Surgical robotic system and readable storage medium

Abstract

The application provides a surgical robot system and a readable storage medium. The surgical robot system comprises a connecting rod mechanism, a proximal end of the connecting rod mechanism being fixedly connected with a surgical trolley; a fixing member for being connected with a target object and a distal end of the connecting rod mechanism respectively; and a control system, the control system being capable of controlling a mechanical arm to make a movement associated with a movement of the target object according to a mapping relationship between the connecting rod mechanism and the mechanical arm and the movement of the target object monitored by the connecting rod mechanism, so that real-time positioning of a diseased limb in a surgical process is realized, the diseased limb can be accurately identified, various postures of the diseased limb can be effectively identified, and the accuracy and effectiveness of the positioning of the diseased limb are improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a surgical robot system and a readable storage medium. Background Technology

[0002] Orthopedic surgical robots are widely used in various orthopedic surgeries, such as knee replacement surgery and spinal surgery. Bone localization is a crucial process in these procedures. Figure 1 As shown, the existing bone localization method involves inserting a bone pin into the patient's affected limb 1 (such as the femur and tibia). Optical positioning markers 2 are mounted on the bone pins. An optical camera 3 determines the pose of the patient's affected limb 1 by identifying the spatial coordinates of the optical positioning markers 2 on the bone pins, thereby guiding the movement and positioning of the robotic arm 4 of the orthopedic surgical robot. This method suffers from drawbacks because the system has numerous optical positioning markers (targets), each with different poses, which may lead to the optical system being unable to identify them or having insufficient recognition accuracy. Furthermore, as the patient's affected limb 1 moves, the optical positioning markers on the affected limb 1 may be obscured during the surgery, causing the system to fail to locate the target. Summary of the Invention

[0003] The purpose of this invention is to provide a surgical robot system and a readable storage medium that can monitor the movement of a target object through a linkage mechanism, thereby enabling the robotic arm to follow the movement of the target object, achieving real-time positioning of the affected limb during surgery, and improving the safety, accuracy and effectiveness of the surgery.

[0004] To achieve the above objectives, the present invention provides a surgical robot system, including a surgical cart and a robotic arm mounted on the surgical cart, and further comprising:

[0005] A linkage mechanism, the proximal end of which is fixedly connected to the operating table cart;

[0006] A fixing member, the fixing member being used for connection to the target object and the distal end of the linkage mechanism, respectively; and,

[0007] A control system configured to control the robotic arm to perform a movement associated with the movement of the target object, based on the mapping relationship between the linkage and the robotic arm, and the movement of the target object detected by the linkage.

[0008] Optionally, the linkage mechanism includes six joints connected in sequence, three of which are rotary joints and the other three are oscillating joints, with the rotation axis of the rotary joints perpendicular to the rotation axis of the oscillating joints.

[0009] Optionally, the fastener includes a first fixing part and a second fixing part that are distributed axially and coaxially arranged. The first fixing part is used to connect with the target object, and the second fixing part is used to detachably connect with the distal end of the linkage mechanism.

[0010] Optionally, the lateral dimension of the second fixing part is larger than the lateral dimension of the first fixing part, and the second fixing part is also used to define the position of the fixing member relative to the target object and the linkage mechanism.

[0011] Optionally, a rod-shaped connecting portion is coaxially connected to the distal joint of the linkage mechanism, and the distal end of the rod-shaped connecting portion is used for detachable connection with the fixing member.

[0012] Optionally, the control system is further configured to acquire a mapping relationship between the linkage mechanism and the robotic arm, including:

[0013] Associating the distal end of the linkage mechanism with the end-effector of the robotic arm to obtain the spatial pose of the end-effector of the robotic arm in the robotic arm base coordinate system, and obtaining the spatial pose of the distal end of the linkage mechanism in the link base coordinate system, thereby obtaining the mapping relationship between the robotic arm base coordinate system and the link base coordinate system.

[0014] Optionally, the control system is further configured to control the robotic arm to perform movements associated with the movement of the target object in the following manner:

[0015] Based on the mapping relationship and the motion of the target object monitored by the linkage mechanism, the pose of the target object is obtained;

[0016] Based on the pose of the target object, the pose change of the target object is identified, and the pose change of the target object is converted into the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm. Then, based on the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm, the robotic arm is controlled to move to the target position associated with the movement of the target object.

[0017] Furthermore, based on the same inventive concept, the present invention also provides a readable storage medium having a program stored thereon, which, when executed, performs a positioning method, including:

[0018] Obtain the mapping relationship between the linkage mechanism and the robotic arm;

[0019] The linkage mechanism monitors the movement of the target object, and then, based on the mapping relationship and the movement of the target object monitored by the linkage mechanism, controls the robotic arm to perform a movement associated with the movement of the target object.

[0020] Optionally, obtaining the mapping relationship between the linkage mechanism and the robotic arm includes:

[0021] Associating the distal end of the linkage mechanism with the end-effector of the robotic arm to obtain the spatial pose of the end-effector of the robotic arm in the robotic arm base coordinate system, and obtaining the spatial pose of the distal end of the linkage mechanism in the link base coordinate system, thereby obtaining the mapping relationship between the robotic arm base coordinate system and the link base coordinate system.

[0022] Optionally, based on the mapping relationship and the motion of the target object monitored by the linkage mechanism, the robotic arm is controlled to perform a motion associated with the motion of the target object, including:

[0023] Based on the mapping relationship and the motion of the target object monitored by the linkage mechanism, the pose of the target object is obtained;

[0024] Based on the pose of the target object, the pose change of the target object is identified, and the pose change of the target object is converted into the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm. Then, based on the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm, the robotic arm is controlled to move to the target position associated with the movement of the target object.

[0025] Compared with the prior art, the surgical robot system and readable storage medium of the present invention have the following advantages:

[0026] In operation, the surgical robot system described above connects the proximal end of the linkage mechanism to the operating table and the distal end to the fixed component. The fixed component is then directly or indirectly connected to the target object (the patient's affected limb). The linkage mechanism allows for real-time monitoring of the patient's limb's movement. This movement is directly reflected in the joints of the linkage mechanism. By monitoring the rotation angles of each joint, the distal spatial position of the linkage mechanism is obtained, corresponding to the spatial position of the patient's affected limb. This achieves limb localization. During surgery, the robot's control system, based on the identified spatial position of the affected limb, controls the robotic arm to perform movements associated with the target object's motion. This compensates for the patient's limb's movement, allowing the robotic arm to follow the patient's movements. This real-time localization of the patient's affected limb during surgery, accurate feedback of its actual position, and effective identification of the affected limb in various poses improve the safety, accuracy, and effectiveness of the surgery. Attached Figure Description

[0027] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0028] Figure 1 This is a diagram illustrating the operation of an existing orthopedic surgical robot for bone localization.

[0029] Figure 2 This is a schematic diagram of the surgical robot system according to an embodiment of the present invention;

[0030] Figure 3 This is an enlarged schematic diagram of the structure of the present invention in which the fixation member is directly fixed to the bone of the affected area;

[0031] Figure 4 This is an enlarged schematic diagram of the structure of the present invention in which the fastener is directly fixed to the support frame;

[0032] Figure 5 This is a schematic diagram of the operation scenario of the surgical robot system according to an embodiment of the present invention;

[0033] Figure 6 This is a flowchart illustrating the workflow of the surgical robot system based on a linkage mechanism for performing osteotomy surgery according to an embodiment of the present invention.

[0034] Figure 7a This is an operational diagram illustrating the positioning and fixation of a patient lying on the operating table before surgery, according to an embodiment of the present invention.

[0035] Figure 7b This is a schematic diagram of the structure of the present invention, which shows the direct installation of a fixation device on the patient's affected limb.

[0036] Figure 8 This is a schematic diagram of the structure of the present invention, in which the fixing component is directly installed on the support frame;

[0037] Figure 9a This is an installation diagram of an embodiment of the present invention, showing the direct installation of a screw-equipped fastener onto the patient's affected limb.

[0038] Figure 9b This is a schematic diagram of the structure of a fastener with screws and annular boss according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the linkage mechanism with six degrees of freedom according to Embodiment 6 of the present invention;

[0040] Figure 11a This is an enlarged schematic diagram of the linkage mechanism of the present invention, wherein the distal end is provided with an annular flange and a tapered end;

[0041] Figure 11b This is a schematic diagram of connecting the distal end of the linkage mechanism to the fixing component in an embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram of the angle sensor according to an embodiment of the present invention;

[0043] Figure 13aThis is a schematic diagram illustrating the principle of establishing a coordinate system for link registration in an embodiment of the present invention for a robotic arm and a linkage mechanism;

[0044] Figure 13b This is a schematic diagram of the linkage tool coordinate system established at the end of the linkage mechanism when the fixing member is connected to the bone in an embodiment of the present invention;

[0045] Figure 13c This is a schematic diagram of the linkage tool coordinate system established at the end of the linkage mechanism when the fixing member is connected to the support frame in an embodiment of the present invention;

[0046] Figure 14 This is a flowchart of an osteotomy procedure for connecting a fixator to bone, according to an embodiment of the present invention.

[0047] Figure 15 This is a flowchart of an osteotomy procedure for connecting a fixator and a support frame, according to an embodiment of the present invention. Detailed Implementation

[0048] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0049] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0050] The terms “proximal” and “distal” used herein are relational terms defined according to the reference frame of the clinician or robotic arm. “Proximal” is typically configured to be positioned closer to the clinician or robotic arm, while “distal” is typically configured to be positioned closer to the patient or further advanced into the patient's body, and “distal” can also be understood as the end effector. In this application, “axial” refers to the axial direction, the direction perpendicular to the axial direction is “lateral” or “radial,” and “circumferential” refers to the direction around the axial direction.

[0051] The purpose of this invention is to provide a surgical robot system and a readable storage medium to solve the problems of traditional bone localization methods, such as the inability to be recognized by optical systems and insufficient recognition accuracy.

[0052] The following description refers to the accompanying drawings. In the following description, the invention is illustrated using a knee osteotomy as an example; however, it should be understood that the surgical robot system of the present invention is not limited to this application but can be used in various orthopedic surgeries. It should be noted that the target object described herein is the affected bone, typically the affected limb (such as the knee joint), but may also be other joints or other locations requiring orthopedic surgery.

[0053] Please refer to Figures 2 to 5 This invention provides a surgical robot system, including a surgical cart 6 and a robotic arm 4 mounted on the surgical cart 6. The surgical robot system also includes a linkage mechanism 11 and a fixing element 12. The linkage mechanism 11 has multiple degrees of freedom, that is, the linkage mechanism 11 includes a plurality of joints connected in sequence, each joint providing a rotational degree of freedom. Preferably, the linkage mechanism 11 has at least six degrees of freedom; in other words, the linkage mechanism 11 includes at least six joints connected in sequence. Hereinafter, a linkage mechanism 11 with six degrees of freedom is illustrated exemplary. The linkage mechanism 11 also includes a plurality of angle sensors 13 (see...). Figure 12 Each joint is equipped with at least one angle sensor 13, so that the linkage mechanism 11 can monitor the rotation of each joint through multiple angle sensors 13, thereby monitoring the movement of the patient's affected limb 1.

[0054] Furthermore, the proximal end of the linkage mechanism 11 is fixedly connected to the operating table 6, and the linkage mechanism 11 is located on one side of the robotic arm 4, such as the left, right, or below. Generally, the linkage mechanism 11 is located below the robotic arm 4, and the linkage mechanism 11 does not interfere with the movement of the robotic arm 4. Additionally, the fixation member 12 is used to connect directly or indirectly to the patient's affected limb 1, so as to associate the distal end of the linkage mechanism 11 with the patient's affected limb 1. The fixation member 12 is preferably a bone screw structure, but it is not limited to bone screws in practice.

[0055] like Figure 3 and Figure 7b As shown, in one installation method, the fixing member 12 is directly fixed to the patient's affected limb 1, thereby connecting the distal end of the linkage mechanism 11 to the fixing member 12. Figure 4 and Figure 8 As shown, in another installation method, the fastener 12 is directly fixed to the support frame 5, which is used to directly support the patient's affected limb 1, thereby connecting the distal end of the linkage mechanism 11 to the fastener 12.

[0056] In practical use, the proximal end of the linkage mechanism 11 is fixedly connected to the operating table 6, and the distal end of the linkage mechanism 11 is connected to the fixing member 12, which is fixed to the patient's affected limb 1. Thus, during the surgery, the robotic arm 4 can move based on the movement of the patient's affected limb 1 monitored by the linkage mechanism 11. In this invention, before the surgery, a mapping relationship between the linkage mechanism 11 and the robotic arm 4 is established to complete the registration of the linkage mechanism 11. During the surgery, the movement of the patient's affected limb 1 can be monitored by multiple angle sensors 13 on the linkage mechanism 11. It is understandable that once the patient's affected limb 1 moves, it will drive the linkage mechanism 11 to move, which manifests as the rotation of each joint on the linkage mechanism 11. The rotation of the joints can be monitored by the corresponding angle sensors 13. By monitoring the rotation angle of each joint, the spatial position of the distal end (i.e., the end effector) of the linkage mechanism 11 can be obtained, thus knowing the spatial position of the patient's affected limb 1, thereby achieving the follow-up control of the robotic arm 4. During the surgery, the linkage mechanism 11 transmits the spatial position of the patient's affected limb 1 to the control system of the surgical robot system in real time. The control system, based on the mapping relationship between the linkage mechanism 11 and the robotic arm 4, and the movement of the patient's affected limb 1 monitored by the linkage mechanism 11, controls the movement of the robotic arm 4 to achieve positioning. Thus, during the surgery, the movement of the patient's affected limb 1 monitored by the linkage mechanism 11 can be compensated for by the robotic arm 4, allowing the robotic arm 4 to follow the movement of the patient's affected limb 1, ultimately achieving positioning and linkage of the robotic arm 4. Compared with traditional technologies, the surgical robot system of this invention can achieve real-time positioning of the patient's affected limb 1 during surgery, accurately reflect the actual position of the bone, and effectively identify the affected bone in various poses, thereby improving the safety, accuracy, and effectiveness of the surgery.

[0057] It should also be noted that before the surgery, the mapping relationship between the linkage mechanism 11 and the robotic arm 4 needs to be obtained to complete the registration of the linkage mechanism 11. Optionally, the bone registration of the present invention can be achieved by using a traditional method, or by directly collecting bone surface feature points through the linkage mechanism 11 to establish a mapping relationship between the patient's affected limb and the three-dimensional model, thereby achieving bone registration. In this case, it is not necessary to insert bone screws into the patient's affected limb 1 and then install optical positioning marks, which can reduce secondary damage to the patient's affected limb 1 during surgery. It should be understood that the positioning method provided by the present invention is physical positioning, that is, the position of the bone at the affected site is identified according to the movement trajectory of the linkage mechanism 11, so that the actual position of the bone can be fed back more accurately. Furthermore, the linkage mechanism 11 has at least six degrees of freedom, which has sufficient flexibility to identify bones in various poses, avoiding the problem of not being able to be identified.

[0058] In this embodiment of the invention, based on the same inventive concept, a readable storage medium is also provided. When the program in the readable storage medium is executed, a positioning method for a surgical robot system based on this embodiment of the invention is performed, including the following steps: Before surgery, the mapping relationship between the linkage mechanism 11 and the robotic arm 4 is obtained. At this time, the linkage mechanism 11 and the fixing member 12 are not connected. After obtaining the mapping relationship between the linkage mechanism 11 and the robotic arm 4, the registration of the linkage mechanism 11 is completed. Subsequently, the linkage mechanism 11 is connected to the fixing member 12. During the surgery, the movement of the patient's affected limb 1 is monitored in real time through the linkage mechanism 11. At the same time, the control system of the surgical robot system controls the robotic arm 4 to perform movements associated with the movement of the patient's affected limb 1 based on the mapping relationship between the linkage mechanism 11 and the robotic arm 4, and the movement of the patient's affected limb 1 monitored by the linkage mechanism 11. It should also be noted that the control system is communicatively connected to all angle sensors 13 on the linkage mechanism 11. Thus, the linkage mechanism 11 feeds back the spatial position of the patient's affected limb 1 to the control system in real time, and the control system controls the robotic arm 4 to complete positioning and linkage, ultimately completing the osteotomy surgery.

[0059] refer to Figure 5 The surgical robot system provided in this embodiment of the invention also includes a navigation carriage 7, on which an optical camera 3 is mounted. The optical camera 3 is used to track the robotic arm 4 in real time and obtain the end-effector position of the robotic arm 4 in real time. Both the navigation carriage 7 and the surgical carriage 6 are located next to the operating table.

[0060] Further references can be made. Figure 6 The workflow shown illustrates the entire process of performing osteotomy using a surgical robot system, as described in this invention.

[0061] First, in step S101, the surgical cart 6 is moved to a position convenient for surgical operation based on the patient's surgical position and the workspace of the surgical robot, thus completing the positioning of the surgical cart 6. Second, in step S102, the fixation member 12 is installed on the patient's affected limb 1 or the support frame 5. And in step S103, before connecting the linkage mechanism 11 to the fixation member 12, the linkage mechanism 11 is registered. After registering the linkage mechanism 11, in step S104, the fixation member 12 is connected to the linkage mechanism 11, and then the surgical procedure can begin. Once in the surgical procedure, in step S105, the posture of the patient's affected limb 1 is transmitted to the control system in real time through the linkage mechanism 11. The control system controls the robotic arm 4 to follow the posture of the patient's affected limb 1, thereby eliminating deviations caused by the movement of the patient's affected limb 1, and performing osteotomy surgery in accordance with the surgical plan. In step S106, after the osteotomy surgery is completed, the fixation member 12 is separated from the linkage mechanism 11, the fixation member 12 is removed, and the surgical cart 5 is withdrawn.

[0062] More in detail, such as Figure 7aAs shown, before the surgery, patient 10 lies on operating table 8 for pre-operative positioning and fixation of the affected area. Before the surgery, the operating trolley 6 is positioned, and then the fixation device 12 is installed on the patient's affected limb 1 or support frame 5. If the linkage mechanism 11 has been registered, the fixation device 12 is then connected to the linkage mechanism 11. After the linkage mechanism 11 is registered, it can transmit the spatial position of the patient's affected limb 1 to the control system in real time. The control system guides and positions the robotic arm 4. When the linkage mechanism 11 is registered, the control system will determine whether the registration of the linkage mechanism 11 is complete. If so, the surgery will proceed. After entering the surgery phase, the osteotomy is performed on the patient based on the positional relationship of the patient's affected limb 1 and the surgical plan. During this process, the linkage mechanism 11 continues to feed back the spatial position of the patient's affected limb 1 to the control system. The control system controls the robotic arm 4 to follow the positional deviation of the patient's affected limb 1, and finally completes the osteotomy. After the osteotomy is completed, the linkage mechanism 11 is separated from the fixation component 12, the fixation component 12 is removed, and the operating trolley 6 is moved out of the operating position.

[0063] When registering the linkage mechanism 11, one method is to place the distal end (e.g., the tip) of the linkage mechanism 11 on the end-effector tool point of the robotic arm 4, thus establishing an association between the distal end of the linkage mechanism 11 and the end-effector tool point of the robotic arm. Then, the surgical robot system automatically obtains the spatial pose of the end-effector tool point of the robotic arm 4 in the robotic arm base coordinate system and the spatial pose of the distal end of the linkage mechanism 11 in the link base coordinate system through its built-in navigation function. This allows the system to obtain the mapping relationship between the robotic arm base coordinate system and the link base coordinate system, and this mapping relationship is then defined as the mapping relationship between the linkage mechanism 11 and the robotic arm 4. This will be explained in detail below.

[0064] Taking the fixation of the fixation element 12 to the patient's affected limb 1 as an example. Figure 9a and Figure 9bAs shown, the fixing member 12 preferably includes a first fixing part 121 and a second fixing part 122 distributed axially and coaxially arranged. The first fixing part 121 is used to connect with the patient's affected limb 1 (shown schematically), and the second fixing part 122 is used to detachably connect with the distal end of the linkage mechanism 11. Optionally, the lateral dimension (e.g., cross-sectional area or width) of the second fixing part 122 is larger than the lateral dimension of the first fixing part 121. The second fixing part 122 is also used to define the position of the fixing member 12 relative to the patient's affected limb 1 and the linkage mechanism 11 to ensure accurate positioning. Preferably, the first fixing part 121 is a screw, and the second fixing part 122 is an annular boss. The two end faces of the annular boss along the axial direction are used to position the fixing member 12 relative to the patient's affected limb 1 and the linkage mechanism 11. Furthermore, the second fixing part 122 (such as an annular boss) is provided with a tapered mounting hole 123. The tapered mounting hole 123 is used for threaded connection with the distal end of the linkage mechanism 11. The threaded connection facilitates disassembly and assembly, while the tapered mounting hole 123 can better center the fixing part 12 and the linkage mechanism 11, ensuring positioning accuracy.

[0065] The annular boss can be further configured as two sub-bosses, namely a first sub-boss 1221 and a second sub-boss 1222. The first sub-boss 1221 is located between the screw and the second sub-boss 1222. The lateral dimension of the first sub-boss 1221 is larger than the screw diameter, and the lateral dimension of the second sub-boss 1222 is smaller than the lateral dimension of the first sub-boss 1221. At this time, the position of the fixing member 12 relative to the patient's affected limb 1 is positioned by the end face of the first sub-boss 1221 away from the second sub-boss 1222, and the position of the fixing member 12 relative to the linkage mechanism 11 is positioned by the end face of the second sub-boss 1222 away from the first sub-boss 1221.

[0066] As described above, the linkage mechanism 11 has at least six degrees of freedom to recognize various postures of the affected bone, avoiding recognition failures and thus ensuring good recognition effectiveness. Preferably, the linkage mechanism 11 has six degrees of freedom, which is sufficient to meet the requirements of bone positioning and avoids increasing structural complexity. When the linkage mechanism 11 includes six joints, three of the six joints are rotational joints, and the other three are swing joints. The rotation axis of the rotational joints is perpendicular to the rotation axis of the swing joints. It should be understood that a rotational joint means that the corresponding link itself can rotate around its own axis. A swing joint means that two adjacent links can swing relative to each other. Through the combination of rotational and swing joints, the rotational flexibility of the linkage mechanism 11 is ensured, thereby realizing the linkage of various postures of the patient's affected limb 1.

[0067] like Figure 10As shown, preferably, the first joint 111, the second joint 112, the third joint 113, the fourth joint 114, the fifth joint 115, and the sixth joint 116 of the six joints are connected sequentially from proximal to distal. The first joint 111, the fourth joint 114, and the sixth joint 116 are all rotational joints, while the second joint 112, the third joint 113, and the fifth joint 115 are all swing joints. In this configuration, the linkage mechanism 11 has a large range of motion and good flexibility, enabling better coordination of the patient's affected limb 1 in various positions.

[0068] Figure 12 A simplified exemplary structure of the angle sensor 13 is shown in Figure 13, and in conjunction with... Figure 10 An angle sensor 13 can be installed in each of the six joints mentioned above. The movement of each joint is monitored by the corresponding angle sensor 13. It should be understood that to know the end-effector spatial position of the linkage 11, a linkage coordinate system needs to be established. Establishing a linkage coordinate system requires a set of criteria, namely the commonly used DH parameter method. The DH coordinate system of the linkage 11 is established, and the relative positional relationships between the links are determined according to the coordinate transformation. The end-effector spatial position is calculated using the joint angle values. It should be understood that the establishment of the DH coordinate system is prior art; therefore, this application does not describe it in detail.

[0069] Continue to refer to Figure 10 A rod-shaped connecting part 117 is coaxially connected to the distal joint (i.e., the end joint, such as the sixth joint 116) of the linkage mechanism 11. The distal end (i.e. the end) of the rod-shaped connecting part 117 is used to detachably connect to the fixing member 12, preferably to the fixing member 12 by thread.

[0070] like Figure 11a As shown, the distal end of the rod-shaped connecting portion 117 is preferably a tapered end 1171 with external threads. The tapered end 1171 is used for threaded connection with the fixing member 12, such as by directly inserting the tapered end 1171 into the tapered mounting hole 123 of the fixing member 12 for connection. Further, the distal end of the rod-shaped connecting portion 117 is also provided with an annular flange 1172, which is located on the proximal side of the tapered end 1171. The positioning flange 1172 is used to define the position of the linkage mechanism 11 relative to the fixing member 12. For example, the distal surface of the positioning flange 1172 abuts against the proximal surface of the second sub-protrusion 1222, thereby achieving the positioning and installation of the fixing member 12 and the linkage mechanism 11.

[0071] like Figure 11bAs shown, when the linkage mechanism 11 is connected to the fixing member 12, the tapered end 1171 is inserted into the tapered mounting hole 123 on the first sub-protrusion 1222 for initial positioning until the distal end face of the positioning flange 1172 abuts against the proximal end face of the first sub-protrusion 1222. This ensures that after installation, the end of the linkage mechanism 11 and the fixing member 12 are on the same axis, facilitating subsequent pose calculations and simplifying the calculation process. It should also be noted that the tapered end 1171 of the linkage mechanism 11 provides a cusp, facilitating the acquisition of the robotic arm end-effector tool point before surgery to register the linkage mechanism 11.

[0072] The following section provides a further explanation of the mapping relationship between robotic arm 4 and linkage mechanism 11.

[0073] Please refer to Figures 13a to 13c The methods for obtaining the mapping relationship between the linkage mechanism 11 and the robotic arm 4 include:

[0074] After the far end of the linkage mechanism 11 is placed on the end tool point of the robotic arm 4, the spatial pose T1 of the end tool point of the robotic arm 4 in the robotic arm base coordinate system C1 is obtained, and the spatial pose T2 of the far end of the linkage mechanism 11 in the link base coordinate system B1 is obtained, thereby obtaining the mapping relationship between the robotic arm base coordinate system C1 and the link base coordinate system B1.

[0075] It is understood that the proximal end of the robotic arm 4 is provided with a robotic arm base coordinate system C1, and the proximal end of the linkage mechanism 11 is provided with a linkage base coordinate system B1. In addition, the distal end of the robotic arm 4 is provided with a robotic arm tool coordinate system C2, and the distal end of the linkage mechanism 11 is provided with a linkage tool coordinate system (TCP coordinate system) B2. In this embodiment, the tip of the conical end 1171 of the linkage mechanism 11 is placed on the tool point of the robotic arm end, and the linkage mechanism 11 is registered. The program reads the spatial pose T1 of the tool point of the robotic arm end under the robotic arm base coordinate system C1, and reads the spatial pose T2 of the tip of the distal end of the linkage mechanism 11 under the linkage base coordinate system B1. Since T1 and T2 should be the same at this time, the transformation matrix T3 between the robotic arm base coordinate system C1 and the linkage base coordinate system B1 can be obtained through matrix operation, thereby completing the linkage registration.

[0076] like Figure 13b As shown, when the fixing member 12 is directly fixed to the patient's affected limb 1, the registered linkage mechanism 11 can obtain the position of the linkage tool coordinate system B2 in the robot arm base coordinate system C1 in real time, thus knowing the current position of the patient's affected limb 1. Similarly, as Figure 13c As shown, when the fixing member 12 is directly fixed to the support frame 5, the position of the linkage tool coordinate system B2 in the robot arm base coordinate system C1 can be obtained in real time based on the registered linkage mechanism 11, so that the current position of the patient's limb 1 can be known.

[0077] The principle of controlling the movement of robotic arm 4 will be explained further below.

[0078] Please refer to Figure 14 and Figure 15 Methods for controlling the movement of a robotic arm include:

[0079] Based on the mapping relationship obtained during the registration of linkage mechanism 11 and the movement of patient limb 1 monitored by linkage mechanism 11, the pose of patient limb 1 is obtained;

[0080] Based on the pose of the patient's affected limb 1, the pose change of the patient's affected limb 1 is identified, and the pose change of the patient's affected limb 1 is converted into the pose deviation of the end effector of the robotic arm 4 in the robotic arm base coordinate system C1. Then, based on the pose deviation of the end effector of the robotic arm 4 in the robotic arm base coordinate system C1, the robotic arm 4 is controlled to move to the target position associated with the movement of the patient's affected limb 1.

[0081] Specifically, when the fixation element 12 is directly fixed to the patient's affected limb 1, such as Figure 14 As shown, during the operation, the patient's posture adjustment causes the linkage mechanism 11 to move accordingly. At this time, by acquiring the posture of the linkage tool coordinate system B2, the posture deviation of the end of the robotic arm can be further calculated. Then, it is determined whether the posture deviation meets the accuracy requirements. If so, the robotic arm 4 remains in the current state and does not need to be adjusted. If not, based on the registered linkage mechanism 11, a motion command can be issued according to the posture deviation of the end of the robotic arm. After receiving the motion command, the robotic arm 4 moves to the target position.

[0082] Thus, by registering the linkage mechanism 11, a mapping relationship is established between the robotic arm base coordinate system C1 and the linkage base coordinate system B1. During the operation, the linkage mechanism 11 provides real-time feedback on the spatial pose changes of the patient's body position. The control system then converts the patient's pose changes during the operation into the robotic arm base coordinate system C1, and issues motion commands based on the pose deviation. Based on the motion commands, the robotic arm 4 is controlled to follow the movement, thereby eliminating the deviation caused by the patient's movement.

[0083] Similarly, when the fastener 12 is directly fixed to the support frame 5, such as Figure 15 As shown, during the operation, after the patient's posture is adjusted, the posture of the support frame 5 is adjusted, which in turn causes the linkage mechanism 11 to move. The posture of the linkage tool coordinate system B2 is further collected, and the posture deviation of the end effector of the robotic arm is calculated. It is determined whether the posture deviation meets the accuracy requirements. If it does, the robotic arm 4 remains in the current state and does not need to be adjusted. If not, based on the registered linkage mechanism 11, a motion command can be issued according to the posture deviation of the end effector of the robotic arm. After receiving the motion command, the robotic arm 4 moves to the target position.

[0084] Finally, it should be noted that the control system of this embodiment of the invention is a computing device. The control system includes electronic equipment, which includes a processor and a readable storage medium (such as a memory) storing instructions (programs). These instructions, when executed by the processor, cause the processor to perform various control methods and execute various algorithms described elsewhere herein. The processor may be a general-purpose microprocessor, a digital signal processor (DSP), a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or other programmable logic device, or other discrete computer-executable components designed to perform the functions described herein. The processor may also be formed by a combination of processing units, such as a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other suitable configuration. Furthermore, any suitable angle sensor 13 can be used to detect the joint rotation angle; therefore, this application does not limit the specific type of angle sensor 13.

[0085] In summary, by applying the surgical robot system provided by this invention, the location of the affected bone can be easily and quickly identified, and the robotic arm can be linked to various poses of the affected bone. It can also accurately reflect the actual position of the patient's bone and identify the affected bone in various poses, thereby improving the safety, accuracy and effectiveness of the surgery.

[0086] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A surgical robot system, comprising a surgical cart and a robotic arm mounted on the surgical cart, characterized in that, Also includes: A linkage mechanism, the proximal end of which is fixedly connected to the operating table; the linkage mechanism includes a plurality of joints connected in sequence, each of which is provided with at least one angle sensor, the angle sensor being used to monitor the movement of the target object; A fixing member, the fixing member being used for connection to the target object and the distal end of the linkage mechanism, respectively; and, A control system configured to control the robotic arm to perform a movement associated with the movement of the target object based on the mapping relationship between the linkage mechanism and the robotic arm and the movement of the target object monitored by the angle sensor.

2. The surgical robot system as described in claim 1, characterized in that, The linkage mechanism includes six joints connected in sequence. Three of the six joints are rotational joints, and the other three are swing joints. The rotation axis of the rotational joints is perpendicular to the rotation axis of the swing joints.

3. The surgical robot system as described in claim 1, characterized in that, The fastener includes a first fixing part and a second fixing part that are distributed axially and coaxially arranged. The first fixing part is used to connect with the target object, and the second fixing part is used to detachably connect with the distal end of the linkage mechanism.

4. The surgical robot system as described in claim 3, characterized in that, The second fixing part has a larger lateral dimension than the first fixing part, and the second fixing part is also used to define the position of the fixing member relative to the target object and the linkage mechanism.

5. The surgical robot system as described in claim 1, characterized in that, A rod-shaped connecting part is coaxially connected to the distal joint of the linkage mechanism, and the distal end of the rod-shaped connecting part is used for detachable connection with the fixing member.

6. The surgical robot system as described in claim 1, characterized in that, The control system is also configured to acquire the mapping relationship between the linkage mechanism and the robotic arm, including: Associating the distal end of the linkage mechanism with the end-effector of the robotic arm to obtain the spatial pose of the end-effector of the robotic arm in the robotic arm base coordinate system, and obtaining the spatial pose of the distal end of the linkage mechanism in the link base coordinate system, thereby obtaining the mapping relationship between the robotic arm base coordinate system and the link base coordinate system.

7. The surgical robot system as described in claim 6, characterized in that, The control system is also configured to control the robotic arm to perform movements associated with the movement of the target object in the following manner: Based on the mapping relationship and the motion of the target object detected by the angle sensor, the pose of the target object is obtained; Based on the pose of the target object, the pose change of the target object is identified, and the pose change of the target object is converted into the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm. Then, based on the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm, the robotic arm is controlled to move to the target position associated with the movement of the target object.

8. A readable storage medium having a program stored thereon, characterized in that, When the program is executed, a location method is performed, including: The mapping relationship between the linkage mechanism and the robotic arm is obtained. The linkage mechanism includes multiple joints connected in sequence, and at least one angle sensor is provided on each joint. The robot arm monitors the movement of the target object using the angle sensor, and then controls the robot arm to perform movements associated with the movement of the target object based on the mapping relationship and the movement of the target object monitored by the angle sensor.

9. The readable storage medium as claimed in claim 8, characterized in that, Obtaining the mapping relationship between the linkage mechanism and the robotic arm includes: Associating the distal end of the linkage mechanism with the end-effector of the robotic arm to obtain the spatial pose of the end-effector of the robotic arm in the robotic arm base coordinate system, and obtaining the spatial pose of the distal end of the linkage mechanism in the link base coordinate system, thereby obtaining the mapping relationship between the robotic arm base coordinate system and the link base coordinate system.

10. The readable storage medium as claimed in claim 9, characterized in that, Based on the mapping relationship and the motion of the target object detected by the angle sensor, the robotic arm is controlled to perform a motion associated with the motion of the target object, including: Based on the mapping relationship and the motion of the target object detected by the angle sensor, the pose of the target object is obtained; Based on the pose of the target object, the pose change of the target object is identified, and the pose change of the target object is converted into the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm. Then, based on the pose deviation of the end effector of the robotic arm in the base coordinate system of the robotic arm, the robotic arm is controlled to move to the target position associated with the movement of the target object.

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