Alignment activation method and device of surgical robot and surgical robot

Abstract

The application provides a surgical robot alignment activation method and device, and a surgical robot. The method comprises the following steps: determining a target alignment activation mode from the alignment activation modes according to the type of an instrument installed on an operating device; obtaining an operation instruction associated with the target alignment activation mode; and aligning the posture of an operating part with the posture of an end effector of the instrument in response to the operation instruction being triggered. The embodiments of the application provide multiple alignment activation modes, and the appropriate alignment activation mode can be selected according to the type of the instrument installed on the operating device. After the alignment activation mode is activated, the alignment process between the operating part and the operating device is performed, which can avoid misoperation problems during the activation, and improve the safety and efficiency of the activation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a surgical robot alignment activation method and device. BACKGROUND

[0002] A surgical robot generally comprises a master console and a slave operating device, the master console comprises a display and an operating lever, the slave operating device comprises a plurality of operating arms, and the operating arms have end instruments. In a working state, a doctor controls the operating lever to send control commands to the slave operating device, and the end instruments follow the operating lever to operate, so as to realize remote surgical operation.

[0003] When the end instrument located in the body is ready to start working (including initial start or switching of the end instrument), the posture of the end instrument and the posture of the clamp usually have a deviation, at this time, if the end instrument is started to follow the operating lever to move, damage to the body is easy to be caused. Therefore, master-slave alignment needs to be performed, so as to reduce the pose deviation between the end instrument and the operating lever to meet the alignment condition, and then the end instrument is started to enter the following state.

[0004] Before the surgical robot performs master-slave alignment, an activation step is usually performed, and after activation, a master-slave alignment process is performed. The existing activation mode has the problem of end instrument misoperation, for example, causing the grabber to loosen, the needle to drop, etc. SUMMARY

[0005] The present application solves the problem of end instrument misoperation in the existing activation mode of the surgical robot.

[0006] To solve the above problems, an alignment activation method of a surgical robot is provided in an embodiment of the present application, the surgical robot comprises an operating part and a slave operating device, and the method comprises the following steps: determining a target alignment activation mode from alignment activation modes according to the type of an instrument installed on the slave operating device; obtaining an operation instruction associated with the target alignment activation mode; and in response to the operation instruction being triggered, aligning the posture of the operating part with the posture of an end effector of the instrument.

[0007] Optionally, the alignment activation mode comprises at least one of the following: double-click alignment activation, rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation; and the step of determining the target alignment activation mode from the alignment activation modes according to the type of the instrument installed on the slave operating device comprises the following steps: if the type of the instrument installed on the slave operating device is an open-close type, determining that the target alignment activation mode is the rotation alignment activation or the push alignment activation; and if the type of the instrument installed on the slave operating device is a non-open-close type, determining that the target alignment activation mode is the double-click alignment activation or the fingerprint recognition alignment activation.

[0008] Optionally, the operating unit includes at least one rotatable component, which has a mapping control relationship with the target joint of the slave operating device; if rotation alignment activation is determined, the response to the operation command being triggered includes: sending a fixed position value to the target joint of the slave operating device; acquiring a command input by the user through the rotatable component for controlling the rotation of the target joint, and sending the command to the target joint; collecting the current position value and current value of the motor of the target joint; if the current value is greater than a preset current threshold, and / or the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, then it is determined that the operation command associated with the target alignment activation method is triggered.

[0009] Optionally, the operating unit includes at least one pushable component, which has a mapping control relationship with the target joint of the slave operating device; if it is determined to be a push alignment activation, the response to the operation command being triggered includes: sending a fixed position value to the target joint of the slave operating device; acquiring a command input by the user through the pushable component for controlling the push of the target joint, and sending the command to the target joint; collecting the current position value and current value of the motor of the target joint; if the current value is greater than a preset current threshold, and / or the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, then it is determined that the operation command associated with the target alignment activation mode is triggered.

[0010] Optionally, the operating unit includes at least one clamp, and the clamp has a mapping control relationship with the target joint of the operating device; if it is determined to be double-click alignment activation, the response to the operation command being triggered includes: acquiring a first action command and a second action command sequentially input by the user through the clamp; the first action command is associated with a pinching action and the second action command is associated with a releasing action, or the second action command is associated with a pinching action and the first action command is associated with a releasing action; if the device installed on the operating device is executed in response to both the first action command and the second action command, then the first action command input by the user through the clamp is acquired again; if the device installed on the operating device is executed again in response to the first action command, then it is determined that the operation command associated with the target alignment activation method is triggered.

[0011] Optionally, the operation unit includes a fingerprint recognition component. If fingerprint recognition alignment activation is selected, the response to the operation command being triggered includes: acquiring fingerprint information and pressure value collected by the fingerprint recognition component; if the fingerprint information matches pre-stored valid fingerprint information and the pressure value is greater than a preset pressure threshold, then determining that the operation command associated with the target alignment activation method is triggered.

[0012] Optionally, before determining the target alignment activation mode from the alignment activation modes based on the type of the device installed from the operating device, the method further includes: reading information about the device installed from the operating device to obtain the type of the device; and / or, identifying an image acquired by an image acquisition device that includes the device installed from the operating device to obtain the type of the device.

[0013] Optionally, aligning the posture of the operating unit with the posture of the end effector of the device includes: executing an automatic alignment process between the operating unit and the slave operating device; and, after obtaining a control command input by the user, executing an active following process in which the slave operating device actively follows the operating unit.

[0014] Optionally, if rotational alignment activation, push alignment activation, or fingerprint recognition alignment activation is selected, the automatic alignment process between the operating unit and the slave operating device includes: calculating the second opening angle of the clamp of the operating unit based on the first opening angle of the instrument installed on the slave operating device; and controlling the clamp to open to the second opening angle.

[0015] Optionally, if double-clicking for alignment activation is selected, the automatic alignment process between the operating unit and the slave operating device includes: calculating the first opening angle of the instrument mounted on the slave operating device based on the second opening angle of the clamp of the operating unit; and controlling the instrument mounted on the slave operating device to open to the first opening angle.

[0016] Optionally, calculating the second opening angle of the clamp of the operating part based on the first opening angle of the instrument installed from the operating device includes: obtaining the current actual posture of the instrument installed from the operating device, converting the current actual posture coordinates into the target posture of the clamp of the operating part, and inversely solving the target posture to obtain the target joint position of the clamp; controlling the clamp to open to the second opening angle includes: sending the target joint position to the clamp to move the clamp to the target joint position; obtaining the current joint position of the clamp, and forward solving the current joint position to obtain the current posture of the clamp; converting the current posture coordinates of the clamp into the current posture for verification from the operating device, and calculating the deviation between the current posture for verification and the current actual posture of the instrument installed from the operating device; if the deviation is less than or equal to a preset deviation threshold, then determining that the clamp has opened to the second opening angle.

[0017] Optionally, the active following process of the operating device actively following the operating unit includes: obtaining the current posture of the operating unit after it is controlled by the user; converting the current posture coordinates into the target posture of the instrument installed on the operating device; inversely solving the target posture to obtain the target joint position of the instrument installed on the operating device; and controlling the instrument installed on the operating device to move to the target joint position.

[0018] Optionally, before determining the target alignment activation mode from the alignment activation modes according to the type of device installed on the slave operating device, the method further includes: determining whether alignment activation between the main operating console and the operating unit is allowed; if at least one of the following conditions is met, it is determined that alignment activation is allowed; the conditions include obtaining a head sensing signal trigger, normal communication between the main operating console and the slave operating device, and the slave operating device allowing alignment signal triggering.

[0019] This invention provides a positioning activation device for a surgical robot. The surgical robot includes an operating unit and a slave operating device. The device includes: an activation mode selection module, used to determine a target positioning activation mode from positioning activation modes according to the type of instrument installed on the slave operating device; an operation instruction acquisition module, used to acquire an operation instruction associated with the target positioning activation mode; and a positioning execution module, used to align the posture of the operating unit with the posture of the end effector of the instrument in response to the operation instruction being triggered.

[0020] This invention provides a surgical robot, including: an operating unit; a slave operating device; and a controller, wherein the controller is coupled to the operating unit and the slave operating device and is configured to perform the alignment activation method of the surgical robot described above.

[0021] This invention provides a computer-readable storage medium storing a computer program configured to be loaded and executed by a processor to implement the above-described alignment activation method for a surgical robot.

[0022] The embodiments of the present invention provide a variety of alignment activation methods, and the appropriate alignment activation method can be selected according to the type of device installed on the operating device. After activation, the alignment process between the operating unit and the operating device is executed, which can avoid the problem of misoperation during activation and improve the safety and efficiency of the activation process. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of a main control panel according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the main wrist of an operating unit in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of an operating device according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of another operating device in an embodiment of the present invention;

[0028] Figure 5 This is a schematic flowchart of a surgical robot alignment activation method according to an embodiment of the present invention;

[0029] Figure 6 This is a flowchart illustrating the rotational alignment activation method in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the process of promoting the alignment activation method in an embodiment of the present invention;

[0031] Figure 8 This is a flowchart illustrating the double-click alignment activation method in an embodiment of the present invention;

[0032] Figure 9 This is a flowchart illustrating the fingerprint recognition alignment activation method in an embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram illustrating the activation and alignment process of the surgical robot in an embodiment of the present invention;

[0034] Figure 11 This is a schematic diagram of the alignment and activation device of a surgical robot according to an embodiment of the present invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100-Main control panel; 200-Slave control device; 110-Main arm; 120-Main wrist; 121-First lever; 122-Second lever; 123-Third lever; 124-Clamp; 125-First rotary joint; 126-Second rotary joint; 127-Third rotary joint; 128-Fourth rotary joint; 129-Push button; J1-First rotation axis; J2-Second rotation axis; J3-Third rotation axis; 210-Robotic arm; 220-Actuator; 230-Punch device; 310-Robotic arm; 320-Adjusting arm; 330-Manipulator; 340-Punch device; 350-Surgical instrument; 111-Activation mode selection module; 112-Operation command acquisition module; 113-Alignment execution module. Detailed Implementation

[0037] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0038] Surgical robots generally consist of operating devices and a main operating console. Figure 1 This is a schematic diagram of a main control panel according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a slave operating device according to an embodiment of the present invention. A doctor can perform relevant control operations on the slave operating device 200 from the main operating console 100, and the slave operating device 200 performs surgery on the human body according to the input instructions from the main operating console 100.

[0039] exist Figure 1 The diagram shows a main control console 100 including an operating unit, which includes a main arm 110 and a main wrist 120. The user controls the movement of the slave operating device 200 by operating the main arm 110 and the main wrist 120. The control signal processing system of the main control console 100 processes the input signals from the main arm 110 and the main wrist 120 and then sends control commands to the slave operating device 200. The slave operating device 200 responds to the control commands sent by the main control console and performs corresponding operations.

[0040] Specifically, a positional mapping control is established between the master arm 110 and master wrist 120 and the robotic arm and instrument of the slave operating device. This mapping can be a positional correspondence, such as a proportional distance or a distance trend correspondence. Alternatively, this mapping can be a motion correspondence, such as a motion posture correspondence or a motion trend correspondence. Thus, the user can control the instrument to perform corresponding actions (e.g., pitch, yaw, roll, gripping, etc.) by operating the master arm 110 and master wrist 120. Motors with encoders are installed in multiple joints of the master arm 110 and master wrist 120, enabling automatic alignment and other corresponding control functions.

[0041] Figure 2 This is a schematic diagram of the main wrist of an operating unit according to an embodiment of the present invention. The main wrist 120 has multiple degrees of freedom, generally including at least three. The main wrist 120 includes a first lever 121, a second lever 122, a third lever 123, a clamp 124, a first rotational joint 125, a second rotational joint 126, a third rotational joint 127, a fourth rotational joint 128, and push buttons 129. The clamp 124 is mounted to one end of the first lever 121 via the first rotational joint 125. Two symmetrical push buttons 129 are also provided on the clamp 124. The other end of the first lever 121 is mounted to one end of the second lever 122 via the second rotational joint 126; the other end of the second lever 122 is mounted to one end of the third lever 123 via the third rotational joint 127; and the other end of the third lever 123 is mounted to the main arm 110 via the fourth rotational joint 128.

[0042] The clamp 124 is rotatably connected to the first rod 121 via the first rotary joint 125, so that the clamp 124 can rotate around the first rotation axis J1 of the first rotary joint 125. The first rod 121 is rotatably connected to the second rod 122 via the second rotary joint 126, so that the first rod 121 can rotate around the second rotation axis J2 of the second rotary joint 126. The second rod 122 is rotatably connected to the third rod 123 via the third rotary joint 127, so that the second rod 122 can rotate around the third rotation axis J3 of the third rotary joint 127. The third rod 123 is rotatably connected to the main arm 110 via the fourth rotary joint 128, so that the third rod 123 can rotate around the rotation axis of the fourth rotary joint 128.

[0043] In the illustrated embodiment, the rotation axes of the first rotational joint 125, the second rotational joint 126, and the third rotational joint 127—the first rotation axis J1, the second rotation axis J2, and the third rotation axis J3—intersect at a single point. The master wrist 120 adopts a multi-axis intersection design, which relatively decouples the posture and position of the entire master hand, facilitating kinematic calculations.

[0044] In the illustrated embodiment, the first rod 121, the second rod 122, and the third rod 123 are L-shaped rods, each rod has two ends that are perpendicularly connected to each other, and the two ends of each rod are connected to a rotating joint.

[0045] In the illustrated embodiment, the clamp 124 can perform multiple degrees of freedom of movement through multiple rods (first rod 121, second rod 122, third rod 123) and multiple rotary joints (first rotary joint 125, second rotary joint 126, third rotary joint 127, fourth rotary joint 128); in other embodiments, the number of rods and rotary joints can be set according to the actual degrees of freedom of movement required by the clamp 124.

[0046] The main arm 110 has a mounting end and a connecting end. The mounting end can be fixedly connected to the support base of the main operating table 100. The main arm 110 has at least one degree of freedom of movement. The main wrist 120 is movably mounted on the connecting end of the main arm 110 via a fourth rotary joint 128. The main wrist 120 allows the user to perform corresponding operations, such as rotation or clamping. The clamp 124 has an opening and closing degree of freedom. After the opening and closing degree of freedom of the clamp 124 is mapped to the instrument, it can control the opening and closing action of the end effector (such as clamping or shearing). After the rotational degree of freedom of the clamp 124 around the first rotation axis J1 of the first rotary joint 125 is mapped to the instrument, it can control the rolling motion of the end effector of the instrument.

[0047] like Figure 3 As shown, the operating device 200 includes a robotic arm 210 and an actuator 220 disposed at the distal end of the robotic arm 210. Surgical instruments (not shown) for performing surgery are connected to the actuator 220, which drives the surgical instruments through multiple actuators within it. Multiple surgical instruments can be connected to one actuator 220. A detachable trocar 230 is mounted at the distal end of the actuator 220 for connection with the human body to achieve an airtight seal. The surgical instruments mounted on the actuator 220 pass through the trocar 230 and are inserted into the patient's body.

[0048] Figure 4 This is a schematic diagram of another operating device in an embodiment of the present invention, showing a multi-hole surgical robot, and... Figure 3 The main difference between the single-port surgical robots shown is the difference in their operating devices. Figure 4 The illustrated multi-port surgical robot has a drive arm with a mechanical arm 310, an adjusting arm 320, and a manipulator 330 connected in sequence. The number of adjusting arms 320 and manipulators 330 is the same, and there are two or more of each. A detachable trocar 340 is mounted on the manipulator 330 for connection to the human body to achieve an airtight seal. A surgical instrument 350 is mounted on the manipulator 330 and passes through the trocar 340 to be inserted into the human body.

[0049] Doctors can input position and posture commands, including location and posture commands, through the control unit on the main control panel to control the movement of surgical instruments mounted on the operating equipment.

[0050] When an end-effector located within the body is ready to be activated and enter working mode, master-slave alignment needs to be performed before the end-effector is activated and enters follow mode. Typically, an activation step must be performed first, followed by the master-slave alignment process described above.

[0051] Figure 5 This is a schematic flowchart of a surgical robot alignment activation method according to an embodiment of the present invention. The method is applied to a surgical robot including an operating unit and a slave operating device, and the method includes:

[0052] S502, determine the target alignment activation method from the alignment activation methods based on the type of instrument installed from the operating equipment.

[0053] Before performing alignment activation, it is necessary to check whether the current state of the surgical robot allows alignment activation between the master control panel and the slave control device. If alignment is allowed, the alignment activation method provided in this embodiment is executed.

[0054] For example, alignment activation is determined to be allowed if the following conditions are met: a head sensor signal is received, communication between the master console and the slave operating device is normal, and the slave operating device allows alignment signal triggering. Among these conditions, receiving a head sensor signal indicates that the user is ready to operate at the master console; normal communication between the master console and the slave operating device indicates that they can communicate reliably; and the slave operating device allows alignment signal triggering, for example, if an endoscope and a surgical instrument are in place. Optionally, the master console is equipped with sensors, such as proximity switches or pressure sensors, to sense whether a head is approaching, and a head sensor signal is triggered when the head is close.

[0055] To achieve the function of detecting the type of instrument, for example, the following methods can be used: reading information about the instrument installed from the operating device to obtain the type of instrument; and / or identifying an image acquired by an image acquisition device that includes the instrument installed from the operating device to obtain the type of the instrument. The image acquisition device may be, for example, an endoscope, which may be installed on the operating device or may not be an endoscope installed on the operating device (e.g., a handheld endoscope).

[0056] Optionally, this embodiment provides multiple alignment activation methods, as follows: double-click alignment activation, rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation. Double-click alignment activation is determined by whether the operating device responds to the user's two pinch actions; rotation alignment activation is determined by whether the operating device responds to the user's rotation or push operations; push alignment activation is determined by whether the operating device responds to the user's push operation; and fingerprint recognition alignment activation is determined by whether the main operating console collects a valid fingerprint and appropriate fingerprint pressure.

[0057] Considering that the activation methods available may be limited by the type of device installed from the operating device, this embodiment, in addition to providing the aforementioned multiple alignment activation methods, can automatically select the alignment activation method based on the device type, thereby providing users with a safer and more efficient activation effect. Optionally, if the device installed from the operating device is a hinged type, a rotation alignment activation method or a push alignment activation method is selected; if the device installed from the operating device is a non-hinged type, a double-click alignment activation method or a fingerprint recognition alignment activation method is selected.

[0058] For example, for instruments with opening and closing functions, including end effectors such as grippers, scissors, and dissecting forceps, if a double-click alignment activation method is used (during the activation process, the end effector will open and close to some extent), it may cause the instrument that was originally holding the surgical needle to release the needle, or the gripper that was originally holding the tissue to release, which is detrimental to the surgical process. Therefore, for the above-mentioned instruments with opening and closing functions, rotation alignment activation method, push alignment activation method, and fingerprint recognition alignment activation method can be selected.

[0059] For instruments without opening / closing functions, such as electrosurgical units, the double-click activation method can be selected. It should be noted that double-click activation is relatively more accurate and less prone to accidental activation. Fingerprint recognition activation, after the system recognizes a legitimate user's fingerprint, can read the user's operational preferences, such as the height of the master control panel's pose motors and the master-slave motion ratio, which facilitates rapid surgical preparation.

[0060] Based on the above steps, several feasible activation methods are obtained. Then, a prompt message can be output to encourage the user to choose an activation method. The user can choose the appropriate activation method.

[0061] S504, obtain the operation instructions associated with the above target alignment activation method.

[0062] After determining the target alignment activation method, the associated operation command is obtained so that the operation unit and the slave operation device can execute the operation command.

[0063] S506, in response to the above operation command being triggered, the posture of the operating unit is aligned with the posture of the end effector of the instrument.

[0064] Optionally, the attitude alignment process includes the following steps: (1) executing an automatic alignment process between the operating unit and the slave operating device; (2) after obtaining the control command input by the user, executing an active following process where the slave operating device actively follows the operating unit.

[0065] The surgical robot alignment and activation method provided in this embodiment offers multiple alignment and activation modes, and can select the appropriate alignment and activation mode according to the type of instrument installed on the operating device. After activation, the operation unit and the operating device are aligned in posture, which can avoid misoperation problems during activation and improve the safety and efficiency of the activation process.

[0066] The specific process of each pair activation method is described in detail below.

[0067] Figure 6 A flowchart illustrating the rotational alignment activation method in this embodiment is shown. The surgical robot to which this method is applied has an operating unit including at least one rotatable component. This rotatable component has a mapping control relationship with a target joint of the operating device. It should be noted that the rotatable component and other components that trigger corresponding operating commands are communicatively connected to the controller or processor of the main control console. Figure 6 As shown, it includes the following steps:

[0068] S601, a fixed position value is sent to the target joint of the operating device. A specific joint is selected as the target joint, and its response is used to determine whether activation was successful. After the fixed position value is sent, the motor of that joint will remain at the position corresponding to that fixed position value.

[0069] S602: The system acquires the user's command to control the rotation of the target joint via the rotatable component and sends the command to the target joint. After the user inputs the action to control the rotation of the target joint on the operating unit, the target joint overcomes the torque of the motor and rotates to another position. The system software can read the current position value. In the next step, the system software checks the motor's current value and position value to determine whether the rotation activation is complete.

[0070] S603 acquires the current position and current values ​​of the motor at the target joint. The controller on the main console can connect to the motor's driver to obtain the motor's current value. The controller on the main console can also connect to a position sensor of the motor, such as an encoder, to obtain the motor's current position value.

[0071] S604, if the current value is greater than the preset current threshold, and / or the difference between the current position value and the fixed position value is greater than the preset movement difference threshold, then the activation is confirmed to be successful.

[0072] Since the fixed position value sent to the motor remains unchanged, after the user controls the target joint to rotate, the motor will output a torque opposite to the direction of rotation and pushing. The system software can collect the motor's current value. If this current value is greater than the preset current threshold, the rotation is considered successfully activated. If the activation success condition is not met, the target joint will be restored to the aforementioned fixed position using a spring model.

[0073] The system software can also collect the current position value of the motor and compare it with the aforementioned fixed position value. If the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, the rotation is considered to be activated. If the activation success condition is not met, the target joint is restored to the aforementioned fixed position using a spring model.

[0074] Figure 7 A schematic diagram of the push-alignment activation method in this embodiment is shown. The surgical robot to which this push-alignment activation method is applied has an operating part including at least one pushable component, which has a mapping control relationship with a target joint of the operating device. Figure 7 As shown, it includes the following steps:

[0075] S701, a fixed position value is sent to the target joint of the operating device. A specific joint is selected as the target joint, and its response is used to determine whether activation was successful. After the fixed position value is sent, the motor of that joint will remain at the position corresponding to that fixed position value.

[0076] S702: The system receives and sends a user-input command to control the target joint via a pushable component. After the user inputs a control action to rotate the target joint on the operating unit, the target joint overcomes the motor torque and rotates to another position. The system software can then read the current position value. In the next step, the system software checks the motor's current value and position value to determine whether rotation activation is complete.

[0077] S703 acquires the current position and current values ​​of the motor at the target joint. The controller on the main console can connect to the motor driver to obtain the motor's current value.

[0078] S704, if the current value is greater than the preset current threshold, and / or the difference between the current position value and the fixed position value is greater than the preset movement difference threshold, then the activation is confirmed to be successful.

[0079] Since the fixed position value sent to the motor remains unchanged, the user can hold the control lever and push it inward or pull it outward. If the current value exceeds the preset current threshold, the rotation is considered successfully activated. If the activation condition is not met, the target joint is restored to the fixed position using a spring model.

[0080] The system software can also collect the current position value of the motor and compare it with the aforementioned fixed position value. If the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, the activation is considered complete. If the activation success condition is not met, the target joint is restored to the aforementioned fixed position using a spring model.

[0081] Figure 8 The flowchart of the double-click alignment activation method in this embodiment is shown. The surgical robot to which this double-click alignment activation method is applied includes at least one gripper in its operating unit. This gripper has a mapping control relationship with a target joint of the operating device. For example... Figure 8 As shown, it includes the following steps:

[0082] S801: Obtain the first action command and the second action command input sequentially by the user through the clamp. The first action is a pinching action and the second action is a releasing action, or the second action is a pinching action and the first action is a releasing action. That is, activation is performed in the order of pinch-release-pinch and release-pinch-release.

[0083] For example, this function is in a waiting operation state, performing an initial pinch judgment. When the finger pinches down, if the data fed back by the opening / closing sensor is less than a set value, the pinch action is considered successful and the next action is initiated. Otherwise, it fails and returns to the waiting operation state.

[0084] During the finger release process, within a specified time (e.g., 1 second), the finger moves the release sensor. If the data from the opening / closing sensor is greater than a set value, the release action is considered successful (i.e., completed), and the process proceeds to the next step. If the finger is not released to the specified value within the specified time, the process is considered a failure and returns to the waiting state.

[0085] S802, if both the first action command and the second action command from the instrument installed on the operating device are executed, then continue to acquire the first action input by the user through the fixture.

[0086] A second pinch check is performed. Within a specified time (e.g., 1 second), the finger continues to pinch. If the data from the opening / closing sensor is less than the set value, the pinch action is considered successful (i.e., completed). If the pinch does not reach the set value within the specified time, it is considered a failure and the system returns to the waiting state.

[0087] S803, if the first action command of the instrument installed from the operating device is executed again, it is determined that the operation command associated with the target alignment activation mode is triggered.

[0088] Figure 9 A flowchart illustrating the fingerprint recognition alignment activation method in this embodiment is shown. The surgical robot to which this fingerprint recognition alignment activation method is applied includes a fingerprint recognition component in its operating part, which possesses both fingerprint recognition and pressure recognition functions. Figure 9 As shown, it includes the following steps:

[0089] S901 acquires fingerprint information and pressure values ​​collected by the fingerprint recognition component.

[0090] S902, if the fingerprint information matches the pre-stored valid fingerprint information and the pressure value is greater than the preset pressure threshold, then the activation is confirmed to be successful.

[0091] The surgical robot is pre-registered with a list of authorized users and their fingerprints by authorized personnel. When activation is required, the user presses their finger onto the fingerprint recognition device on the main control panel. A pressure sensor beneath the fingerprint recognition device measures the pressure applied by the finger. If the fingerprint matches successfully and the pressure exceeds a preset threshold, the system considers activation successful.

[0092] After successful activation, the alignment process between the operating unit and the slave operating device continues. Optionally, this includes the following two-stage process: executing an automatic alignment process between the operating unit and the slave operating device; and executing an active following process where the slave operating device actively follows the operating unit after receiving the user's input control command.

[0093] When performing automatic alignment, two methods can be used: master-slave follow or slave-master follow. Based on the reasons for choosing the activation method mentioned above, if rotation alignment activation, push alignment activation, or fingerprint recognition alignment activation are selected, then the slave-master follow method should be chosen; if double-click alignment activation is selected, then the master-slave follow method should be chosen. Details are as follows:

[0094] (1) If rotation alignment activation, push alignment activation, or fingerprint recognition alignment activation is selected, and the master-follower mode is selected, the above S506 includes: calculating the second opening angle of the clamp of the operating part based on the first opening angle of the instrument installed from the operating device; and controlling the clamp of the operating part to open to the second opening angle.

[0095] The instrument installed from the operating device includes an end effector, and the opening and closing of the instrument refers to the opening and closing of the end effector. Specifically, calculating the second opening and closing angle of the clamp of the operating unit based on the first opening and closing angle of the instrument installed from the operating device includes: acquiring the current actual posture of the instrument installed from the operating device, converting the current actual posture coordinates into the target posture of the clamp of the operating unit, and inversely solving the target posture to obtain the target joint position of the clamp. Controlling the clamp to open to the second opening and closing angle includes: sending the target joint position to the clamp to move the clamp to the target joint position; acquiring the current joint position of the clamp, and forward solving the current joint position to obtain the current posture of the clamp; converting the current posture coordinates of the clamp into the current posture for verification from the operating device, calculating the deviation between the current posture for verification and the current actual posture of the instrument installed from the operating device; if the deviation is less than or equal to a preset deviation threshold, it is determined that the clamp has opened to the second opening and closing angle.

[0096] (2) If double-click to activate and master-slave follow mode is selected, the above S506 includes: calculating the first opening angle of the instrument installed from the operating device based on the second opening angle of the clamp of the operating unit; controlling the instrument installed from the operating device to open to the first opening angle.

[0097] The master-slave follow-up method has a simpler structure because the master control lever is opened and closed by the user, eliminating the need for the lever to have active movement. However, in the master-slave follow-up method, pre-installed instruments such as needle holders, large forceps, dissecting forceps, and scissors can open and close during alignment, leading to problems such as needles falling out or forceps or scissors becoming loose. In contrast, the slave-master follow-up method eliminates the opening and closing movement of instruments at the slave control device, resulting in higher surgical safety.

[0098] After automatic alignment, if a user-input control command is received, the active following process of the operating device actively following the operating unit is executed. Specifically, this includes the following steps: obtaining the current posture of the operating unit after being controlled by the user; converting the current posture coordinates into the target posture of the instrument mounted on the operating device; inversely solving the target posture to obtain the target joint position of the instrument mounted on the operating device; and controlling the instrument mounted on the operating device to move to the target joint position.

[0099] Figure 10 The diagram illustrates the activation and alignment process of the surgical robot in this embodiment, including the following steps:

[0100] S1001: Determine whether bit-level activation is allowed. If yes, proceed to S1002; otherwise, continue with S1001.

[0101] S1002, Perform the alignment activation method determined according to the device type.

[0102] S1003, determine whether the alignment activation was successful. If yes, proceed to S1004; otherwise, proceed to S1002.

[0103] S1004: Obtain the current actual posture of the instrument installed from the operating device, convert the current actual posture coordinates into the target posture of the clamp of the operating unit, and inversely solve the target posture to obtain the target joint position of the clamp.

[0104] S1005, send the target joint position to the fixture so that the fixture moves to the target joint position.

[0105] S1006, obtain the current joint position of the fixture, and use the forward kinematics of the current joint position to obtain the current orientation of the fixture.

[0106] S1007, convert the current attitude coordinates of the fixture into the current attitude for verification from the operating device, and calculate the deviation between the current attitude for verification and the current actual attitude of the instrument installed from the operating device.

[0107] S1008, determine whether the above deviation is less than or equal to the deviation threshold. If yes, proceed to S1009; otherwise, proceed to S1006.

[0108] S1004-S1008 is the automatic alignment process, and S1009-S1012 below is the active following process.

[0109] S1009, with a default master-slave alignment of 100%, obtains the current posture of the operator unit after it has been controlled by the user. This current posture is obtained from the forward kinematics of the joint positions actually reached by the operator unit under human control.

[0110] S1010, convert the current attitude coordinates to the target attitude of the instrument mounted on the operating device. This target attitude may include, for example, the target attitude of the end effector in the instrument.

[0111] S1011, the target posture is inversely solved to obtain the target joint position of the instrument installed on the operating equipment.

[0112] S1012 controls the movement of the instrument mounted on the operating device to the target joint position.

[0113] The method provided in this embodiment can prevent misoperation during activation by automatically selecting the activation mode, thereby improving the safety and efficiency of the activation process. For example, the rotation alignment is determined by position or current, allowing users to easily complete the alignment action and preventing needle drop during surgery. The follow mode adopts a master-follower approach, which can also avoid problems such as needle drop during surgery.

[0114] Figure 11This is a schematic diagram of the alignment and activation device for a surgical robot according to one embodiment of the present invention. The device includes:

[0115] Activation method selection module 111 is used to determine a target alignment activation method from alignment activation methods according to the type of the instrument installed from the operating device;

[0116] Operation instruction acquisition module 112 is used to acquire operation instructions associated with the target alignment activation method;

[0117] The alignment execution module 113 is used to align the posture of the operation unit with the posture of the end effector of the instrument in response to the operation command being triggered.

[0118] The alignment and activation device for the surgical robot provided in this embodiment offers multiple alignment and activation methods. It can select the appropriate alignment and activation method according to the type of instrument installed on the operating device. After activation, it performs the posture alignment process between the operating unit and the operating device, which can avoid misoperation problems during activation and improve the safety and efficiency of the activation process.

[0119] Optionally, the alignment activation method includes at least one of the following: double-click alignment activation, rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation; the activation method selection module 111 is specifically used to: if the type of the instrument installed from the operating device is openable, then determine the target alignment activation method as rotation alignment activation or push alignment activation; if the type of the instrument installed from the operating device is non-openable, then determine the target alignment activation method as double-click alignment activation or fingerprint recognition alignment activation.

[0120] Optionally, the operating unit includes at least one rotatable component, which has a mapping control relationship with the target joint of the slave operating device; the alignment execution module 113 is specifically used for: sending a fixed position value to the target joint of the slave operating device; acquiring a command input by the user through the rotatable component for controlling the rotation of the target joint, and sending the command to the target joint; collecting the current position value and current value of the motor of the target joint; if the current value is greater than a preset current threshold, and / or the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, then determining that the operation command associated with the target alignment activation method is triggered.

[0121] Optionally, the operation unit includes at least one pushable component, which has a mapping control relationship with the target joint of the slave operation device; the alignment execution module 113 is specifically used for: sending a fixed position value to the target joint of the slave operation device; acquiring a user's instruction for controlling the push of the target joint input through the pushable component, and sending the instruction to the target joint; collecting the current position value and current value of the motor of the target joint; if the current value is greater than a preset current threshold, and / or the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, then determining that the operation instruction associated with the target alignment activation mode is triggered.

[0122] Optionally, the operating unit includes at least one clamp, which has a mapping control relationship with the target joint of the operating device; the alignment execution module 113 is specifically used for: acquiring a first action command and a second action command sequentially input by the user through the clamp; the first action command is associated with a pinching action and the second action command is associated with a releasing action, or the second action command is associated with a pinching action and the first action command is associated with a releasing action; if the device installed on the operating device responds to the first action command and the second action command are both executed, then the first action command input by the user through the clamp is acquired again; if the device installed on the operating device responds to the first action command and is executed again, then it is determined that the operation command associated with the target alignment activation method is triggered.

[0123] Optionally, the operation unit includes a fingerprint recognition component, and the alignment execution module 113 is specifically used to: acquire fingerprint information and pressure value collected by the fingerprint recognition component; if the fingerprint information matches the pre-stored valid fingerprint information, and the pressure value is greater than a preset pressure threshold, then determine that the operation instruction associated with the target alignment activation method is triggered.

[0124] Optionally, the activation mode selection module 111 is specifically used to: read the information of the instrument installed from the operating device to obtain the type of the instrument; and / or, identify the image acquired by the image acquisition device that includes the instrument installed from the operating device to obtain the type of the instrument.

[0125] Optionally, the alignment execution module 113 is specifically used to: execute the automatic alignment process between the operation unit and the slave operation device; and after obtaining the control command input by the user, execute the active following process of the slave operation device actively following the operation unit.

[0126] Optionally, the alignment execution module 113 is specifically used to: calculate the second opening and closing angle of the clamp of the operating part based on the first opening and closing angle of the instrument installed from the operating device; and control the clamp to open to the second opening and closing angle.

[0127] Optionally, the alignment execution module 113 is specifically used to: calculate the first opening angle of the instrument mounted from the operating device based on the second opening angle of the clamp of the operating part; and control the instrument mounted from the operating device to open to the first opening angle.

[0128] Optionally, the alignment execution module 113 is specifically configured to: obtain the current actual posture of the instrument installed from the operating device; convert the current actual posture coordinates into the target posture of the clamp of the operating part; and inversely solve the target posture to obtain the target joint position of the clamp; send the target joint position to the clamp to move the clamp to the target joint position; obtain the current joint position of the clamp; and forward solve the current joint position to obtain the current posture of the clamp; convert the current posture coordinates of the clamp into the current posture for verification from the operating device; calculate the deviation between the current posture for verification and the current actual posture of the instrument installed from the operating device; and if the deviation is less than or equal to a preset deviation threshold, determine that the clamp has opened to the second opening angle.

[0129] Optionally, the alignment execution module 113 is specifically used for: obtaining the current posture of the operating unit after it is controlled by the user; converting the current posture coordinates into the target posture of the instrument installed from the operating device; inversely solving the target posture to obtain the target joint position of the instrument installed from the operating device; and controlling the instrument installed from the operating device to move to the target joint position.

[0130] Optionally, the device further includes an activation permission determination module, configured to: determine whether the main operating console and the operating unit are allowed to perform alignment activation; if at least one of the following conditions is met, then the alignment activation is determined to be allowed; the conditions include obtaining a head sensing signal trigger, normal communication between the main operating console and the slave operating device, and the slave operating device allowing alignment signal triggering.

[0131] This invention provides a surgical robot, including an operating unit; a slave operating device; and a controller, wherein the controller is coupled to the operating unit and the slave operating device and is configured to perform the alignment activation method of the surgical robot described above.

[0132] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, this computer program implements the various processes of the above-described surgical robot alignment activation method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0133] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by computer-controlled devices. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The storage medium can be a memory, a disk, an optical disk, etc.

[0134] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0135] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0136] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for aligning and activating a surgical robot, characterized in that, The surgical robot includes an operating unit and an operating device, and the method includes: The target alignment activation method is determined from the alignment activation methods according to the type of instrument installed from the operating device; the alignment activation method includes at least one of the following: double-click alignment activation, rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation; Obtain the operation instructions associated with the target alignment activation method; In response to the operation command being triggered, the orientation of the operation unit is aligned with the orientation of the end effector of the instrument; The step of determining the target alignment activation mode from the alignment activation modes based on the type of instrument installed from the operating device includes: If the type of instrument installed from the operating device is an opening and closing type, then the target alignment activation method is determined to be either rotation alignment activation or push alignment activation. If the type of device installed from the operating device is non-openable, then the target alignment activation method is determined to be either double-click alignment activation or fingerprint recognition alignment activation.

2. The method according to claim 1, characterized in that, The operating unit includes at least one rotatable component, and the rotatable component has a mapping control relationship with the target joint of the operating device; If rotational alignment is determined to be activated, then the response to the operation command is triggered, including: Send a fixed position value to the target joint of the operating device; The system acquires commands input by the user through the rotatable component to control the rotation of the target joint, and sends the commands to the target joint. Collect the current position and current values ​​of the motor of the target joint; If the current value is greater than a preset current threshold, and / or the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, then it is determined that the operation command associated with the target alignment activation method is triggered.

3. The method according to claim 1, characterized in that, The operating unit includes at least one pushable component, and the pushable component has a mapping control relationship with the target joint of the operating device; If it is determined that the alignment is activated, then the response to the operation command is triggered, including: Send a fixed position value to the target joint of the operating device; The system acquires a user's instruction for controlling the movement of the target joint via the pushable component, and sends the instruction to the target joint. Collect the current position and current values ​​of the motor of the target joint; If the current value is greater than a preset current threshold, and / or the difference between the current position value and the fixed position value is greater than a preset movement difference threshold, then it is determined that the operation command associated with the target alignment activation method is triggered.

4. The method according to claim 1, characterized in that, The operating unit includes at least one clamp, which has a mapping control relationship with the target joint of the operating device; If it is determined that the operation is activated by double-clicking, then the response to the operation command is triggered, including: The system acquires the first action command and the second action command sequentially input by the user through the fixture. The first action command is associated with a pinching action, and the second action command is associated with a releasing action, or the second action command is associated with a pinching action and the first action command is associated with a releasing action; If the instrument installed from the operating device responds to both the first action command and the second action command being executed, then the first action command input by the user through the fixture continues to be acquired. If the instrument installed from the operating device responds to the first action command being executed again, it is determined that the operation command associated with the target alignment activation mode has been triggered.

5. The method according to claim 1, characterized in that, The operating unit includes a fingerprint recognition component. If fingerprint recognition is determined to be activated, the response to the operating command is triggered, including: Obtain the fingerprint information and pressure value collected by the fingerprint recognition component; If the fingerprint information matches the pre-stored valid fingerprint information, and the pressure value is greater than the preset pressure threshold, then it is determined that the operation command associated with the target alignment activation method has been triggered.

6. The method according to any one of claims 1-5, characterized in that, Before determining the target alignment activation mode from the alignment activation modes based on the type of instrument installed from the operating device, the method further includes: Read the information of the instrument installed from the operating device to obtain the type of the instrument; and / or, identify the image of the instrument installed from the operating device acquired by the image acquisition device to obtain the type of the instrument.

7. The method according to any one of claims 1-5, characterized in that, Aligning the orientation of the operating unit with the orientation of the end effector of the instrument includes: Execute the automatic alignment process between the operating unit and the slave operating device; After obtaining the user's input control command, the active following process of the operating device actively following the operating unit is executed.

8. The method according to claim 7, characterized in that, If rotational alignment activation, push alignment activation, or fingerprint recognition alignment activation is selected, the automatic alignment process between the operating unit and the slave operating device includes: The second opening and closing angle of the clamp of the operating part is calculated based on the first opening and closing angle of the instrument installed from the operating device; Control the clamp to open to the second opening angle.

9. The method according to claim 7, characterized in that, If double-clicking for alignment activation is selected, the automatic alignment process between the operating unit and the slave operating device includes: The first opening and closing angle of the instrument mounted from the operating device is calculated based on the second opening and closing angle of the clamp of the operating part; Control the instrument installed from the operating device to open to the first opening angle.

10. The method according to claim 8, characterized in that, The calculation of the second opening angle of the clamp of the operating part based on the first opening angle of the instrument installed from the operating device includes: The current actual posture of the instrument installed from the operating device is obtained, the coordinates of the current actual posture are converted into the target posture of the clamp of the operating part, and the target joint position of the clamp is obtained by inverse solving the target posture. The control of the clamp opening to the second opening angle includes: The target joint position is sent to the clamp, so that the clamp moves to the target joint position; Obtain the current joint position of the fixture, and solve the current joint position to obtain the current orientation of the fixture; The current attitude coordinates of the fixture are converted into the current attitude for verification of the slave operating device, and the deviation between the current attitude for verification and the current actual attitude of the instrument installed on the slave operating device is calculated. If the deviation is less than or equal to a preset deviation threshold, then it is determined that the clamp has opened to the second opening angle.

11. The method according to claim 7, characterized in that, The execution of the active following process from the operating device to the operating unit includes: Obtain the current posture of the operating unit after it has been controlled by the user; The current attitude coordinates are converted into the target attitude of the instrument installed from the operating device; The target joint position of the instrument installed from the operating device is obtained by inverse kinematics of the target posture; Control the movement of the instrument mounted on the operating device to the target joint position.

12. The method according to any one of claims 1-5, characterized in that, Before determining the target alignment activation mode from the alignment activation modes based on the type of instrument installed from the operating device, the method further includes: Determine whether to allow the master console and the slave operating device to perform alignment activation; Alignment activation is allowed if at least one of the following conditions is met: the conditions include obtaining a head sensor signal trigger, normal communication between the master console and the slave operating device, and the slave operating device allowing alignment signal triggering.

13. A positioning activation device for a surgical robot, characterized in that, The surgical robot employing the alignment activation algorithm of any one of claims 1-12, the surgical robot comprising an operating unit and a slave operating device, the device comprising: The activation method selection module is used to determine the target alignment activation method from the alignment activation methods according to the type of the instrument installed from the operating device; The operation instruction acquisition module is used to acquire the operation instructions associated with the target alignment activation method; The alignment module is used to align the posture of the operating part with the posture of the end effector of the instrument in response to the operation command being triggered.

14. A surgical robot, characterized in that, include: Operations Department; From operating the equipment; and A controller, coupled to the operating unit and the slave operating device, and configured to perform the alignment activation method of the surgical robot as described in any one of claims 1-12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program configured to be loaded and executed by a processor to implement the alignment activation method of the surgical robot as described in any one of claims 1-12.

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