Method, device and equipment for determining configuration of mechanical arm of surgical robot system

Abstract

The application relates to a method, device and equipment for determining the mechanical arm configuration of a surgical robot system. The method comprises the following steps: identifying a target punch card through an imaging device to obtain a target punch card surgical intervention point position, and identifying a preset visual marker to obtain a visual marker position; determining a target direction as a line connecting the target punch card surgical intervention point position and the visual marker position; and determining the mechanical arm configuration of the surgical robot system according to the target direction. Thus, the mechanical arm configuration of the surgical robot system can be quickly determined without manual intervention, and the determination efficiency of the mechanical arm configuration of the surgical robot system is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a method, apparatus, and device for determining the configuration of a surgical robot system's robotic arm. Background Technology

[0002] This application is a divisional application of application number "CN202110887958.7", filed on August 3, 2021, entitled "Method, Apparatus and Device for Determining the Configuration of the Robotic Arm of a Surgical Robot System".

[0003] With the development of robotics technology, surgical robot systems with robotic arms have emerged. These systems can move to a designated location with their robotic arms during surgical preparation. Subsequently, medical staff prepare for the operation by placing the robotic arms of the surgical robot system in the designated position and determining the configuration of the robotic arms.

[0004] However, the positioning of the robotic arm configuration in a surgical robot system is complex, and the manual determination method is time-consuming, resulting in low efficiency in determining the robotic arm configuration of the surgical robot system. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, and equipment for determining the robotic arm configuration of a surgical robot system, which can quickly determine the robotic arm configuration of the surgical robot system, in order to address the above-mentioned technical problems.

[0006] A method for determining the configuration of a robotic arm in a surgical robot system, the method comprising:

[0007] The imaging device identifies the target embolization card to obtain the location of the surgical intervention point, and identifies the preset visual markers to obtain the location of the visual markers.

[0008] The rotation center of the surgical robot system's hanging platform is adjusted to be above the target puncture card surgical intervention point to obtain the hanging platform position; wherein, the hanging platform is used to suspend at least one robotic arm;

[0009] At the location of the hanging plate, the line connecting the location of the target puncture card surgical intervention point to the location of the visual marker is determined as the target direction;

[0010] The configuration of the robotic arm of the surgical robot system is determined according to the target direction.

[0011] In one embodiment, the method further includes acquiring a target location and adjusting the imaging device to the target location, wherein acquiring the target location includes:

[0012] The imaging device identifies at least one stamp card;

[0013] The location where all the stamps are within the imaging range of the imaging device is determined as the target location.

[0014] In one embodiment, the step of identifying the target embossed card and obtaining the surgical intervention point location of the target embossed card through an imaging device includes:

[0015] The imaging device is used to acquire the curved surface of the surgical site and the long axis orientation of the target embossed card.

[0016] Based on the long axis orientation, draw an extension line with the long axis of the target stamp card as the reference;

[0017] The intersection of the extended line and the curved surface of the surgical site is determined as the location of the target puncture card surgical intervention point.

[0018] In one embodiment, adjusting the rotation center of the surgical robot system's tray to be above the target puncture card surgical intervention point to obtain the tray position includes:

[0019] The rotation center of the surgical robot system's tray is adjusted to be above the target puncture card surgical intervention point, and the position of the rotation center of the tray is determined as the tray position.

[0020] In one embodiment, the robotic arm configuration includes a first target configuration and a second target configuration;

[0021] Determining the robotic arm configuration of the surgical robot system according to the target direction includes:

[0022] According to the target direction, determine the robotic arm configuration corresponding to the target stamp card to obtain the first target configuration;

[0023] Based on the first target configuration, other robotic arm configurations are determined according to a preset placement configuration method to obtain the second target configuration.

[0024] In one embodiment, the robotic arm includes a first joint, a second joint, a third joint, and a fourth joint; the robotic arm configuration includes joint values ​​for the first joint, the second joint, the third joint, and the fourth joint.

[0025] The step of determining the robotic arm configuration corresponding to the target stamp card according to the target direction to obtain the first target configuration includes:

[0026] According to the target direction, determine the robotic arm corresponding to the target stamp card, obtain the target robotic arm, and determine the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm.

[0027] In one embodiment, determining the robotic arm corresponding to the target stamp card, obtaining the target robotic arm, and determining the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm includes:

[0028] The joint values ​​of the first joint, the second joint, and the third joint are determined.

[0029] The joint value of the fourth joint is determined based on the joint value of the first joint, the joint value of the second joint, the joint value of the third joint, and a preset distance; the preset distance is the preset distance between the target puncture surgical intervention point and the fixed point of the telecentric mechanism of the target robotic arm.

[0030] A robotic arm configuration determination device for a surgical robot system, the device comprising:

[0031] The location recognition module is used to identify the target embolization card to obtain the location of the surgical intervention point of the target embolization card through the imaging device, and to identify the location of the visual marker by recognizing the preset visual marker;

[0032] A position adjustment module is used to adjust the rotation center of the hanging plate of the surgical robot system above the target puncture card position to obtain the hanging plate position; wherein, the hanging plate is used to suspend at least one robotic arm;

[0033] The direction determination module is used to determine the target direction as the line connecting the location of the target puncture card surgical intervention point to the location of the visual marker at the location of the hanging plate;

[0034] The configuration determination module is used to determine the configuration of the robotic arm of the surgical robot system according to the target direction.

[0035] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method described in any of the above embodiments.

[0036] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the above embodiments.

[0037] The aforementioned method, apparatus, and equipment for determining the robotic arm configuration of a surgical robot system utilize an imaging device to identify the target embouchure card to obtain the surgical intervention point position and to identify preset visual markers to obtain the visual marker position. The rotation center of the surgical robot system's suspension platform is adjusted to be above the surgical intervention point position of the target embouchure card, thus obtaining the suspension platform position. The suspension platform is used to suspend at least one robotic arm. At the suspension platform position, the line connecting the surgical intervention point position of the target embouchure card to the position of the visual marker is determined as the target direction. The robotic arm configuration of the surgical robot system is determined according to the target direction. This allows for the automatic determination of the robotic arm configuration of the surgical robot system without manual intervention, achieving rapid determination of the robotic arm configuration and improving the efficiency of robotic arm configuration determination. Attached Figure Description

[0038] Figure 1 This is an application environment diagram of a method for determining the robotic arm configuration of a surgical robot system in one embodiment.

[0039] Figure 2 This is a flowchart illustrating a method for determining the robotic arm configuration of a surgical robot system in one embodiment.

[0040] Figure 3 This is a flowchart illustrating one possible implementation prior to step S100 in one embodiment;

[0041] Figure 4 This is a flowchart illustrating one possible implementation of step S100 in one embodiment;

[0042] Figure 5 This is a flowchart illustrating one possible implementation of step S400 in one embodiment;

[0043] Figure 6A An isometric view of the patient cart system in one embodiment;

[0044] Figure 6B This is a schematic diagram illustrating the determination of a first target configuration in one embodiment;

[0045] Figure 6C This is a schematic diagram illustrating the determination of the second target configuration in one embodiment;

[0046] Figure 7 This is a structural block diagram of a robotic arm configuration determination device for a surgical robot system in one embodiment.

[0047] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] The method for determining the robotic arm configuration of a surgical robot system provided in this application can be applied to, for example... Figure 1 The application environment is shown below. 1 is the main control console, 2 is the patient trolley, 3 is the vision module, 4 is the patient operating table, and 5 is the vision trolley. The vision module consists of a depth camera (imaging device) and a 2-DOF gimbal. The depth camera detects 3D information of the environment, and the 2-DOF gimbal adjusts the camera's orientation.

[0050] In one embodiment, such as Figure 2 As shown, a method for determining the configuration of a surgical robot system's robotic arm is provided, specifically including the following steps:

[0051] In step S100, the target embolization card is identified by the imaging device to obtain the location of the surgical intervention point of the target embolization card, and the preset visual markers are identified to obtain the location of the visual markers.

[0052] Step S200: Adjust the rotation center of the surgical robot system's hanging plate to be above the target puncture card surgical intervention point to obtain the hanging plate position; wherein, the hanging plate is used to suspend at least one robotic arm.

[0053] Step S300: At the location of the hanging plate, the line connecting the location of the target puncture card surgical intervention point to the location of the visual marker is determined as the target direction.

[0054] Step S400: Determine the configuration of the robotic arm of the surgical robot system according to the target direction.

[0055] The target trocar surgical intervention point is the surgical intervention point corresponding to the trocar that requires robotic arm positioning (determining the robotic arm configuration). The target trocar refers to the trocar for which surgery is to be performed. The surgical robot system's suspension platform is used to suspend at least one robotic arm for surgery, and the robotic arm is used to hold surgical instruments. Visual markers are marks obtained by marking the curved surface of the surgical site.

[0056] Specifically, the imaging device acquires the image information corresponding to the target stamp card, analyzes and identifies the obtained image information, identifies the surgical intervention point of the target stamp card, and identifies the visual markers to obtain the location of the visual markers.

[0057] Next, the rotation center of the surgical robot system's tray is adjusted to be above the target puncture card surgical intervention point, thus obtaining the tray position. With the surgical robot system's tray in this position, a ray is drawn from the target puncture card surgical intervention point towards the visual marker position, and the direction of this ray is determined as the target direction. Then, according to the target direction, the robotic arms of the surgical robot system are positioned to obtain the pose of each arm, and based on the positions of all robotic arms, the robotic arm configuration of the surgical robot system is obtained.

[0058] The aforementioned method for determining the robotic arm configuration of a surgical robot system involves using an imaging device to identify the target embolus card to obtain the surgical intervention point position and identifying preset visual markers to obtain the visual marker position. The rotation center of the surgical robot system's suspension platform is adjusted to be above the target embolus card's surgical intervention point position to obtain the suspension platform position. The suspension platform is used to suspend at least one robotic arm. At the suspension platform position, the line connecting the target embolus card's surgical intervention point position to the visual marker position is determined as the target direction. Based on the target direction, the robotic arm configuration of the surgical robot system is determined. This method automatically determines the robotic arm configuration of the surgical robot system without human intervention, achieving rapid determination of the robotic arm configuration and improving the efficiency of robotic arm configuration determination.

[0059] In one embodiment, such as Figure 3 The diagram shown illustrates a possible implementation before step S100, including: acquiring a target position and adjusting the imaging device to the target position. Acquiring the target position specifically includes:

[0060] Step S101: Identify at least one stamp card using the imaging device.

[0061] Step S102: Determine the target position as the location where all the stamps are within the imaging range of the imaging device.

[0062] The target location refers to the location where the imaging device can cover all the puncture cards in at least one puncture card. At least one puncture card includes a target puncture card. Optionally, the surgical intervention point for the target puncture card can be an endoscopic puncture card surgical intervention point.

[0063] Specifically, the imaging device acquires image information of at least one stamp card, analyzes and identifies the stamp card based on the acquired image information. Then, the position of the imaging device is adjusted until the image information acquired by the imaging device can cover all the stamp cards. The position of all the stamp cards within the imaging range of the imaging device is then determined as the target position.

[0064] For example, after medical staff push the patient cart to the operating table, the vision module (imaging device) automatically adjusts its posture, senses the surrounding environment, identifies the tagged cards, and ensures that all four tagged cards are within its field of view. The vision module consists of a depth camera and a 2-DOF gimbal. The depth camera is used to sense environmental information, such as tagged cards, visual markers, and the patient. The 2-DOF gimbal is used to adjust the field of view of the depth camera to ensure that all four tagged cards are within its field of view. The principle of automatic posture adjustment of the vision module is as follows: the 2-DOF gimbal drives the depth camera to move along a set trajectory, while the depth camera continuously senses the surrounding environment, thereby building a color point cloud map of the environment. From the map, it identifies the features of the tagged cards and calculates the optimal camera field of view. The vision module moves the camera to the optimal field of view, completing the automatic posture adjustment of the vision module. Optionally, the vision device can be installed on the patient cart, on the vision cart or the main control cart, or even independently next to or on the operating table. Optionally, some markers can be added to the tagged cards or the robotic arm to improve the accuracy of visual detection.

[0065] Optionally, before determining the configuration of the robotic arm of the surgical robot system, medical staff need to perform some preparatory work, including: establishing pneumoperitoneum on the patient by aseptic medical staff on the patient's side, inserting the endoscope tamper, and inserting the endoscope into the patient's body; then, adjusting the endoscope position and observing the surgical area within the patient's body; when the endoscope points to the center of the edge of the surgical area, a visual marker is placed on the patient's surface to indicate that direction; the patient's aseptic medical staff inserts the remaining three tamperes according to the surgical area; non-aseptic medical staff adjust the visual module (imaging device) so that the camera faces the direction of the patient trolley's movement; the camera's video information is transmitted to the monitor to assist medical staff in pushing the patient trolley and avoid collisions during the pushing process.

[0066] In the above embodiments, at least one stamp card is identified using an imaging device; the location where all stamp cards are within the imaging range of the imaging device is determined as the target location. This allows the imaging device to acquire image information of all stamp cards, providing a basis for determining the subsequent robotic arm configuration. The robotic arm configuration can then be determined using the image information acquired by the imaging device, thus enabling rapid determination of the robotic arm configuration of the surgical robot system without human intervention, thereby improving the efficiency of robotic arm configuration determination for the surgical robot system.

[0067] In one embodiment, such as Figure 4 The diagram shown is a flowchart illustrating one possible implementation of step S100, which specifically includes:

[0068] Step S110: Using an imaging device, acquire the curved surface of the surgical site and the long axis orientation of the target embossed card.

[0069] Step S120: Based on the long axis orientation, draw an extension line with the long axis of the target stamp card as the reference.

[0070] Step S130: The intersection of the extended line and the curved surface of the surgical site is determined as the location of the target puncture card surgical intervention point.

[0071] Specifically, the imaging device on the surgical robot system acquires image information of the surgical site and the target trocar. This image information is then analyzed and identified to determine the surface of the surgical site and the major axis orientation of the target trocar. Next, based on the major axis orientation, an extension line is drawn using the major axis of the target trocar as a reference, and the intersection point of this extension line with the surface of the surgical site is determined. This intersection point is designated as the surgical intervention point of the target trocar. It should be noted that each trocar corresponds to one surgical instrument, and at least one trocar point corresponds to at least one surgical instrument, which can be used in subsequent surgeries.

[0072] In the above embodiments, the imaging device acquires the curved surface of the surgical site and the major axis orientation of the target trocar. Based on the major axis orientation, an extension line is drawn using the major axis of the target trocar as a reference. The intersection of the extension line and the curved surface of the surgical site is determined as the surgical intervention point location of the target trocar. Thus, based on the image information acquired by the imaging device, the curved surface of the surgical site and the major axis orientation of the target trocar can be determined, providing a basis for the subsequent determination of the robotic arm configuration. Ultimately, based on the surgical intervention point location of the target trocar, the robotic arm configuration of the surgical robot system can be quickly determined, improving the efficiency of determining the robotic arm configuration of the surgical robot system.

[0073] In one embodiment, one possible implementation of step S200 specifically includes:

[0074] Adjust the rotation center of the surgical robot system's tray to be above the target puncture card surgical intervention point, and determine the position of the tray rotation center as the tray position.

[0075] The rotating center of the suspension plate refers to the suspension plate on the surgical robot system used to suspend surgical instruments. This plate can rotate to adjust the position of the suspended surgical instruments. The location above the target trocar intervention point can be either perpendicular to the horizontal plane above the target trocar intervention point, or above any position within a preset range of the target trocar intervention point. The preset range can be a neighborhood of 0-5 cm around the target trocar intervention point.

[0076] Specifically, the rotation center of the surgical robot system's tray is adjusted to be above the surgical intervention point of the target trocar, and this position of the tray rotation center is defined as the tray position. Optionally, at least one robotic arm can be adjusted at the tray position to allow medical staff to use the robotic arm and its instruments more conveniently and quickly during subsequent surgery. To achieve the aforementioned convenient and quick use of the robotic arm and its instruments, at least one robotic arm needs to cover the entire trocar. Therefore, at least one robotic arm needs to be adjusted at the tray position, and the position of the tray rotation center and the position of at least one robotic arm are defined as the tray position when at least one robotic arm can cover the entire trocar.

[0077] In the above embodiments, the rotation center of the surgical robot system's hanging plate is adjusted to be above the target puncture card surgical intervention point to obtain the hanging plate position, providing a positional basis for further determination of the robotic arm configuration.

[0078] In one embodiment, such as Figure 5 The diagram shown illustrates one possible implementation of step S400, which specifically includes:

[0079] Step S410: Determine the robotic arm configuration corresponding to the target stamp card according to the target direction to obtain the first target configuration.

[0080] Step S420: Based on the first target configuration, determine other robotic arm configurations according to the preset placement configuration method to obtain the second target configuration.

[0081] The robotic arm configuration includes a first target configuration and a second target configuration. The first target configuration is the robotic arm configuration corresponding to the target stamp card. When the target stamp card is an endoscope stamp card, the first target configuration is the robotic arm configuration corresponding to the endoscope stamp card. The second target configuration is any other robotic arm configuration. The preset placement configuration method refers to the method of determining the configuration of other robotic arms according to the preset robotic arm configuration, where the preset robotic arm refers to any one of at least one robotic arm. This placement configuration method also needs to satisfy the state of the robotic arm covering at least one stamp card, and the state of the robotic arms not interfering with each other.

[0082] Specifically, at the location of the hanging platform, the robotic arm corresponding to the target stamp card is set according to the target direction to obtain the robotic arm configuration corresponding to the target stamp card, i.e., the first target configuration. Then, based on the first target configuration, according to the preset placement configuration method, and based on the placement configuration of kinematics and collision detection, the configurations of other robotic arms are set to obtain other robotic arm configurations, i.e., the second target configuration.

[0083] In the above embodiments, the robotic arm configuration corresponding to the target stamp card is determined according to the target direction to obtain a first target configuration. Then, based on the first target configuration, other robotic arm configurations are determined according to a preset placement method to obtain a second target configuration. This allows for automatic determination of the robotic arm configuration without human intervention, quickly improving the efficiency of determining the robotic arm configuration of the surgical robot system.

[0084] In one embodiment, one possible implementation of step S410 specifically includes:

[0085] According to the target direction, determine the robotic arm corresponding to the target stamp card, obtain the target robotic arm, and determine the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm.

[0086] The robotic arm includes at least one joint, which comprises a first joint, a second joint, a third joint, and a fourth joint. The first target configuration includes joint values ​​for the first joint, the second joint, the third joint, and the fourth joint.

[0087] Specifically, in the process of determining the robotic arm configuration (first target configuration) corresponding to the target stamp card, it is necessary to determine the robotic arm corresponding to the target stamp card, i.e. the target robotic arm, according to the target direction, and determine the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint.

[0088] Optionally, step S512 specifically includes: determining the joint values ​​of the first joint, the second joint, and the third joint, and determining the joint value of the fourth joint according to the joint values ​​of the first joint, the second joint, the third joint, and a preset distance. The preset distance is the distance between the target puncture surgical intervention point and the fixed point of the remote center of motion (RCM) of the target robotic arm. This preset distance can be adjusted according to surgical needs and can be 10cm, 15cm, or 20cm.

[0089] For example, in the process of determining the configuration of the robotic arm in a surgical robot system, such as Figure 6A The image shown is an isometric view of the patient trolley system. The robotic arm of the surgical robot system is suspended below a rotating platform, and the specific configuration and pose of the robotic arm can be adjusted. Figure 6BThis diagram illustrates the determination of the first target configuration. When the robotic arm corresponds to an endoscope, the process for confirming the configuration of the endoscope-holding arm is as follows: During preoperative positioning, only joints J1-J8 move; the joints of the telecentric mechanism (RCM) remain stationary. Therefore, the telecentric mechanism can be considered as a single unit. The adjusting arms (J5-J8) degenerate into a planar three-degree-of-freedom robotic arm on the patient's projection plane. According to rigid body kinematics, a planar rigid body has only three degrees of freedom (X, Y, and rotation around Z). Therefore, once the planar rigid body's pose is determined, the joint angles J5-J7 of the planar three-degree-of-freedom robotic arm (the joint values ​​of the first joint, the pose of the second joint, and the pose of the third joint) can be uniquely determined. Furthermore, to improve the safety of the surgical robot system while also considering the ease of operation for medical staff, the distance from the endoscope-holding arm to the fixed point of the endoscope trocar is required to be 10cm (a preset distance). The imaging device can acquire the three-dimensional coordinates (X, Y, Z) of the fixed point of the endoscope tactile clamp. Using the Z-axis coordinates and the kinematics of the endoscope-holding arm, the distance from the endoscope-holding arm to the fixed point can be calculated, thus determining the position of joint J8 (the pose of the fourth joint). Therefore, to determine the pose of the endoscope-holding arm, it is necessary to obtain the coordinates (X, Y, Z) of the fixed point of the endoscope tactile clamp and the projection direction of the endoscope onto the patient plane (rotation around the Z-axis).

[0090] For example, Figure 6C This diagram illustrates the determination of the second target configuration. During the determination of the second target configuration, or the robotic arm configuration, after the first target configuration (the configuration of the endoscope-holding arm) is confirmed, the position and orientation of the robotic arm can be obtained based on kinematics. Hierarchical bounding boxes are used for collision detection between the robotic arms. The optimization objective is to maximize the range of motion of the three robotic arms without collisions. The optimal configuration of the robotic arms is calculated, and the positions of joint angles J5 to J7 are determined. Furthermore, to improve the safety of the surgical robot system while also considering the ease of operation for medical staff, the distance from the robotic arm to the instrument tamper's stationary point is required to be 10cm. Based on the three-dimensional coordinates (X, Y, Z) of the instrument tamper's stationary point obtained by the camera and the robotic arm kinematics, the position of robotic arm joint J8 can be determined. At this point, the positions of robotic arm joints J5 to J8 have all been determined.

[0091] Optionally, after the four robotic arms have reached their designated positions and the configuration of the endoscope-holding arm and the robotic arms is determined, medical staff can choose between synchronous or asynchronous movement modes. The four robotic arms will then move into position according to the selected mode. Synchronous mode means that all four robotic arms simultaneously reach their designated positions; asynchronous mode means that the four robotic arms move to their designated positions at different times. Medical staff can also drag joint 8 to connect it to the tamper.

[0092] In the above embodiments, the target robotic arm is obtained by determining the robotic arm corresponding to the target stamp card according to the target direction, and the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm are determined. This ensures that the determined first target configuration meets the requirements of the surgery, facilitating the smooth progress of the surgery.

[0093] It should be understood that, although Figure 2-5 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2-5 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0094] In one embodiment, such as Figure 7 As shown, a device for determining the configuration of a surgical robot system arm is provided, comprising: a position recognition module 701, a position adjustment module 702, an orientation determination module 703, and a configuration determination module 704, wherein:

[0095] The location recognition module 701 is used to identify the target embossed card to obtain the location of the surgical intervention point of the target embossed card through the imaging device, and to identify the location of the visual marker by recognizing the preset visual marker.

[0096] The position adjustment module 702 is used to adjust the rotation center of the hanging plate of the surgical robot system above the target puncture card position to obtain the hanging plate position; wherein, the hanging plate is used to suspend at least one robotic arm;

[0097] The direction determination module 703 is used to determine the target direction by connecting the position of the surgical intervention point of the target puncture card to the position of the visual marker at the position of the hanging plate.

[0098] Configuration determination module 704 is used to determine the configuration of the robotic arm of the surgical robot system according to the target orientation.

[0099] In one embodiment, the location recognition module 701 is further configured to: acquire a target location and adjust the imaging device to the target location, wherein acquiring the target location includes: identifying at least one stamp card through the imaging device; and determining the location where all stamp cards are located within the imaging range of the imaging device as the target location.

[0100] In one embodiment, the position recognition module 701 is further configured to: acquire the curved surface of the surgical site and the long axis orientation of the target puncture card through the imaging device; draw an extension line based on the long axis orientation of the target puncture card; and determine the intersection of the extension line and the curved surface of the surgical site as the surgical intervention point position of the target puncture card.

[0101] In one embodiment, the position adjustment module 702 is further configured to: adjust the rotation center of the surgical robot system's hanging plate to be above the location of the target puncture card surgical intervention point, and determine the position of the hanging plate rotation center as the hanging plate position.

[0102] In one embodiment, the configuration determination module 704 is further configured to: determine the robotic arm configuration corresponding to the target stamp card according to the target direction to obtain a first target configuration; and determine other robotic arm configurations according to a preset placement configuration method based on the first target configuration to obtain a second target configuration.

[0103] In one embodiment, the configuration determination module 704 is further configured to: determine the robotic arm corresponding to the target stamp card according to the target direction, obtain the target robotic arm, and determine the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm.

[0104] In one embodiment, the configuration determination module 704 is further configured to: determine the joint value of the first joint, the joint value of the second joint, and the joint value of the third joint; determine the joint value of the fourth joint according to the joint value of the first joint, the joint value of the second joint, the joint value of the third joint, and a preset distance; the preset distance is a preset distance between the target card insertion surgical intervention point and the telecentric mechanism fixed point of the target robotic arm.

[0105] Specific limitations regarding the device for determining the robotic arm configuration of a surgical robot system can be found in the limitations of the method for determining the robotic arm configuration of a surgical robot system described above, and will not be repeated here. Each module in the aforementioned device for determining the robotic arm configuration of a surgical robot system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0106] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for determining the robotic arm configuration of a surgical robot system. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0107] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0108] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0109] The imaging device identifies the target embolization card to obtain the location of the surgical intervention point, and identifies the preset visual markers to obtain the location of the visual markers.

[0110] The rotation center of the surgical robot system's suspension plate is adjusted to be above the target puncture card position to obtain the suspension plate position; wherein, the suspension plate is used to suspend at least one robotic arm;

[0111] At the location of the hanging plate, the target direction is determined by the line connecting the location of the surgical intervention point of the target card to the location of the visual marker;

[0112] Determine the configuration of the robotic arm of the surgical robot system according to the target direction.

[0113] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring a target position and adjusting the imaging device to the target position, wherein acquiring the target position includes: identifying at least one stamp card through the imaging device; and determining the position where all the stamp cards are located within the imaging range of the imaging device as the target position.

[0114] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring the curved surface of the surgical site and the long axis orientation of the target puncture card through the imaging device; drawing an extension line based on the long axis orientation of the target puncture card; and determining the intersection of the extension line and the curved surface of the surgical site as the surgical intervention point location of the target puncture card.

[0115] In one embodiment, when the processor executes the computer program, it also performs the following steps: adjusting the rotation center of the surgical robot system's tray to be above the location of the target puncture card surgical intervention point, and determining the position of the tray rotation center as the tray position.

[0116] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the robotic arm configuration corresponding to the target stamp card according to the target direction to obtain a first target configuration; and determining other robotic arm configurations according to a preset placement configuration method based on the first target configuration to obtain a second target configuration.

[0117] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the robotic arm corresponding to the target stamp card according to the target direction, obtaining the target robotic arm, and determining the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm.

[0118] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the joint value of the first joint, the joint value of the second joint, and the joint value of the third joint; determining the joint value of the fourth joint according to the joint value of the first joint, the joint value of the second joint, the joint value of the third joint, and a preset distance; the preset distance is a preset distance between the target card insertion surgical intervention point and the fixed point of the telecentric mechanism of the target robotic arm.

[0119] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0120] The imaging device identifies the target embolization card to obtain the location of the surgical intervention point, and identifies the preset visual markers to obtain the location of the visual markers.

[0121] The rotation center of the surgical robot system's suspension plate is adjusted to be above the target puncture card position to obtain the suspension plate position; wherein, the suspension plate is used to suspend at least one robotic arm;

[0122] At the location of the hanging plate, the target direction is determined by the line connecting the location of the surgical intervention point of the target card to the location of the visual marker;

[0123] Determine the configuration of the robotic arm of the surgical robot system according to the target direction.

[0124] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring a target position and adjusting the imaging device to the target position, wherein acquiring the target position includes: identifying at least one stamp card through the imaging device; and determining the position where all the stamp cards are located within the imaging range of the imaging device as the target position.

[0125] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring the curved surface of the surgical site and the long axis orientation of the target embolization card through the imaging device; drawing an extension line based on the long axis orientation of the target embolization card; and determining the intersection of the extension line and the curved surface of the surgical site as the surgical intervention point location of the target embolization card.

[0126] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: adjusting the rotation center of the surgical robot system's tray to be above the location of the target puncture card surgical intervention point, and determining the position of the tray rotation center as the tray position.

[0127] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the robotic arm configuration corresponding to the target stamp card according to the target direction to obtain a first target configuration; and determining other robotic arm configurations according to a preset placement configuration method based on the first target configuration to obtain a second target configuration.

[0128] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the robotic arm corresponding to the target stamp card according to the target direction, obtaining the target robotic arm, and determining the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm.

[0129] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the joint value of the first joint, the joint value of the second joint, and the joint value of the third joint; determining the joint value of the fourth joint according to the joint value of the first joint, the joint value of the second joint, the joint value of the third joint, and a preset distance; the preset distance is a preset distance between the target card insertion surgical intervention point and the telecentric mechanism fixed point of the target robotic arm.

[0130] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0131] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for determining the configuration of a robotic arm in a surgical robot system, characterized in that, The method includes: The imaging device identifies the target embolization card to obtain the location of the surgical intervention point, and identifies the preset visual markers to obtain the location of the visual markers. The target direction is determined by the line connecting the location of the target surgical intervention point to the location of the visual marker. The robotic arms of the surgical robot system are positioned according to the target direction to obtain the pose of each robotic arm, and the robotic arm configuration of the surgical robot system is determined based on the poses of all robotic arms.

2. The method according to claim 1, characterized in that, The method further includes acquiring a target position and adjusting the imaging device to the target position, wherein acquiring the target position includes: The imaging device identifies at least one stamp card; The location where all the stamps are within the imaging range of the imaging device is determined as the target location.

3. The method according to claim 1, characterized in that, The step of identifying the surgical intervention point location of the target embossed card using an imaging device includes: The imaging device is used to acquire the curved surface of the surgical site and the long axis orientation of the target embossed card. Based on the long axis orientation, draw an extension line with the long axis of the target stamp card as the reference; The intersection of the extended line and the curved surface of the surgical site is determined as the location of the target puncture card surgical intervention point.

4. The method according to claim 1, characterized in that, After the steps of identifying the target embolization card to obtain the surgical intervention point location through the imaging device and identifying the location of the preset visual marker to obtain the visual marker location, the method further includes: The rotation center of the surgical robot system's tray is adjusted to be above the target puncture card surgical intervention point, and the position of the tray rotation center is determined as the tray position.

5. The method according to claim 1, characterized in that, The robotic arm configuration includes a first target configuration and a second target configuration; Determining the robotic arm configuration of the surgical robot system according to the target direction includes: According to the target direction, determine the robotic arm configuration corresponding to the target stamp card to obtain the first target configuration; Based on the first target configuration, other robotic arm configurations are determined according to a preset placement configuration method to obtain the second target configuration.

6. The method according to claim 5, characterized in that, The robotic arm includes a first joint, a second joint, a third joint, and a fourth joint; the robotic arm configuration includes the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint. The step of determining the robotic arm configuration corresponding to the target stamp card according to the target direction to obtain the first target configuration includes: According to the target direction, determine the robotic arm corresponding to the target stamp card, obtain the target robotic arm, and determine the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm.

7. The method according to claim 6, characterized in that, The step of determining the robotic arm corresponding to the target stamp card, obtaining the target robotic arm, and determining the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm includes: The joint values ​​of the first joint, the second joint, and the third joint are determined. The joint value of the fourth joint is determined based on the joint value of the first joint, the joint value of the second joint, the joint value of the third joint, and a preset distance; the preset distance is the preset distance between the target puncture surgical intervention point and the fixed point of the telecentric mechanism of the target robotic arm.

8. A device for determining the configuration of a robotic arm in a surgical robot system, characterized in that, The device includes: The location recognition module is used to identify the target embolization card to obtain the location of the surgical intervention point of the target embolization card through the imaging device, and to identify the location of the visual marker by recognizing the preset visual marker; The direction determination module is used to determine the target direction as the line connecting the location of the target puncture surgical intervention point to the location of the visual marker. The configuration determination module is used to position the robotic arms of the surgical robot system according to the target direction, obtain the pose of each robotic arm, and determine the configuration of the robotic arms of the surgical robot system based on the poses of all robotic arms.

9. The apparatus according to claim 8, characterized in that, The location recognition module is further configured to: identify at least one stamp card through the imaging device; and determine the location where all the stamp cards are located within the imaging range of the imaging device as the target location.

10. The apparatus according to claim 8, characterized in that, The location recognition module is further configured to: acquire the curved surface of the surgical site and the major axis orientation of the target puncture card through the imaging device; draw an extension line based on the major axis orientation of the target puncture card; and determine the intersection of the extension line and the curved surface of the surgical site as the surgical intervention point position of the target puncture card.

11. The apparatus according to claim 8, characterized in that, The robotic arm configuration determination device of the surgical robot system also includes a position adjustment module, which is further used to: adjust the rotation center of the surgical robot system's hanging plate to be above the position of the target puncture card surgical intervention point, and determine the position of the hanging plate rotation center as the hanging plate position.

12. The apparatus according to claim 8, characterized in that, The configuration determination module is further configured to: determine the robotic arm configuration corresponding to the target stamp card according to the target direction to obtain a first target configuration; and determine other robotic arm configurations according to a preset placement configuration method based on the first target configuration to obtain a second target configuration.

13. The apparatus according to claim 12, characterized in that, The configuration determination module is further configured to: determine the robotic arm corresponding to the target stamp card according to the target direction, obtain the target robotic arm, and determine the joint values ​​of the first joint, the second joint, the third joint, and the fourth joint of the target robotic arm.

14. The apparatus according to claim 13, characterized in that, The configuration determination module is further configured to: determine the joint value of the first joint, the joint value of the second joint, and the joint value of the third joint; and determine the joint value of the fourth joint according to the joint value of the first joint, the joint value of the second joint, the joint value of the third joint, and a preset distance. The preset distance is the preset distance between the target puncture card surgical intervention point and the telecentric mechanism fixed point of the target robotic arm.

15. A surgical robot system, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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