Surgical robot and control method, control device therefor

Abstract

The application relates to a surgical robot and a control method and device thereof. The surgical robot comprises a driving arm body and a holding arm connected to the distal end of the driving arm body. The driving arm body is used for driving the holding arm to move. The holding arm is used for fixing a puncture device. The puncture device is used for being arranged in a body incision to provide a channel for a surgical instrument to pass through. The control method comprises the following steps: constructing a proximity space associated with the current position of the puncture device; acquiring first feature information representing the current position of the holding arm when the driving arm body is controlled to drive the holding arm to move in a first mode; judging whether the holding arm is close to or enters the proximity space according to the first feature information; and controlling the driving arm body to drive the holding arm to move in a second mode when the holding arm is close to or enters the proximity space. The application constructs the proximity space of the puncture device, so that the holding arm can change the movement mode when being close to or entering the proximity space, the puncture device is more easily approached, and the operation efficiency and the accuracy of alignment are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to a surgical robot and its control method and control device. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0003] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. A minimally invasive surgical robot typically includes a main control panel and slave control devices. The main control panel includes a handle, through which the surgeon sends control commands to the slave control devices. The slave control devices include a drive arm and a surgical arm attached to the distal end of the drive arm. The surgical arm is used to secure a puncture device, which is inserted into the incision to provide a channel for surgical instruments. Before surgery, the drive arm moves the surgical arm to align its position with the puncture device, thus securing the device and ensuring alignment between the surgical instruments and the channel on the puncture device, guaranteeing the range of motion of the surgical instruments during the procedure.

[0004] However, in the process of driving the manipulator arm to the associated position of the puncture device, the driving arm body drives the manipulator arm in a constant mode. For example, it always maintains a constant response mode to the driving force / torque. This makes it easy for the manipulator arm to deviate significantly from the puncture device when it moves near the puncture device, making it difficult to align with the puncture device. This not only affects the efficiency of operation but also reduces the accuracy of the alignment. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a surgical robot and its control method and device. By constructing an approach space for the puncture device, the robotic arm can change its movement mode when approaching or entering the approach space, making it easier to approach the puncture device and improving operational efficiency and alignment accuracy.

[0006] To address the aforementioned technical problems, this application provides a control method for a surgical robot. The surgical robot includes a drive arm and a surgical arm connected to the distal end of the drive arm. The drive arm drives the surgical arm to move. The surgical arm has a fixing part for fixing a puncture device. The puncture device is used to penetrate a body incision to provide a channel for surgical instruments to pass through. The control method includes: Construct a proximity space associated with the current position of the puncture device; When the drive arm body drives the mechanical arm to move in the first mode, first feature information characterizing the current position of the mechanical arm is acquired; Based on the first feature information, determine whether the robotic arm is approaching or entering the approach space; When the holding arm approaches or enters the approach space, the drive arm body is controlled in a second mode to drive the holding arm to move.

[0007] Optionally, the step of constructing a proximity space associated with the current position of the puncture device includes: Obtain second feature information characterizing the current position of the puncture device; A space associated with the second feature information is constructed to obtain the proximity space.

[0008] Optionally, obtaining the second feature information characterizing the current position of the puncture device includes: Based on the detection data from the positioning device, the position information of at least two feature points on the puncture device is obtained; Based on the position information of at least two feature points on the puncture device, second feature information characterizing the current position of the puncture device is determined.

[0009] Optionally, the line connecting the at least two feature points coincides with the axis of the puncture device corresponding to the puncture direction; the step of constructing a space associated with the second feature information to obtain the proximity space includes: Based on the second feature information, the insertion point of the puncture device, and the size information of the puncture device, a space surrounding the exposed portion of the puncture device is constructed to obtain the approach space.

[0010] Optionally, the first feature information is the position information of the line connecting at least two feature points associated with the fixing part. The at least two feature points associated with the fixing part include at least two of the following: a first feature point associated with the fixing part, a second feature point associated with the axis of the surgical instrument, and a remote motion center of the surgical instrument. The first feature point, the second feature point, and the remote motion center are on the same straight line.

[0011] Optionally, the step of determining whether the robotic arm is approaching or entering the approach space based on the first feature information includes: Obtain the coordinate set of the constituent points of the first feature information, and the coordinate set of the boundary points of the near space; Based on the coordinate set of the constituent points and the coordinate set of the boundary points, determine whether the minimum distance between the combined points of the first feature information and the boundary points of the near space is within a preset range, or whether the coordinates of at least a portion of the combined points of the first feature information are within the coordinate interval corresponding to the coordinate set of the boundary points. If the minimum distance between the combination point of the first feature information and the boundary point of the approach space is within a preset range, then it is confirmed that the robotic arm is close to the approach space; or, if the coordinates of at least a portion of the combination points of the first feature information are within the coordinate interval corresponding to the coordinate set of the boundary points, then it is confirmed that the robotic arm has entered the approach space.

[0012] Optionally, controlling the drive arm to drive the mechanical arm to move in the first mode includes: The first driving speed corresponding to the first force or torque applied to the holding arm is determined according to the first mapping relationship, and the driving arm body is controlled to drive the holding arm to move according to the first driving speed. The step of controlling the drive arm to drive the movement of the robotic arm in a second mode when the robotic arm approaches or enters the approach space includes: When the holding arm approaches or enters the approach space, a second driving speed corresponding to the second force or torque applied to the holding arm is determined according to the second mapping relationship, and the driving arm body is controlled to drive the holding arm to move according to the second driving speed, wherein when the first force or torque is the same as the second force or torque, the second driving speed is less than the first driving speed.

[0013] Optionally, controlling the drive arm to drive the mechanical arm to move in the first mode includes: The driving speed is determined based on the force or torque applied to the holding arm, and the driving arm body is controlled to drive the holding arm to move according to the driving speed; The step of controlling the drive arm to drive the movement of the robotic arm in a second mode when the robotic arm approaches or enters the approach space includes: When the robotic arm approaches or enters the approach space, the target position of the robotic arm is obtained, wherein the target position includes at least one position point located within the approach space; The target position is analyzed as the joint motion of the corresponding joint component in the drive arm body; The corresponding joint components in the drive arm are controlled to move in tandem according to the amount of joint motion, so that the mechanical arm reaches the target position.

[0014] Optionally, controlling the drive arm to drive the mechanical arm to move in the first mode includes: The driving speed is determined based on the force or torque applied to the holding arm, and the driving arm body is controlled to drive the holding arm to move according to the driving speed; The step of controlling the drive arm to drive the movement of the robotic arm in a second mode when the robotic arm approaches or enters the approach space includes: When the robotic arm enters the approach space, the direction of the force or torque applied to the robotic arm is obtained; When the direction is toward the top boundary of the approach space, continue to control the drive arm to drive the mechanical arm to move in the first mode; When the direction is toward the bottom or side boundary of the approach space, the drive arm body is controlled to drive the mechanical arm to move in a mode that reduces the drive speed determined based on the first mode to zero according to a preset ratio.

[0015] Optionally, before the step of controlling the drive arm to drive the mechanical arm to move in the second mode, the method further includes: Output prompt information, including prompts indicating that the mode has been switched, prompts indicating that the mode will be switched after a preset time, or prompts indicating whether to switch modes.

[0016] Optionally, prior to the step of constructing a proximity space associated with the current location of the puncture device, the method further includes: Identify at least one puncture device to be secured, and identify at least one holding arm to be used to secure the puncture device; Establish a mapping relationship between the at least one puncture device to be fixed and the at least one holding arm to be used to fix the puncture device.

[0017] Optionally, the step of determining the at least one puncture device to be fixed includes: Images of each puncture device are identified to determine the identification information of at least one unsecured puncture device; and / or, Based on the fixed status of the puncture devices detected by the detection mechanism on each puncture device, the identification information stored in the identification chip of at least one unfixed puncture device is obtained.

[0018] Optionally, the construction of the proximity space associated with the current position of the puncture device includes: Construct proximity spaces that are associated with the current positions of each puncture device to be fixed; The step of determining whether the robotic arm is approaching or entering the approach space based on the first feature information includes: Based on the first characteristic information of the currently moving robotic arm, determine whether the robotic arm is approaching or entering a proximity space; If the arm approaches or enters an approach space, it is determined whether the approach space is associated with a puncture device that has a mapping relationship with the arm. If the approaching or entering space is an approaching space associated with a puncture device that has a mapping relationship with the holding arm, then the step of controlling the driving arm body to drive the holding arm to move in the second mode is performed. If the approaching or entering space is not an approaching space associated with a puncture device that has a mapping relationship with the holding arm, then the step of controlling the drive arm body to drive the holding arm to move in the second mode is not performed.

[0019] This application also provides a control device for a surgical robot, including: Memory, used to load and execute computer programs; Processor, used to load and execute the computer program; The computer program is loaded by the processor and executed to implement the steps of the control method for the surgical robot as described above.

[0020] This application also provides a surgical robot, including a drive arm and a holding arm. The drive arm is used to drive the holding arm to move. The holding arm is provided with a fixing part for fixing a puncture device. The puncture device is used to be inserted into a body incision to provide a channel for surgical instruments. It also includes a control device for performing steps of the control method for implementing any of the surgical robots described above.

[0021] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method for the surgical robot as described above.

[0022] This application discloses a surgical robot and its control method, control device, and storage medium. The surgical robot includes a drive arm and a surgical arm connected to the distal end of the drive arm. The drive arm drives the movement of the surgical arm, and the surgical arm is used to fix a puncture device. The puncture device is used to penetrate a body incision to provide a channel for surgical instruments to pass through. The control method includes: constructing an approach space associated with the current position of the puncture device; acquiring first feature information characterizing the current position of the surgical arm while controlling the drive arm to drive the surgical arm in a first mode; determining whether the surgical arm is approaching or entering the approach space based on the first feature information; and controlling the drive arm to drive the surgical arm in a second mode when the surgical arm approaches or enters the approach space. By constructing an approach space for the puncture device, this application allows the surgical arm to change its movement mode when approaching or entering the approach space, making it easier to approach the puncture device and improving operational efficiency and alignment accuracy. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a control method for a surgical robot according to one embodiment; Figure 2 This is a flowchart illustrating a control method for a surgical robot according to one embodiment; Figure 3 This is one of the schematic diagrams illustrating the principle of a control method for a surgical robot according to an embodiment; Figure 4 This is a second schematic diagram illustrating the principle of a control method for a surgical robot according to an embodiment; Figure 5 This is a schematic diagram of a control method for a surgical robot according to another embodiment; Figure 6 This is a flowchart illustrating a control method for a surgical robot according to another embodiment; Figure 7 This is a schematic diagram of the user interface of a control method for a surgical robot according to another embodiment; Figure 8 This is a schematic diagram illustrating the principle of a control method for a surgical robot according to another embodiment; Figure 9 This is a schematic diagram of the structure of a surgical robot according to one embodiment; Figure 10 This is a schematic diagram of the structure of a surgical robot according to another embodiment. Detailed Implementation

[0024] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0025] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used herein are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during the procedure, and "proximal" refers to the end closer to the operator during the procedure.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. In this invention, "each" includes one or more items.

[0027] Figure 1 This is a schematic diagram illustrating a control method for a surgical robot according to one embodiment. For example... Figure 1 As shown, the surgical robot includes a drive arm ( Figure 1 (Not shown in the diagram) and a surgical arm 201 connected to the distal end of the drive arm body. The drive arm body is used to drive the movement of the surgical arm 201, wherein driving means that the movement of the surgical arm 201 is achieved by the movement of the drive arm body. The surgical arm 201 is provided with a fixing part 202 for fixing the puncture device 203, which is used to pass through the incision in the body 20 to provide a channel for the surgical instrument 204 to pass through.

[0028] In one embodiment, the fixing part 202 may be a clamping structure or a plug-in structure. The driving arm body may include multiple joint components, and the driving of the surgical arm 201 is realized through the linkage between the joint components. The surgical arm 201 may also be provided with a driving part 205, which is used for attaching and detaching the surgical instrument 204 and driving the movement of the surgical instrument 204.

[0029] In one embodiment, the joint components of the drive arm can be linked by dragging the drive arm to move the holding arm 201 to a position associated with the puncture device 203, thereby fixing the puncture device 203. This article details the technical solution for moving the holding arm 201 to the position associated with the puncture device 203.

[0030] Figure 2 This is a flowchart illustrating a control method for a surgical robot according to one embodiment. Figure 2 As shown, the control method for the surgical robot in this embodiment includes the following steps: Step 102: Construct a proximity space associated with the current location of the puncture device; This involves constructing a proximity space associated with the current position of the puncture device, for example, after the puncture device has been inserted through a body incision. The proximity space includes, for example, a set of points associated with the current position of the puncture device, which constitute the boundary of the proximity space; thus, the proximity space can be represented as a set of coordinates of a series of boundary points. One form of proximity space can be referenced. Figure 3 The proximity space 206 is shown, but the shape of the proximity space is not limited to that shown in the figure.

[0031] Optionally, the process of constructing a proximity space associated with the current location of the puncture device includes: Obtain second feature information characterizing the current position of the puncture device; Construct a space associated with the second feature information to obtain the approximate space.

[0032] The second feature information is used to characterize the current position of the puncture device, which can be a set of coordinates of points associated with the current position of the puncture device, such as a set of coordinates of feature points on the puncture device, preferably a set of coordinates of feature points located on the axis of the puncture device corresponding to the puncture direction.

[0033] Optionally, second feature information characterizing the current position of the puncture device is obtained, including: Based on the detection data from the positioning device, obtain the position information of at least two feature points on the puncture device; Based on the position information of at least two feature points on the puncture device, determine the second feature information that characterizes the current position of the puncture device.

[0034] The positioning device can be an imaging device, which identifies and calculates the positional information of at least two feature points on the puncture device by recognizing the image of the puncture device acquired by the imaging device. Alternatively, the positioning device can be a ranging device, such as a laser ranging device, which uses laser ranging to detect the positional information of at least two feature points on the puncture device. Optionally, the positional information can be obtained based on the positions of at least two positioning markers (such as marker lines or marker points) set on the puncture device. Based on the positional information, second feature information characterizing the current position of the puncture device can be determined; for example, the second feature information is the set of coordinates of points on the line connecting at least two feature points on the puncture device.

[0035] Optionally, the line connecting at least two feature points coincides with the axis of the puncture device corresponding to the puncture direction; constructing a space associated with the second feature information to obtain a near-space step includes: Based on the second feature information, the insertion point of the puncture device, and the size information of the puncture device, a space surrounding the exposed part of the puncture device is constructed to obtain the approach space.

[0036] The second feature information is the set of coordinates of points on the line connecting at least two feature points on the puncture device. In one embodiment, please refer to... Figure 3 At least two feature points are located on the axis of the puncture device 203 corresponding to the puncture direction. l At least two points on the surface, such that the second feature information can characterize the axis of the puncture device 203 corresponding to the puncture direction. l The location. Furthermore, based on the second feature information, the insertion point of the puncture device 203 on the body 20, and the size information of the puncture device 203, a space surrounding the exposed portion of the puncture device 203 can be constructed to obtain the approach space 206.

[0037] by Figure 3As shown in the example, the approach space 206 is a conical space. This conical space has the line connecting at least two feature points representing the second feature information as its axis and the associated point 2031 of the penetration point as its vertex. The apex angle θ of the conical space is related to the height H. The height H is greater than the height h of the exposed part of the puncture device 203. The apex angle ranges from 20 to 70° or is a fixed value. The height H of the conical space refers to the vertical distance from the vertex to the bottom surface. The apex angle θ and the height H of the conical space can be determined as needed, based on whether they can surround the part of the puncture device 203 exposed on the body 20 and facilitate adjustment. For example, depending on the model of the puncture device 203 used, the height of the part of the puncture device 203 exposed on the body 20 is different, and the height of the approach space 206 varies slightly. When using an extended puncture device, the height of the approach space 206 will increase by 1.5 cm. Generally, the height of the approach space 206 is 8 cm. For example, when the access space 206 is also used to ensure that the end of the surgical arm 201 does not touch and injure the human body, the apex angle θ of the conical space can be appropriately increased to expand the lateral range of the access space 206. In addition, depending on the surgical requirements, the puncture device 203 can be fixed at an angle or horizontally, so the access space 206 can also be tilted at a certain angle relative to the body 20.

[0038] It is worth noting that when the moving arm 201 approaches the puncture device 203, it usually approaches from the top of the puncture device 203. Therefore, the approach space 206 is set as an inverted cone-shaped space. The arm 201 can be accurately detected by limiting the space. It can be understood that the shape of the approach space 206 is not limited to this. For example, it can also be cylindrical, spherical, etc.

[0039] Through the above process, an approach space associated with the current position of the puncture device is constructed, which can improve the efficiency and accuracy of alignment when aligning the arm with the puncture device in the future.

[0040] Step 104: When the drive arm body drives the mechanical arm to move in the first mode, obtain the first feature information that characterizes the current position of the mechanical arm. In the first mode, the surgical robot's control device determines the drive speed based on the force or torque applied to the surgical arm, and controls the drive arm to move accordingly. The force or torque applied to the surgical arm can be obtained by sensing the operator's force through sensors (including force / torque sensors), making the first mode a manual, free-dragging method. Alternatively, the force or torque applied to the surgical arm can be obtained by converting the rotation, displacement, and / or distance of the operator's operating handle, making the first mode a mechanical, free-dragging method.

[0041] Please refer to Figure 3Optionally, the first feature information is the positional information of the line connecting at least two feature points associated with the fixing part 202, which is represented as the set of coordinates of the points on the connecting line. The at least two feature points associated with the fixing part 202 include, for example, at least two of the following: a first feature point 2051 associated with the fixing part 202, a second feature point 2053 associated with the axis of the surgical instrument, and a remote center of motion (RCM) 2052 of the surgical instrument. The first feature point 2051, the second feature point 2053, and the RCM 2052 are on the same straight line. Preferably, after the puncture device 203 is fixed to the fixing part 202, the straight line is aligned with the axis of the puncture device 203. l Overlap. After the puncture device 203 is fixed in the fixing part 202, the remote motion center 2052 and the connection point 2031 of the puncture point of the puncture device 203 coincide. The position of the connection point 2031 cannot be changed, and the puncture device 203 can only change its posture with respect to the connection point 2031.

[0042] At least two feature points associated with the fixed part 202 can be obtained through the kinematic model of the surgical robot or through detection by a positioning device. Specifically, the first feature point 2051 associated with the fixed part 202 is, for example, a feature point on the fixed part 202, and can be detected by the positioning device. The method of using the positioning device is the same as that of detecting feature points on the puncture device 203, and will not be described again. The second feature point 2053 associated with the axis of the surgical instrument is, for example, a feature point located on the axis of the surgical instrument. The positions of the second feature point 2053 associated with the axis of the surgical instrument and the remote motion center 2052 of the surgical instrument relative to the first feature point 2051 are related to the kinematic model of the surgical robot and can be determined according to the kinematic model of the surgical robot. Thus, based on at least two determined first feature information from the first feature point 2051, the second feature point 2053, and the remote motion center 2052, the current position of the holding arm 201 can be characterized. In practice, the first feature information can be the position information of the line connecting the remote motion center 2052 and the first feature point 2051 or the second feature point 2053, so that in step 106 below, it can be detected more promptly whether the distal end of the robotic arm is approaching or entering the approach space.

[0043] Step 106: Determine whether the robotic arm is approaching or entering the approach space based on the first feature information; The first feature information is used to characterize the current position of the holding arm. The proximity space is associated with the current position of the puncture device. Therefore, based on the first feature information, it is determined whether the holding arm is approaching or entering the proximity space, that is, whether the positional relationship between the holding arm and the puncture device meets the specified conditions.

[0044] Optionally, the process of determining whether the robotic arm is approaching or entering the approach space based on the first feature information includes: Obtain the coordinate set of the constituent points of the first feature information, and the coordinate set of the points near the boundary of the space; Based on the coordinate set of the constituent points and the coordinate set of the boundary points, determine whether the minimum distance between the combined points of the first feature information and the boundary points of the near space is within a preset range, or whether the coordinates of at least some of the combined points of the first feature information are within the coordinate interval corresponding to the coordinate set of the boundary points. If the minimum distance between the combination point of the first feature information and the boundary point of the approach space is within a preset range, then it is confirmed that the robotic arm is approaching the approach space; or, if the coordinates of at least a portion of the combination points of the first feature information are within the coordinate interval corresponding to the coordinate set of the boundary points, then it is confirmed that the robotic arm has entered the approach space.

[0045] Please combine Figure 4 This refers to a state in which the robotic arm 201 enters the approach space 206. The constituent points of the first feature information may include the remote motion center 2052, the first feature point 2051, and the second feature point 2053, as well as multiple points along the line connecting any two of the remote motion center 2052, the first feature point 2051, and the second feature point 2053.

[0046] In one embodiment, determining whether the minimum distance between the combination point of the first feature information and the boundary point of the approach space is within a preset range can be done by determining whether the minimum distance between the remote motion center 2052 or the first feature point 2051 and the boundary point of the approach space 206 is within a preset range, so as to determine whether the robotic arm 201 is close to the approach space.

[0047] In one embodiment, determining whether the coordinates of at least a portion of the combination points of the first feature information are within the coordinate interval corresponding to the coordinate set of boundary points can be done by determining whether the number of the component points of the first feature information located within the coordinate interval corresponding to the coordinate set of boundary points is greater than or equal to a preset number, or by determining whether the proportion of the number of the component points of the first feature information located within the coordinate interval corresponding to the coordinate set of boundary points to the total number of component points is greater than or equal to a preset proportion, in order to determine whether the robotic arm 201 has entered the approach space 206.

[0048] It is worth noting that when determining whether the robotic arm is approaching or entering the approach space based on the first feature information, it is necessary to first convert the coordinate set of the constituent points of the first feature information and the coordinate set of the boundary points of the approach space into the same reference coordinate system. For example, the coordinate system containing the coordinate set of the constituent points of the first feature information can be the base coordinate system of the operating device, which, for example, uses the chassis of the operating device as a reference. Furthermore, step 106 may also include: determining the coordinate information of the boundary points of the approach space in the base coordinate system based on the positional relationship between the positioning device and the base coordinate system, to obtain the coordinate set of the boundary points of the approach space.

[0049] Step 108: When the robotic arm approaches or enters the approach space, control the drive arm body to drive the robotic arm to move in the second mode.

[0050] The second mode has at least one of the following characteristics: a lower velocity mapping ratio for the driving force or torque than the first mode; the ability to guide the robotic arm to the target position; and a restriction on the direction of response to the driving force or torque. This allows the robotic arm to have more precise and / or automated movement within a range close to the puncture device, making it easier to approach the puncture device.

[0051] In one embodiment, the second mode has the following characteristic: the speed mapping ratio of the driving force or torque is lower than that of the first mode. Specifically, controlling the drive arm to drive the mechanical arm in the first mode includes: determining the first driving speed corresponding to the first force or torque applied to the mechanical arm according to the first mapping relationship, and controlling the drive arm to drive the mechanical arm according to the first driving speed. Then, when the mechanical arm approaches or enters the approach space, the step of controlling the drive arm to drive the mechanical arm in the second mode includes: When the robotic arm approaches or enters the approach space, the second driving speed corresponding to the second force or torque applied to the robotic arm is determined according to the second mapping relationship, and the driving arm body is controlled to drive the robotic arm to move according to the second driving speed. When the first force or torque is the same as the second force or torque, the second driving speed is less than the first driving speed.

[0052] Taking the ratio of force or torque to driving speed in the first and second mapping relationships as an example, the ratio corresponding to the first mapping relationship is greater than that corresponding to the second mapping relationship. For example, the ratio corresponding to the second mapping relationship may be 10% or 20% of that corresponding to the first mapping relationship, resulting in different driving speeds for the same force / torque in different modes. Thus, by reducing the speed mapping ratio of driving force or torque, the problem of the robotic arm moving too fast and slipping around near the puncture device, making alignment difficult, can be avoided. Furthermore, the position of the robotic arm can be adjusted more precisely, improving alignment accuracy.

[0053] In another embodiment, the second mode has the following feature: it has the function of guiding the robotic arm to a target position. Specifically, controlling the drive arm to drive the robotic arm in the first mode includes: determining the drive speed based on the force or torque applied to the robotic arm, and controlling the drive arm to drive the robotic arm based on the drive speed. Then, when the robotic arm approaches or enters the approach space, the step of controlling the drive arm to drive the robotic arm in the second mode includes: When the robotic arm approaches or enters the approach space, the target position of the robotic arm is obtained, wherein the target position includes at least one position point located within the approach space; The target position is determined by the joint motion of the corresponding joint component in the drive arm. The movement of the joints controls the linkage of the corresponding joint components in the drive arm to achieve the target position.

[0054] The second mode has the function of guiding the robotic arm to the target position. The control device will automatically control the drive arm to drive the robotic arm to the target position. For example, please refer to [reference needed]. Figure 4 The target position of the holding arm 201 can be an axis associated with the puncture device 203. l At least one position, for example, at least the associated point 2031 of the penetration position can be selected, that is, the position close to the vertex of space 206. The mechanical arm 201 is driven to reach the target position, that is, the mechanical arm 201 is driven so that several points on it reach their corresponding target positions. The points on the mechanical arm 201 can be a remote motion center 2052 and / or a first feature point 2051. The remote motion center 2052 corresponds to the position reaching the associated point 2031 of the penetration position, and the first feature point 2051 corresponds to the position reaching the axis. l The position of the associated point 2031 at the insertion location ensures the alignment of the axes of the surgical instrument and the puncture device 203. In practice, when only the associated point 2031 at the insertion location is selected as the target position, after the remote motion center 2052 reaches the associated point 2031 at the insertion location, RCM motion can be used to move either the first feature point 2051 or the second feature point 2053 to the axis of the puncture device 203. l Similarly, this ensures the alignment of the axes between the surgical instruments and the puncture device 203. It should be understood that the points on the surgical arm 201 reaching their respective target positions do not necessarily have to coincide with the target positions; they can also be close to the target positions.

[0055] In another embodiment, the second mode has the following feature: limiting the response direction to the driving force or torque. Specifically, controlling the drive arm to drive the mechanical arm in the first mode includes: determining the driving speed based on the force or torque applied to the mechanical arm, and controlling the drive arm to drive the mechanical arm in the second mode when the mechanical arm approaches or enters the approach space, the step of controlling the drive arm to drive the mechanical arm in the second mode includes: When the robotic arm enters the approach space, obtain the direction of the force or torque applied to the robotic arm; When the direction is toward the top boundary of the space, continue to control the drive arm to drive the mechanical arm to move in the first mode; When the direction is toward the bottom or side boundary of the space, the drive arm body drives the mechanical arm to move in a mode that reduces the drive speed determined based on the first mode to zero according to a preset ratio.

[0056] When the robotic arm moves in the approach space, if its direction of movement is towards the top boundary of the approach space, the robotic arm moves normally and exits the approach space. If its direction is towards the bottom or side boundary of the approach space, the speed of the robotic arm decreases exponentially (according to the distance to the bottom or side boundary) until it reaches zero, to prevent the robotic arm from getting too close to human tissue. In actual implementation, movement direction can be restricted in several degrees of freedom. When the robotic arm reaches the bottom region of the approach space (e.g., 1 cm from the apex of the cone-shaped approach space), it is prevented from moving downwards. In this case, the motor motion parameters output by the algorithm will not be in the bottom direction; for example, if the bottom direction is positive, the motion speed / coupling ratio will not be a positive value.

[0057] It is worth noting that the functions of the three features mentioned above in the second mode can work independently or in combination. For example, the speed mapping ratio of the driving force or torque may be lower than in the first mode, and the response direction to the driving force or torque may be limited; or, the speed mapping ratio of the driving force or torque may be lower than in the first mode, and the function of guiding the holding arm to the target position may be used; or, when operating with the function of a speed mapping ratio of the driving force or torque lower than in the first mode, if the position of the remote motion center at the associated point of the puncture position is confirmed, the function of guiding the holding arm to the target position can be used to trigger RCM movement, moving the first feature point to the axis of the puncture device. l superior.

[0058] In this way, when the surgical arm needs to be driven to the puncture device for fixation, an approach space associated with the current position of the puncture device is constructed. This allows the surgical arm to change its movement pattern as it approaches or enters the approach space, making it easier to access the puncture device and improving operational efficiency and alignment accuracy. After the surgical arm and puncture device are connected, the insertion axis of the surgical arm (the axis of the surgical instrument) coincides with the axis of the puncture device. At this point, instruments detachably connected to the surgical arm (including surgical instruments and imaging instruments) can be inserted into the patient's body through the puncture device.

[0059] Optionally, before the step of controlling the drive arm to drive the movement of the robotic arm in the second mode, the method further includes: Output prompt messages, including prompts indicating that the mode has been switched, prompts indicating that the mode will be switched after a preset time, or prompts indicating whether to switch modes.

[0060] The prompts can be provided through tactile, auditory, and / or visual feedback. Tactile feedback can be achieved by applying torque to the drive motors of the corresponding joint components in the drive arm. Auditory feedback can be provided through voice prompts, and visual feedback can be provided through a prompt interface. The prompts include notifications that the mode has been switched, notifications indicating that the mode will be switched after a preset time, or notifications indicating whether to switch modes. When using the notification indicating that the mode will be switched after a preset time, the mode switch can be cancelled upon receiving a cancellation command within the preset time, thus improving reliability by delaying the switching of the robotic arm's movement mode.

[0061] The surgical robot control method of this application constructs an approach space associated with the current position of the puncture device; when controlling the drive arm to move the surgical arm in a first mode, it acquires first feature information characterizing the current position of the surgical arm; it determines whether the surgical arm is approaching or entering the approach space based on the first feature information; when the surgical arm approaches or enters the approach space, it controls the drive arm to move the surgical arm in a second mode. Thus, by constructing an approach space for the puncture device, the surgical arm can change its movement mode when approaching or entering the approach space, making it easier to approach the puncture device and improving operational efficiency and alignment accuracy.

[0062] Figure 5 This is a schematic diagram illustrating a control method for a surgical robot according to another embodiment. Figure 5 As shown, the surgical robot in this embodiment and Figure 1 The main difference between the surgical robots shown is that they have multiple surgical arms and multiple puncture devices.

[0063] by Figure 5As shown in the example, the surgical robot includes a first holding arm 201' and a second holding arm 301, which are respectively connected to a drive arm body (as shown in the example). Figure 5 At the distal end (not shown), a drive arm is used to drive the movement of the corresponding surgical arm, where "driven" means that the movement of the surgical arm is achieved by the movement of the drive arm. The first surgical arm 201' is provided with a first fixing part 202 for fixing the first puncture device 203', and may also be provided with a first drive part 205 for assembling and disassembling surgical instruments. The second surgical arm 301 is provided with a second fixing part 302 for fixing the second puncture device 303, and may also be provided with a second drive part 305 for assembling and disassembling surgical instruments.

[0064] Multi-port surgical robots typically include multiple, such as four, surgical arms. In some scenarios, it is often necessary to use two or more surgical arms, each connected to a corresponding puncture device and fitted with different surgical instruments. During surgical preparation, several holes for puncture devices are usually made in the patient's body. The puncture devices are then installed into the holes, and the surgical arms are connected to their respective puncture devices. In one embodiment, the joint components of the drive arm can be moved by dragging the drive arm to move the corresponding surgical arm to a position associated with the desired puncture device, thus fixing the puncture device. This article details a technical solution for moving multiple surgical arms to positions associated with their respective puncture devices.

[0065] Figure 6 This is a flowchart illustrating a control method for a surgical robot according to another embodiment. Figure 6 As shown, the control method for the surgical robot in this embodiment includes the following steps: Step 602: Determine at least one puncture device to be fixed, and determine at least one holding arm for fixing the puncture device; In this context, the at least one puncture device to be fixed refers to a puncture device that has been inserted into a body incision but is not connected to a surgical arm, and the at least one surgical arm used to fix the puncture device refers to a surgical arm that is not connected to any puncture device. Both the at least one puncture device to be fixed and the at least one surgical arm used to fix the puncture device are in an idle state and can be used to establish a mapping relationship.

[0066] Optionally, the step of determining at least one puncture device to be secured includes: Images of each puncture device are identified to determine the identification information of at least one unsecured puncture device; and / or, Based on the fixed status of the puncture devices detected by the detection mechanism on each puncture device, the identification information stored in the identification chip of at least one unfixed puncture device is obtained.

[0067] In one embodiment, an imaging device can be used to image the area where the puncture device is located. The shape and identification information of the puncture device can be determined by image recognition. The shape of the puncture device can indicate whether it is connected to the holding arm. Different puncture devices have different identification information, such as numbers, letters, or graphics, which can be obtained in image recognition.

[0068] In another embodiment, the hardware structure of the puncture device can be improved. For example, an identification chip and a detection mechanism can be provided on the puncture device. The identification chip stores the identification information of the puncture device, and the detection mechanism detects whether the puncture device is connected to the surgical arm. The detected signals are different depending on whether the puncture device is connected to the surgical arm. The puncture device can communicate directly or indirectly with the control device in the surgical robot via wired or wireless means to provide the control device with information such as status information and identification information.

[0069] Optionally, determining at least one holding arm for securing the puncture device includes: determining the identification information of the at least one holding arm for securing the puncture device based on the connection status detected by the detection mechanism on each holding arm. For the holding arm, a detection mechanism can be provided on the holding arm to detect whether the puncture device is installed on the holding arm; the detected signals differ depending on whether the puncture device is installed or not. Of course, whether the holding arm is connected to the puncture device can also be determined by identifying the shape and marking information of the holding arm using an imaging device.

[0070] Step 604: Establish a mapping relationship between at least one puncture device to be fixed and at least one holding arm to be used to fix the puncture device; In one embodiment, the mapping relationship can be established through voice control commands triggered by voice recognition. For example, the operator can input voice control commands such as "connect the first robotic arm to the first puncture device" or "move the first robotic arm to the vicinity of the first puncture device" to form the mapping relationship. The mapping relationship is reflected by the mapping between the identification information of the corresponding robotic arms and puncture devices.

[0071] In one embodiment, such as Figure 7 As shown, an operation interface can be generated. The operation interface includes controls for configuring the mapping relationship between the holding arm and the puncture device. On the operation interface, the mapping relationship between the corresponding holding arm and the puncture device can be established through various operation methods. For example, the mapping relationship between the two can be established by drawing a connecting line between the holding arm No. 1 and the puncture device No. 1. For another example, the control representing the holding arm No. 2 and the puncture device No. 2 can be selected respectively to establish the mapping relationship between the two. For yet another example, the control representing the holding arm No. 2 can be dragged to the control representing the puncture device No. 2 to establish the mapping relationship between the two.

[0072] In actual implementation, to prevent misconfiguration of mapping relationships, a delay function can be set. For example, after the operator completes the configuration operation, a countdown reminder can be output on the operation interface. During the countdown reminder period, the operator can cancel the configuration operation at any time, thereby improving the reliability of the configuration mapping relationship.

[0073] Step 606: Drive at least one holding arm to be used to fix the puncture device according to the mapping relationship, so that the holding arm moves to the corresponding puncture device to be fixed.

[0074] The mapping relationship reflects the unique correspondence between the puncture device and the holding arm. After establishing the mapping relationship, the position of the puncture device to be fixed can be obtained, and then the corresponding holding arm can be driven to move to that position to achieve the corresponding connection.

[0075] In practice, operational efficiency and / or alignment accuracy can be improved by constructing proximity spaces that are respectively associated with the current positions of each puncture device to be fixed. For example, using... Figure 8 As shown in the example, a first approach space 206' associated with the first puncture device 203' is constructed, and a second approach space 306 associated with the second puncture device 303 is constructed, wherein the first puncture device 203' has a mapping relationship with the first holding arm 201', and the second puncture device 303 has a mapping relationship with the second holding arm 301.

[0076] In one embodiment, when the driving arm drives the manipulator arm, operation prompts can be provided based on the puncture device associated with the approach space that the manipulator arm approaches or is close to. Specifically, if there is no mapping relationship between the puncture device associated with the approach space and the manipulator arm, a prompt indicating no mapping relationship can be output to prevent incorrect connection by the operator; if there is a mapping relationship between the puncture device associated with the approach space and the manipulator arm, a prompt indicating a mapping relationship can be output, allowing the operator to make timely connections.

[0077] In one embodiment, combined with Figure 1 In the embodiment of the scenario shown, when the drive arm is controlled to move the holding arm in the first mode, the mode of the drive arm driving the holding arm can be switched according to the mapping relationship. Thus, steps 602-604 can be performed before step 102. Furthermore, in step 102, proximity spaces are constructed that are respectively associated with the current positions of each puncture device to be fixed, so as to combine with the mapping relationship to realize the control of the movement mode of the holding arm.

[0078] The process of determining whether the manipulator arm is approaching or entering the approach space based on the first feature information after constructing the proximity space associated with the current position of each puncture device to be fixed may include: Based on the first characteristic information of the currently moving robotic arm, determine whether the robotic arm is approaching or entering a proximity space; If the arm approaches or enters an approach space, determine whether the approach space is associated with a puncture device that has a mapping relationship with the arm. If the approaching or entering space is an approaching space associated with a puncture device that has a mapping relationship with the holding arm, then the step of controlling the drive arm body to drive the holding arm to move in the second mode is executed. If the approaching or entering space is not an approaching space associated with a puncture device that has a mapping relationship with the manipulator arm, the step of controlling the manipulator arm to move in the second mode is not executed.

[0079] The approach space is associated with the current position of the puncture device, and a mapping relationship exists between the puncture device and the manipulator arm. Based on this, when the manipulator arm approaches or enters an approach space that is not associated with the puncture device with which it has a mapping relationship, the step of controlling the manipulator arm to move in the second mode is not executed, thus avoiding incorrect guidance or movement restriction. In actual implementation, when the manipulator arm approaches an approach space that is not associated with the puncture device with which it has a mapping relationship, the speed of the manipulator arm in the direction of movement toward that approach space can be reduced to 0 to prevent the manipulator arm from continuing to approach or enter that approach space. Simultaneously, a prompt message indicating that no mapping relationship exists can be output to avoid operator confusion regarding changes in the manipulator arm's movement.

[0080] The above-mentioned process for determining the proximity space, and whether the robotic arm is close to or near the proximity space, is similar to... Figure 1-4 The embodiments shown are the same and will not be described again here.

[0081] This application also provides a surgical robot, including a drive arm and a holding arm, the drive arm being used to drive the holding arm to move, the holding arm having a fixing part for fixing a puncture device, the puncture device being used to pass through a body incision to provide a channel for surgical instruments; it also includes a control device for performing steps of the control method for implementing any of the above-described surgical robots.

[0082] Figure 9 This is a schematic diagram of the structure of a surgical robot according to one embodiment. Figure 9 As shown, the surgical robot in this embodiment mainly illustrates the part of the operating device, including the robotic arm 10. The robotic arm 10 has multiple degrees of freedom of movement in multiple directions, and the end of the robotic arm 10 is provided with a fixing part for fixing the puncture device (not shown in the figure).

[0083] Optionally, the robotic arm 10 includes a control arm 11, an RCM arm 12, and a holding arm 201. The RCM arm 12 is connected to the control arm 11, and the holding arm 201 is connected to the RCM arm 12. The RCM arm 12 is located between the control arm 11 and the holding arm 201, and a fixing part is disposed on the holding arm 201. At least one of the control arm 11 and the RCM arm 12 may be equivalent to the drive arm body in the above embodiment.

[0084] When the control arm 11 is dragged, the RCM arm 12 and the holding arm 201 move synchronously, and the overall posture of the RCM arm 12 and the holding arm 201 remains unchanged. When the RCM arm 12 and the holding arm 201 are dragged, the posture and position of the control arm 11 remain unchanged. In this embodiment, both the control arm 11 and the RCM arm 12 include multiple movable joints, multiple motors cooperating with each movable joint, and various sensors. The control arm 11 and the RCM arm 12 achieve multiple degrees of freedom of movement in multiple directions through the cooperation of multiple movable joints and motors. For example, the control arm 11 has two movable joints that rotate horizontally, one movable joint that translates horizontally, and one movable joint that extends and retracts vertically; the RCM arm 12 has at least three movable joints that can rotate in any direction. Based on the three-dimensional force data and other information of each part of the robotic arm 10, the target position to be controlled is determined, and the direction, speed, and acceleration of the control motors are output, thereby guiding and dragging the robotic arm 10.

[0085] Optionally, the robotic arm 201 is equipped with a linear motor (not shown), multiple drive motors (e.g., four) for driving surgical instruments, and quick-change plates (not shown) connected to each drive motor. A connecting buckle is attached to the linear motor, and a fixing part is disposed on the connecting buckle. When the puncture device is connected to the human body, and the axis of the fixing part of the robotic arm 10 coincides with the mounting axis of the puncture device, and the fixed point is at a designated position on the axis of the puncture device, the puncture device can be associated with the connecting buckle, and one end of the puncture device can be installed in the fixing part. Then, the surgical instrument is installed on the quick-change plate of the robotic arm 201, and the distal end of the surgical instrument can pass through the puncture device and extend into the human body.

[0086] Optionally, the control arm 11 includes a horizontal arm 111, a vertical arm 112, a first movable joint 113, and a second movable joint 114. The horizontal arm 111 is connected between the first movable joint 113 and the vertical arm 112, and the second movable joint 114 is connected between the vertical arm 112 and the RCM arm 12. The horizontal arm 111 can rotate in the horizontal plane through the first movable joint 113, the vertical arm 112 can move along the length direction of the horizontal arm 111, and the vertical arm 112 can be raised and lowered in the vertical direction. The RCM arm 12 can rotate in the horizontal plane through the second movable joint 114. In this embodiment, the horizontal arm 111 is arranged in the horizontal direction, that is, the length direction of the horizontal arm 111 is parallel to the horizontal direction. The horizontal arm 111 is provided with a motor that drives the vertical arm 112 to move in the horizontal direction. The length direction of the vertical arm 112 is perpendicular to the length direction of the horizontal arm 111. The vertical arm 112 is provided with at least one set of telescopic motor and force sensor. The telescopic motor can drive the vertical arm 112 to telescopically move in the vertical direction, and the force sensor is used to sense the movement direction of the vertical arm 112.

[0087] Optionally, the robot 100 further includes a lifting main arm 14 and a rotary table 15. The rotary table 15 is connected to the lifting main arm 14, and the first movable joint 113 is connected to the rotary table 15. When the vertical arm 112 reaches its lifting limit position, the lifting main arm 14 can move up and down to compensate for the lifting displacement of the vertical arm 112. When the vertical arm 112 reaches its upward limit position, and the force sensor senses that the control arm 11 is moving upward, the lifting main arm 14 is controlled to rise. When the vertical arm 112 reaches its downward limit position, and the force sensor senses that the control arm 11 is moving downward, the lifting main arm 14 is controlled to fall.

[0088] Optionally, the lifting boom 14 includes a vertical lifting section 141 and a rotating section 142. The vertical lifting section 141 can move up and down in a vertical direction, and the rotating section 142 is arranged in a horizontal direction. One end of the rotating section 142 is rotatably connected to the vertical lifting section 141, and the other end of the rotating section 142 is rotatably connected to the rotary table 15. The vertical lifting section 141 is provided with a control panel (not shown in the figure), which is used to control the vertical lifting section 141 to rise or fall and to control the rotating section 142 to rotate around the connection.

[0089] Optionally, the robot 100 also includes a base 30, with one end of the lifting main arm 14 fixed to the base 30. To facilitate the movement of the robot 100, a roller drive system is provided at the bottom of the base 30.

[0090] Optionally, the RCM arm 12 includes a first movable arm 121, a second movable arm 122, and a third movable arm 123 that are rotatably connected in sequence. The first movable arm 121 is connected to the control arm 11, and the holding arm 201 is connected to the third movable arm 123.

[0091] Optionally, the first movable arm 121 and the second movable joint 114, the first movable arm 121 and the second movable arm 122, the second movable arm 122 and the third movable arm 123, and the third movable arm 123 and the holding arm 201 are all rotatably connected by movable joints, and the position is changed by a built-in motor.

[0092] Optionally, there are four robotic arms 10, each of which is independently controlled. Each robotic arm 10 is rotatably connected to the rotary table 15 via a first movable joint 113. The four robotic arms 10 are arranged in a semi-circle around the rotary table 15.

[0093] Figure 10 This is a schematic diagram of the structure of a surgical robot according to another embodiment. Figure 10 As shown, the surgical robot in this embodiment and Figure 9 The surgical robots shown in the embodiments are largely the same, except that the robot 100 in this embodiment contains only one robotic arm 10.

[0094] Specifically, the robotic arm 10 includes a lifting support arm 16, a horizontal upper arm 17, a horizontal lower arm 18, a vertical arm 19, a mounting cylinder 21, and a holding arm 201. The horizontal upper arm 17 is rotatably connected between the lifting support arm 16 and the horizontal lower arm 18. The vertical arm 19 is rotatably connected between the horizontal lower arm 18 and the mounting cylinder 21. One end of the holding arm 201 is connected to the mounting cylinder 21, and the other end of the holding arm 201 is provided with a fixing part for fixing the puncture device.

[0095] The lifting support arm 16, the horizontal upper arm 17, the horizontal lower arm 18, the vertical arm 19, the mounting cylinder 21, and the holding arm 201 can be dragged. For example, the lifting support arm 16, the horizontal upper arm 17, the horizontal lower arm 18, the vertical arm 19, the mounting cylinder 21, and the holding arm 201 can be dragged without changing their overall posture, or the posture and / or position of each part of the robotic arm 10 can change during the dragging process.

[0096] The lifting support arm 16, the horizontal upper arm 17, the horizontal lower arm 18, the vertical arm 19, the mounting cylinder 21, and the holding arm 201 can rotate around the fixed point of the puncture device. In this embodiment, the lifting support arm 16 and the horizontal upper arm 17, the horizontal upper arm 17 and the horizontal lower arm 18, the horizontal lower arm 18 and the vertical arm 19, and the vertical arm 19 and the mounting cylinder 21 all achieve multiple degrees of freedom of movement in multiple directions through movable joints and motors, so as to change the posture and position of the robotic arm 10 as a whole. When receiving three-dimensional force data and other information from various parts of the robotic arm 10, the target position to be controlled can be determined, and the direction, speed, acceleration, etc. of the control motor can be output to guide and drag the robotic arm 10.

[0097] Optionally, the robot 100 also includes a base 30, with one end of the lifting support arm 16 fixed to the base 30. To facilitate the movement of the robot 100, a roller drive system is provided at the bottom of the base 30.

[0098] In one embodiment, the control method of the surgical robot described above is typically configured to be implemented in a control device of the surgical robot, which includes a memory and one or more processors. The memory is used to store computer programs, and the processors are used to load and execute the computer programs to implement the control method as described in any of the above embodiments.

[0099] In one embodiment, a computer-readable storage medium is provided, which stores a computer program configured to be executed by one or more processors to implement the steps of the control method described in any of the above embodiments.

[0100] 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.

[0101] The technical features and combinations of any technical features described in the above embodiments are universal, applicable not only to single-port surgical robots but also to multi-port surgical robots, and neither affecting nor limiting their use in robotic arms with different configurations.

[0102] The embodiments described above are merely illustrative of 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 surgical robot, characterized in that, It includes a drive arm and a holding arm. The drive arm is used to drive the holding arm to move. The holding arm is provided with a fixing part for fixing a puncture device. The puncture device is used to be inserted into a body incision to provide a channel for surgical instruments to pass through. It also includes a control device configured to perform the following control method: Construct a proximity space associated with the current position of the puncture device; When the drive arm body drives the mechanical arm to move in the first mode, first feature information characterizing the current position of the mechanical arm is acquired; Based on the first feature information, determine whether the robotic arm is approaching or entering the approach space; When the holding arm approaches or enters the approach space, the drive arm body is controlled in a second mode to drive the holding arm to move.

2. The surgical robot according to claim 1, characterized in that, The step of constructing a proximity space associated with the current position of the puncture device includes: Obtain second feature information characterizing the current position of the puncture device; A space associated with the second feature information is constructed to obtain the proximity space.

3. The surgical robot according to claim 2, characterized in that, The acquisition of the second feature information characterizing the current position of the puncture device includes: Based on the detection data from the positioning device, the position information of at least two feature points on the puncture device is obtained; Based on the position information of at least two feature points on the puncture device, second feature information characterizing the current position of the puncture device is determined.

4. The surgical robot according to claim 3, characterized in that, The line connecting the at least two feature points coincides with the axis of the puncture device corresponding to the puncture direction; The step of constructing a space associated with the second feature information to obtain the proximity space includes: Based on the second feature information, the insertion point of the puncture device, and the size information of the puncture device, a space surrounding the exposed portion of the puncture device is constructed to obtain the approach space.

5. The surgical robot according to any one of claims 1 to 4, characterized in that, The first feature information is the position information of the line connecting at least two feature points associated with the fixing part. The at least two feature points associated with the fixing part include at least two of the following: a first feature point associated with the fixing part, a second feature point associated with the axis of the surgical instrument, and a remote motion center of the surgical instrument. The first feature point, the second feature point, and the remote motion center are on the same straight line.

6. The surgical robot according to claim 5, characterized in that, The step of determining whether the robotic arm is approaching or entering the approach space based on the first feature information includes: Obtain the coordinate set of the constituent points of the first feature information, and the coordinate set of the boundary points of the near space; Based on the coordinate set of the constituent points and the coordinate set of the boundary points, determine whether the minimum distance between the combined points of the first feature information and the boundary points of the near space is within a preset range, or whether the coordinates of at least a portion of the combined points of the first feature information are within the coordinate interval corresponding to the coordinate set of the boundary points. If the minimum distance between the combination point of the first feature information and the boundary point of the approach space is within a preset range, then it is confirmed that the robotic arm is close to the approach space; or, if the coordinates of at least a portion of the combination points of the first feature information are within the coordinate interval corresponding to the coordinate set of the boundary points, then it is confirmed that the robotic arm has entered the approach space.

7. The surgical robot according to claim 6, characterized in that, The first mode of controlling the drive arm to drive the mechanical arm to move includes: The first driving speed corresponding to the first force or torque applied to the holding arm is determined according to the first mapping relationship, and the driving arm body is controlled to drive the holding arm to move according to the first driving speed. The step of controlling the drive arm to drive the movement of the robotic arm in a second mode when the robotic arm approaches or enters the approach space includes: When the holding arm approaches or enters the approach space, a second driving speed corresponding to the second force or torque applied to the holding arm is determined according to the second mapping relationship, and the driving arm body is controlled to drive the holding arm to move according to the second driving speed, wherein when the first force or torque is the same as the second force or torque, the second driving speed is less than the first driving speed.

8. The surgical robot according to claim 6, characterized in that, The first mode of controlling the drive arm to drive the mechanical arm to move includes: The driving speed is determined based on the force or torque applied to the holding arm, and the driving arm body is controlled to drive the holding arm to move according to the driving speed; The step of controlling the drive arm to drive the movement of the robotic arm in a second mode when the robotic arm approaches or enters the approach space includes: When the robotic arm approaches or enters the approach space, the target position of the robotic arm is obtained, wherein the target position includes at least one position point located within the approach space; The target position is analyzed as the joint motion of the corresponding joint component in the drive arm body; The corresponding joint components in the drive arm are controlled to move in tandem according to the amount of joint motion, so that the mechanical arm reaches the target position.

9. The surgical robot according to claim 1, 7, or 8, characterized in that, The first mode of controlling the drive arm to drive the mechanical arm to move includes: The driving speed is determined based on the force or torque applied to the holding arm, and the driving arm body is controlled to drive the holding arm to move according to the driving speed; The step of controlling the drive arm to drive the movement of the robotic arm in a second mode when the robotic arm approaches or enters the approach space includes: When the robotic arm enters the approach space, the direction of the force or torque applied to the robotic arm is obtained; When the direction is toward the top boundary of the approach space, continue to control the drive arm to drive the mechanical arm to move in the first mode; When the direction is toward the bottom or side boundary of the approach space, the drive arm body is controlled to drive the mechanical arm to move in a mode that reduces the drive speed determined based on the first mode to zero according to a preset ratio.

10. The surgical robot according to claim 9, characterized in that, Before the step of controlling the drive arm to drive the mechanical arm to move in the second mode, the method further includes: Output prompt information, including prompts indicating that the mode has been switched, prompts indicating that the mode will be switched after a preset time, or prompts indicating whether to switch modes.

11. The surgical robot according to claim 1, characterized in that, Prior to the step of constructing a proximity space associated with the current position of the puncture device, the method further includes: Identify at least one puncture device to be secured, and identify at least one holding arm to be used to secure the puncture device; Establish a mapping relationship between the at least one puncture device to be fixed and the at least one holding arm to be used to fix the puncture device.

12. The surgical robot according to claim 11, characterized in that, The step of determining at least one puncture device to be fixed includes: Images of each puncture device are identified to determine the identification information of at least one unsecured puncture device; and / or, Based on the fixed status of the puncture devices detected by the detection mechanism on each puncture device, the identification information stored in the identification chip of at least one unfixed puncture device is obtained.

13. The surgical robot according to claim 11, characterized in that, The construction of the proximity space associated with the current position of the puncture device includes: Construct proximity spaces that are associated with the current positions of each puncture device to be fixed; The step of determining whether the robotic arm is approaching or entering the approach space based on the first feature information includes: Based on the first characteristic information of the currently moving robotic arm, determine whether the robotic arm is approaching or entering a proximity space; If the arm approaches or enters an approach space, it is determined whether the approach space is associated with a puncture device that has a mapping relationship with the arm. If the approaching or entering space is an approaching space associated with a puncture device that has a mapping relationship with the holding arm, then the step of controlling the driving arm body to drive the holding arm to move in the second mode is performed. If the approaching or entering space is not an approaching space associated with a puncture device that has a mapping relationship with the holding arm, then the step of controlling the drive arm body to drive the holding arm to move in the second mode is not performed.

14. A control device for a surgical robot, characterized in that, include: Memory, used to store computer programs; Processor, used to load and execute the computer program; The computer program is loaded and executed by the processor to implement the steps of the control method for the surgical robot as described in any one of claims 1 to 13.

15. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the control method for the surgical robot as described in any one of claims 1 to 13.

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