiment, after controlling the slide 2015 to move to the target position of the slide 2015 so that the second instrument 2017 is inserted into the stamp card 2014, the method further includes: obtaining a third pose of the stamp card 2014; if the third pose of the stamp card 2014 is the same as the first pose of the stamp card, updating the length value of the first instrument 2016 to the length value of the second instrument 2017, and updating the value of the second distance to the value of the third distance.

[0097] In this embodiment, after the second instrument 2017 is inserted into the puncture card 2014, the third pose of the puncture card 2014 is obtained. If the third pose of the puncture card 2014 is the same as the first pose of the puncture card, the length value of the first instrument 2016 is updated to the length value of the second instrument 2017, and the value of the second distance is updated to the value of the third distance, so as to update the data stored in the surgical robot.

[0098] <Equipment Example>

[0099] like Figure 3 and Figure 4As shown, the surgical robot includes a robotic arm 2011, a base plate 2012 mounted on the robotic arm 2011, a trocar mounting bracket 2013 mounted on the front end of the base plate 2012, a trocar 2014 mounted on the trocar mounting bracket 2013 and rotatably engaged with the trocar mounting bracket 2013, and a slide 2015 slidably engaged with the base plate 2012. The slide 2015 is used to move surgical instruments through the trocar 2014 to adjust the length of the front end of the surgical instrument extending beyond the trocar 2014. The surgical instruments include a first instrument 2016 and a second instrument 2017.

[0100] Figure 5 This is a schematic block diagram of the control device for a surgical robot according to one embodiment. Figure 5 As shown, the control device 500 may include a first acquisition module 501, a second acquisition module 502, a third acquisition module 503, and a determination module 504.

[0101] The first acquisition module 501 is used to acquire the length of the first instrument 2016;

[0102] The second acquisition module 502 is used to acquire a first distance, a second distance, and a first pose of the stamp card 2014 when the first instrument 2016 is inserted into the stamp card 2014. The first distance is the distance between the front end of the first instrument 2016 and the front end of the stamp card 2014 when the first instrument 2016 is inserted into the stamp card 2014. The second distance is the distance between the front end of the stamp card mounting bracket 2013 and the front end of the slide table 2015 when the first instrument 2016 is inserted into the stamp card 2014.

[0103] The third acquisition module 503 is used to acquire the length of the second instrument 2017 and the second pose of the stamp card 2014 after the first instrument 2016 is detached from the stamp card 2014;

[0104] The determining module 504 is used to determine the target position of the slide table 2015 when the second instrument 2017 is inserted into the stamp card 2014, based on the length of the second instrument 2017, the length of the first instrument 2016, and the second distance, when the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014 and the first distance is greater than or equal to a preset distance.

[0105] In one embodiment, when the first instrument 2016 is inserted into the stamp card 2014, before obtaining the first distance, the second distance and the first pose of the stamp card 2014, the first instrument 2016 is driven through the stamp card 2014 by the slide table 2015, wherein the front end of the first instrument 2016 extends beyond the front end of the stamp card 2014.

[0106] In one embodiment, the determining module 504 is specifically configured to: determine the instrument length difference based on the length of the second instrument 2017 and the length of the first instrument 2016 when the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014; determine the third distance by summing the instrument length difference and the second distance; and determine the target position of the slide table 2015 when the second instrument 2017 is inserted into the stamp card 2014 based on the third distance and the position of the front end of the stamp card mounting bracket 2013.

[0107] In one embodiment, when the second pose of the stamp card 2014 is the same as the first pose of the stamp card 2014, and the first distance is greater than or equal to a preset distance, after determining the target position of the slide table 2015 when the second instrument 2017 is inserted into the stamp card 2014 based on the length of the second instrument 2017, the length of the first instrument 2016, and the second distance, the second instrument 2017 is mounted on the slide table 2015; the slide table 2015 is controlled to move to the target position of the slide table 2015, so that the second instrument 2017 is inserted into the stamp card 2014, wherein the distance between the front end of the second instrument 2017 and the front end of the stamp card 2014 is the first distance.

[0108] In one embodiment, the device further includes a fourth acquisition module and an update module; the fourth acquisition module is used to acquire the third pose of the stamp card 2014; the update module is used to update the length value of the first instrument 2016 to the length value of the second instrument 2017 and update the value of the second distance to the value of the third distance when the third pose of the stamp card 2014 is the same as the first pose of the stamp card.

[0109] In this embodiment, the first acquisition module 501 acquires the length of the first instrument 2016; the second acquisition module 502, when the first instrument 2016 is inserted into the stamp card 2014, acquires a first distance, a second distance, and a first pose of the stamp card 2014, wherein the first distance is the distance between the front end of the first instrument 2016 and the front end of the stamp card 2014 when the first instrument 2016 is inserted into the stamp card 2014, and the second distance is the distance between the front end of the stamp card mounting bracket 2013 and the front end of the slide table 2015 when the first instrument 2016 is inserted into the stamp card 2014; the third acquisition module 503, after the first instrument 2016 is detached from the stamp card 2014, acquires the length of the second instrument 2017 and the second pose of the stamp card 2014; and the determining module 504, in the case of... When the second pose of the puncture card 2014 is the same as the first pose of the puncture card 2014, and the first distance is greater than or equal to a preset distance, the target position of the slide 2015 when the second instrument 2017 is inserted into the puncture card 2014 is determined based on the length of the second instrument 2017, the length of the first instrument 2016, and the second distance. When the second instrument 2017 is installed, the slide 2015 is controlled to move to the target position of the slide 2015, so that the front end of the second instrument 2017 is at the same position as the front end of the first instrument 2016. The control device of this application can accurately calculate the target position of the slide 2015 when the second instrument 2017 is installed when the front end of the second instrument 2017 is moved to the position of the first instrument 2016 by the slide 2015. The control accuracy is high and the surgical efficiency is effectively improved.

[0110] Figure 6 This is a schematic diagram of the hardware structure of the control device for a surgical robot according to another embodiment.

[0111] like Figure 6 As shown, the 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 as described in any of the above method embodiments, under the control of the computer program.

[0112] Each module of the above control device can be implemented by the processor 610 in this embodiment executing the computer program stored in the memory 610, or it can be implemented by other circuit structures, which are not limited here.

[0113] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0114] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. A more specific, non-exhaustive list of computer-readable storage media includes: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, such as light pulses through fiber optic cables, or electrical signals transmitted through wires.

[0115] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0116] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer, for example, via the Internet using an Internet service provider. In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0117] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus systems, and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0118] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0119] Computer-readable program instructions may 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, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0120] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0121] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A control method of a surgical robot, characterized by, The surgical robot comprises a mechanical arm (2011), a bottom plate (2012) mounted on the mechanical arm (2011), a card mounting rack (2013) mounted at the front end of the bottom plate (2012), a card (2014) mounted on the card mounting rack (2013) and in rotational cooperation with the card mounting rack (2013), and a sliding table (2015) in sliding cooperation with the bottom plate (2012), the sliding table (2015) being used to drive a surgical instrument to move through the card (2014) to adjust the length of the front end of the surgical instrument extending out of the card (2014), wherein the surgical instrument comprises a first instrument (2016) and a second instrument (2017); The control method comprises: acquiring the length of the first instrument (2016); in the case that the first instrument (2016) is inserted into the card (2014), acquiring a first distance, a second distance and a first pose of the card (2014), wherein the first distance is the distance between the front end of the first instrument (2016) and the front end of the card (2014) in the case that the first instrument (2016) is inserted into the card (2014), and the second distance is the distance between the front end of the card mounting rack (2013) and the front end of the sliding table (2015) in the case that the first instrument (2016) is inserted into the card (2014); after the first instrument (2016) is separated from the card (2014), acquiring the length of the second instrument (2017) and a second pose of the card (2014); in the case that the second pose of the card (2014) is the same as the first pose of the card (2014) and the first distance is greater than or equal to a preset distance, determining the target position of the sliding table (2015) when the second instrument (2017) is inserted into the card (2014) according to the length of the second instrument (2017), the length of the first instrument (2016) and the second distance; in the case that the second pose of the card (2014) is the same as the first pose of the card (2014), determining an instrument length difference value according to the length of the second instrument (2017) and the length of the first instrument (2016); determining the sum of the instrument length difference value and the second distance as a third distance; determining the target position of the sliding table (2015) when the second instrument (2017) is inserted into the card (2014) according to the third distance and the position of the front end of the card mounting rack (2013); mounting the second instrument (2017) on the sliding table (2015); control the slide table (2015) to move to a target position of the slide table (2015), so that the second instrument (2017) is inserted into the poke card (2014), wherein a distance between a front end of the second instrument (2017) and a front end of the poke card (2014) is a first distance; and the front end of the second instrument (2017) is located at a same position as a front end of the first instrument (2016).

2. The control method according to claim 1, characterized by, Before the first distance, the second distance, and a first pose of the poke card (2014) are acquired, in a case where the first instrument (2016) is inserted into the poke card (2014), the method further includes: driving the first instrument (2016) to pass through the poke card (2014) by the slide table (2015), wherein the front end of the first instrument (2016) extends out of the front end of the poke card (2014).

3. The control method according to claim 1, characterized by, After the control of the slide table (2015) to move to the target position of the slide table (2015) and the insertion of the second instrument (2017) into the poke card (2014), the method further includes: acquiring a third pose of the poke card (2014); in a case where the third pose of the poke card (2014) is the same as the first pose of the poke card, updating a length value of the first instrument (2016) to a length value of the second instrument (2017), and updating a value of the second distance to a value of the third distance.

4. A control device of a surgical robot characterized by comprising: The surgical robot includes a mechanical arm (2011), a bottom plate (2012) mounted on the mechanical arm (2011), a poke card mounting rack (2013) mounted at a front end of the bottom plate (2012), a poke card (2014) mounted on the poke card mounting rack (2013) and in rotational cooperation with the poke card mounting rack (2013), and a slide table (2015) in sliding cooperation with the bottom plate (2012), the slide table (2015) being used to drive a surgical instrument to move through the poke card (2014) to adjust a length of the surgical instrument extending out of the front end of the poke card (2014), wherein the surgical instrument includes a first instrument (2016) and a second instrument (2017); and the device includes: a first acquisition module configured to acquire a length of the first instrument (2016); a second acquisition module configured to acquire, in a case where the first instrument (2016) is inserted into the poke card (2014), a first distance, a second distance, and a first pose of the poke card (2014), wherein the first distance is a distance between a front end of the first instrument (2016) and a front end of the poke card (2014) in a case where the first instrument (2016) is inserted into the poke card (2014), and the second distance is a distance between a front end of the poke card mounting rack (2013) and a front end of the slide table (2015) in the case where the first instrument (2016) is inserted into the poke card (2014). The third acquisition module is configured to acquire a length of the second instrument (2017) and a second pose of the punch card (2014) after the first instrument (2016) is detached from the punch card (2014); The determination module is configured to, in a case where the second pose of the punch card (2014) is the same as the first pose of the punch card (2014) and the first distance is greater than or equal to a preset distance, determine a target position of the sliding table (2015) when the second instrument (2017) is inserted into the punch card (2014) according to the length of the second instrument (2017), the length of the first instrument (2016), and the second distance. The determination module is specifically configured to: In a case where the second pose of the punch card (2014) is the same as the first pose of the punch card (2014), determine an instrument length difference value according to the length of the second instrument (2017) and the length of the first instrument (2016); Determine a third distance as a sum of the instrument length difference value and the second distance; 5. The control device of claim 4, wherein Determine the target position of the sliding table (2015) when the second instrument (2017) is inserted into the punch card (2014) according to the third distance and a position of a front end of the punch card mounting rack (2013). The device further includes: A fourth acquisition module configured to acquire a third pose of the punch card; An updating module configured to, in a case where the third pose of the punch card is the same as the first pose of the punch card, update a length value of the first instrument (2016) to a length value of the second instrument (2017) and update a value of the second distance to a value of a third distance.

6. A control device of a surgical robot, comprising a memory and a processor, the memory being configured to store a computer program; and the processor being configured to execute the computer program to implement the method according to any one of claims 1-3.

7. A computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being configured to implement the method according to any one of claims 1-3 when executed by a processor.

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