Computer-readable storage medium and surgical robotic system

Abstract

The application provides a computer readable storage medium, an electronic device and a surgical robot system, and the computer readable storage medium stores a program, when the program is executed, the following steps are performed: acquiring a motion trend of an operating instrument connected to the end of a mechanical arm; and determining whether to apply a compensation moment to the mechanical arm according to the motion trend of the operating instrument, the compensation moment is used to prevent a target axis from deviating from a guide axis, and the target axis is an axis of the operating instrument. When the computer readable storage medium is applied to the surgical robot system, the operating instrument can be pre-corrected when the surgical robot system drives the operating instrument to perform a surgical operation, the operation precision is improved, and the surgical effect is improved.

Description

Technical Field

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

[0002] When using a surgical robot to perform bone reshaping, the end effector of the robotic arm is expected to always align its axis with a predetermined guide axis to ensure the accuracy of the bone reshaping and the safety of the surgery. In practice, since the operator applies force to the robotic arm to drive its movement for bone reshaping, changes in the direction of the force applied by the operator can easily cause the target axis to deviate from the guide axis. In existing technologies, a correction operation typically occurs after the target axis has deviated from the guide axis; that is, after the target axis deviates from the guide axis, the drive mechanism connected to the robotic arm generates a compensating torque and drives the robotic arm to move back to a state where the target axis is aligned with the guide axis. This delayed correction operation cannot eliminate the impact of the already occurred deviation on the accuracy of the bone reshaping. Summary of the Invention

[0003] The purpose of this invention is to provide a computer-readable storage medium and a surgical robot system, which aims to perform pre-compensation on the end effector of a robotic arm to minimize the occurrence of deviation of the target axis from the guide axis.

[0004] To achieve the above objectives, the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed, performs the following steps:

[0005] To acquire the motion trend of the manipulator attached to the end effector of the robotic arm; and,

[0006] Whether to apply a compensating torque to the robotic arm is determined based on the motion trend of the operating instrument. The compensating torque is used to prevent the target axis from deviating from the guide axis, and the target axis is the axis of the operating instrument.

[0007] Optionally, when the movement trend of the operating device is that the target axis moves along the guide axis, it is determined not to apply the compensation torque to the robotic arm; alternatively, when the movement trend of the operating device is that the target axis moves away from the guide axis or the target axis moves closer to the guide axis, it is determined to apply the compensation torque to the robotic arm.

[0008] Optionally, the program also performs the following steps:

[0009] A power mechanism is controlled to apply the compensating torque to the robotic arm.

[0010] Optionally, the step of obtaining the motion trend of the operating device includes:

[0011] Obtain the current torque of each joint of the robotic arm;

[0012] The motion trend of the operating device is obtained based on the current torque of each joint of the robotic arm;

[0013] The step of obtaining the motion trend of the manipulator based on the current torque of each joint of the robotic arm includes:

[0014] The current joint velocity and current joint acceleration of each joint of the robotic arm are obtained based on the current torque of each joint and the dynamic model of the robotic arm.

[0015] The current velocity and current acceleration of the end effector of the robotic arm are obtained based on the current joint velocity and current joint acceleration of each joint of the robotic arm.

[0016] The motion trend of the robotic arm end effector is obtained based on its current velocity and current acceleration; and,

[0017] The motion trend of the operating instrument is obtained based on the motion trend of the end effector of the robotic arm.

[0018] Optionally, the step of obtaining the motion trend of the robotic arm end effector based on its current velocity and current acceleration includes:

[0019] The integral of the current speed of the robotic arm end effector over a predetermined time is obtained as the expected distance that the robotic arm end effector will move over a predetermined time in the future.

[0020] The integral of the current acceleration of the robotic arm end effector over a predetermined time is obtained as the expected speed of the robotic arm end effector moving over a predetermined time in the future.

[0021] The motion trend of the robotic arm end effector is obtained based on the expected distance and the expected speed at the end effector.

[0022] Optionally, the program may also perform the following steps:

[0023] A prompt message is generated to indicate that the target axis has deviated from the guide axis.

[0024] Optionally, the guide axis has a first intersection point with the target object, and the target axis has a second intersection point with the target object;

[0025] The program performs the following steps:

[0026] Obtain the distance between the first intersection point and the second intersection point;

[0027] Determine whether the distance between the first intersection point and the second intersection point is greater than a predetermined value. If so, generate the prompt message.

[0028] Optionally, the robotic arm has different safety states corresponding to different distances between the first intersection point and the second intersection point, and the different safety states correspond to different prompt messages;

[0029] The steps for generating the prompt message include:

[0030] The safety status of the robotic arm is obtained based on the distance between the first intersection point and the second intersection point;

[0031] The corresponding prompt message is generated based on the security status.

[0032] Optionally, the robotic arm has a protection mode in which it remains stationary.

[0033] The safety states include medium safety states and low safety states; when the robotic arm is in the low safety state, the program also performs the following steps: controlling the robotic arm to enter the protection mode.

[0034] Optionally, the guide axis can be characterized using a collimated beam;

[0035] The procedure also performs the following steps:

[0036] The color of the collimated beam is controlled to change so that the prompt information is displayed.

[0037] To achieve the above objectives, the present invention also provides a surgical robot system, comprising:

[0038] robotic arm;

[0039] A torque sensor, mounted on the robotic arm, is used to detect the torque acting on the joints of the robotic arm; and,

[0040] A control unit, communicatively connected to the torque sensor and the robotic arm, is configured to execute a program stored on a computer-readable storage medium as described in any of the preceding claims.

[0041] Optionally, the surgical robot system further includes a beam generator for generating a collimated beam for characterizing the guide axis.

[0042] Compared with the prior art, the computer-readable storage medium and surgical robot system of the present invention have the following advantages:

[0043] The aforementioned computer-readable storage medium stores a program that, when executed, performs the following steps: acquiring the motion trend of a manipulator connected to the end effector of a robotic arm; and determining, based on the motion trend of the manipulator, whether to apply a compensating torque to the robotic arm, the compensating torque being used to prevent the target axis from deviating from the guide axis, the target axis being the axis of the manipulator. In other words, before the target axis deviates from the guide axis, it can be predicted whether the target axis will deviate from the guide axis. If so, a compensating torque can be applied to the robotic arm in advance to intervene in the movement of the robotic arm, thereby preventing the target axis from deviating from the guide axis as much as possible. This achieves pre-emptive correction before deviation occurs, reducing or even avoiding the deviation of the target axis from the guide axis, improving the motion accuracy of the robotic arm, enhancing surgical safety, and improving surgical outcomes.

[0044] Furthermore, the program generates prompts to indicate when the target axis deviates from the guide axis. Even further, a collimated beam is used to represent the guide axis, and the program further uses color changes in the collimated beam to represent different prompts. In other words, when the target axis deviates from the guide axis, the degree of deviation is visually displayed through color changes in the collimated beam, allowing medical staff to promptly understand the deviation and perform targeted follow-up procedures, thereby further improving surgical safety. Attached Figure Description

[0045] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0046] Figure 1 This is a schematic diagram illustrating a usage scenario of the surgical robot system provided by the present invention according to an embodiment;

[0047] Figure 2 This is a schematic diagram illustrating the positioning and orientation of a tool mounted at the end of a robotic arm in a surgical robot system according to an embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram showing the navigation cross-section of the surgical robot system provided by the present invention in application according to an embodiment;

[0049] Figure 4 This is a schematic diagram of a surgical robot system according to an embodiment of the present invention performing bone grinding operations using a bone grinding tool, wherein the target axis and the guide axis are collinear.

[0050] Figure 5 This is a schematic diagram of an application scenario of the surgical robot system provided by the present invention according to an embodiment, in which the target axis deviates from the guide axis;

[0051] Figure 6 This is an overall flowchart of the execution guidance method for a surgical robot system provided by the present invention during pre-correction.

[0052] Figure 7 This is a detailed flowchart of the execution guidance method for a surgical robot system provided by the present invention during pre-correction.

[0053] Figure 8 This is a flowchart illustrating the method for obtaining the motion trend of the operating instrument in the guidance method of the surgical robot system according to an embodiment of the present invention;

[0054] Figure 9 This is a schematic diagram of the surgical robot system provided by the present invention according to an embodiment, in which the movement of the operating instrument causes the target axis to deviate from the guide axis during application. The arrow S in the diagram indicates the direction of movement of the operating instrument.

[0055] Figure 10 This is an overall flowchart of the guidance method for a surgical robot system according to an embodiment of the present invention, which provides a warning when the target axis deviates from the guide axis;

[0056] Figure 11 This is a detailed flowchart of a surgical robot system guidance method according to an embodiment of the present invention, which provides a warning when the target axis deviates from the guide axis;

[0057] Figure 12 This is a schematic diagram of a surgical robot system according to an embodiment of the present invention performing a bone-grinding operation. The diagram mainly shows a beam generating device, and the target axis is deviated from the guide axis.

[0058] Figure 13 This is a schematic diagram of an application scenario of the surgical robot system provided by the present invention according to an embodiment. The figure mainly shows the robotic arm and the beam generating device on it.

[0059] Figure 14 This is a schematic diagram of an application scenario of the surgical robot system provided by the present invention according to an embodiment. In the figure, the target axis and the guide axis are collinear, and a beam generating device is shown in the figure. Detailed Implementation

[0060] 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.

[0061] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0062] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] 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.

[0064] like Figure 1As shown, one objective of this invention is to provide a surgical robot system 10, which is used to independently perform surgical procedures or assist medical personnel in performing surgical procedures. In some alternative implementations, the surgical robot system 10 may be an orthopedic surgical robot system, which can be used to assist in performing orthopedic surgeries, such as hip replacement surgery.

[0065] Please continue to refer to this. Figure 1 The surgical robot system 10 includes a robotic arm assembly 100, a navigation device 200, and a control mechanism (not shown in the figure). The robotic arm assembly 100 includes a base 110 and a robotic arm 120. The robotic arm 120 is mounted on the base 110. The end effector of the robotic arm 120 (hereinafter referred to as the robotic arm end effector) is used to mount a surgical instrument. The surgical instrument is used to perform a predetermined surgical operation. For example, in hip replacement surgery, the surgical instrument could be a grinding tool 20, which performs a bone-grinding operation. The navigation device 200 includes a target 210 and a positioning device 220. The target 210 is installed at a location that needs to be identified, such as on the base 110 of the robotic arm assembly 200, the end effector of the robotic arm 120, or on the patient's target bone. The positioning device 220 is used to identify the target 210 to complete the positioning. The control unit is communicatively connected to the positioning device 220 and the robotic arm 120. The control unit is used to register the robotic arm and bones under the guidance of the navigation device 200, thereby enabling the positioning device 220 to locate the robotic arm 120 and the target bone, such as the hip joint (e.g., Figure 2 (As shown). The positioning device 220 includes, but is not limited to, an optical positioning device, and optional optical positioning devices include, but are not limited to, a binocular vision camera. Those skilled in the art know how to perform robotic arm registration and bone registration, which will not be described in detail here. Furthermore, the surgical robot system 10 also includes a display device 300, such as... Figure 3 As shown, the display device 300 is used to display desired image information such as the robotic arm end effector and the operating instruments and target bones on it, so that doctors can observe them.

[0066] As previously mentioned, when performing hip replacement surgery using the surgical robot system 10, the operating instrument can be a grinding tool 20. For ease of understanding, the grinding tool 20 will be used in place of the operating instrument in the following description.

[0067] During the surgery, the robotic arm 120 needs to be controlled to move along the desired path to drive the grinding tool 20 to perform bone grinding on the acetabulum 1. When the robotic arm 120 moves along the desired path, such as... Figure 4As shown, the axis of the grinding tool 20 is always collinear with a predetermined guide axis 30. For simplicity, the axis of the grinding tool 20 will be referred to as the target axis 21 below. The guide axis 30 intersects the acetabulum 1 at only one point, which is called the first intersection point. This first intersection point is the center of the acetabulum 1, that is, the guide axis 30 passes through the center of the acetabulum 30. The spatial position of the guide axis 30 can be determined by any suitable method, such as by visual inspection by medical personnel. In this paper, both the target axis 21 and the guide axis 30 are considered to be straight lines of infinite length.

[0068] Before the robotic arm 120 moves, medical personnel position it so that the target axis 21 is collinear with the guide axis 30. Then, driving force is provided to the robotic arm 120 in any suitable manner to move it and drive the workpiece 20 to perform the grinding operation. In one possible implementation, the driving force is provided manually by the medical personnel.

[0069] In practice, various reasons, such as uneven driving force, often cause the target axis 21 to deviate from the guide axis 30 during the movement of the robotic arm 120 (e.g. Figure 5 (As shown). In view of this, the control unit is also configured to perform a guidance method to guide the robotic arm 120 to move along the desired path as much as possible, so that the target axis 21 and the guide axis 30 remain collinear, thereby reducing the motion error of the robotic arm 120 and improving the bone grinding accuracy.

[0070] like Figure 6 and Figure 7 As shown, the guiding method includes at least the following steps S100 and S200. Step S100 includes acquiring the motion trend of the grinding tool 20. Step S200 includes determining whether to apply a compensating torque to the robotic arm 120 based on the motion trend of the grinding tool 20. The compensating torque is used to prevent the target axis 21 from deviating from the guiding axis 30.

[0071] The guidance method begins execution as soon as the robotic arm 120 starts moving. Therefore, at the initial stage of the guidance method's execution, the target axis 21 and the guide axis 30 are collinear. When the guidance method is executed with the target axis 21 and the guide axis 30 collinear, it is possible to predict in advance whether the target axis 21 will deviate from the guide axis 30 during subsequent movements, thereby determining whether a compensating torque needs to be applied to the robotic arm 120 in advance for pre-correction. Once it is determined that a compensating torque needs to be applied to the robotic arm 120 in advance, any suitable method can be used to apply the compensating torque to prevent the target axis 21 from deviating from the guide axis 30. The execution of this guidance method helps to reduce or even completely avoid the occurrence of the target axis 21 deviating from the guide axis 30, improves the bone-grinding accuracy of the grinding tool 20 during surgery, and improves the surgical outcome.

[0072] The positional relationship between the grinding tool 20 and the end effector of the robotic arm is fixed; therefore, the relationship between the movement trend of the grinding tool 20 and the movement trend of the end effector of the robotic arm remains constant. Thus, in step S100, the control unit can obtain the movement trend of the grinding tool 20 by acquiring the movement trend of the end effector of the robotic arm.

[0073] Please refer to Figure 8 In one exemplary embodiment, step S100 may include steps S110 and S120. Step S110 includes acquiring the current torque of each joint of the robotic arm 120. Step S120 includes acquiring the motion trend of the robotic arm end effector based on the current torque of each joint of the robotic arm 120, and thereby acquiring the motion trend of the grinding tool 20.

[0074] Optionally, the surgical robot system 10 includes a torque sensor (not shown in the figure), which is mounted on the robotic arm 120. The torque sensor can detect the current torque of each joint of the robotic arm 120. The control unit is preferably communicatively connected to the torque sensor, allowing the control unit to acquire the current torque of each joint via network transmission. It can be understood that the current torque of each joint is the force experienced by the corresponding joint at the current detection moment.

[0075] Step S120 includes steps S121 to S124. Step S121 includes obtaining the forces acting on the robotic arm 120 based on the current torques of each joint of the robotic arm 120 and the dynamic model of the robotic arm 120, and then obtaining the joint velocities and joint accelerations of each joint of the robotic arm 120. The relationship between the forces acting on the robotic arm 120 and the current torques of each joint of the robotic arm 120 conforms to equation (1): τ = J T F, in equation (1), τ represents the current torque of the corresponding joint, J T Let F represent the Jacobian matrix and F represent the force acting on the robotic arm 120. Those skilled in the art know how to calculate the force acting on the robotic arm 120 and the current joint velocity and current joint acceleration of each joint of the robotic arm 120 based on the dynamic model of the robotic arm 120 and Equation (1), which will not be elaborated here.

[0076] Step S122 includes obtaining the current velocity and current acceleration of the robotic arm end effector based on the current joint velocities and current joint accelerations of each joint of the robotic arm 120. In this step, the current joint velocity can be mapped to the robotic arm end effector to obtain the current velocity of the robotic arm end effector, and the current joint acceleration can be mapped to the robotic arm end effector to obtain the current acceleration of the robotic arm end effector, based on the Jacobian matrix transpose, robotic arm friction, and the gravity-based torque balance model. The robotic arm friction is calculated based on the gravity-based torque balance model, which is as follows: J represents the moment of inertia of the joints of robotic arm 120, and B represents the drag coefficient. This represents the jerk of the robotic arm's joints. Let G(θ) represent the frictional force of the robotic arm, and G(θ) represent the weight of the robotic arm 120. The formula used for mapping is: and F = mV c θ 0 This indicates the current speed of the robotic arm's end effector. This represents the current joint velocity of robotic arm 120, where m represents the mass of the robotic arm, and V represents the mass of the robotic arm. c This indicates the current acceleration at the end of the robotic arm.

[0077] Step S123 includes obtaining the motion trend of the robotic arm end effector based on its current velocity and current acceleration. In a non-limiting embodiment, the specific process of obtaining the motion trend of the robotic arm end effector includes: obtaining the integral of the current velocity of the robotic arm end effector over a predetermined time as the expected distance the robotic arm end effector will travel within a predetermined time in the future, and obtaining the integral of the current acceleration of the robotic arm end effector over a predetermined time as the expected velocity of the robotic arm end effector during the predetermined time in the future; then, obtaining the motion trend of the robotic arm end effector based on the expected distance and expected velocity. It can be understood that if the robotic arm end effector moves according to the motion trend, then the distance the robotic arm end effector will travel within the predetermined time in the future is the aforementioned expected distance, and the velocity of the robotic arm end effector during the predetermined time in the future is the aforementioned expected velocity. Thus, the motion trend of the robotic arm end effector can be obtained by reverse calculation. It should be understood that all velocities mentioned herein are vectors.

[0078] Step S124 includes obtaining the motion trend of the grinding tool 20 based on the motion trend of the robotic arm end effector and the relative positional relationship between the robotic arm end effector and the grinding tool 20. For example, when the grinding tool 20 and the robotic arm end effector are arranged coaxially, the motion trend of the grinding tool 20 is consistent with the motion trend of the robotic arm end effector.

[0079] When the target axis 21 and the guide axis 30 are collinear, the movement trend of the grinding tool 20 includes two cases. The first case is that as the grinding tool 20 moves, the target axis 21 moves along the guide axis 30 to maintain collinearity. The second case is that as the grinding tool 20 moves, the target axis 21 moves in a direction deviating from the guide axis 30, such as... Figure 9 As shown.

[0080] like Figure 7As shown, step S200 specifically includes the following steps: When the motion trend is the first case, the control unit determines not to apply the compensation torque to the robotic arm 120. In this case, the robotic arm 120 will drive the grinding tool 20 to move according to the motion trend, keeping the target axis 21 collinear with the guide axis 30. When the motion trend is the second case, the control unit determines to apply the compensation torque to the robotic arm 120. Under the intervention of the compensation torque, the robotic arm 120 drives the grinding tool 20 to move, causing the grinding tool 20 to move outside the motion trend and keeping the target axis 21 collinear with the guide axis 30. This reduces the possibility of the target axis 21 deviating from the guide axis 30.

[0081] Furthermore, when the target axis 21 deviates from the guide axis 30, the movement trend of the grinding tool 20 also includes a third scenario: as the surgical procedure progresses, the target axis 21 moves in a direction closer to the guide axis 30. When the movement trend is the third scenario, if the robotic arm 120 drives the grinding tool 20 to move according to the movement trend, the target axis 21 can return to a state of being collinear with the guide axis 30. However, the control unit can also determine to apply a compensating torque to the robotic arm 120. By using the compensating torque, the movement of the robotic arm 120 can be accelerated, shortening the time required for the target axis 21 to return to a state of being collinear with the guide axis 30, reducing bone grinding errors, and improving surgical outcomes.

[0082] In further improvements, such as Figure 6 and Figure 7 As shown, when the motion trend is the second or third case, the guidance method further includes step S300: controlling a power mechanism (not shown in the figure) connected to the robotic arm 120 to apply a compensating torque to the robotic arm 120.

[0083] It is understandable that when the motion trend is the second case, the direction of the compensating torque is opposite to the direction of the force currently acting on the robotic arm 120, and the magnitude of the compensating torque is determined based on the current speed and acceleration of the grinding tool 20. Specifically, when the current speed and acceleration of the grinding tool 20 are large, if the grinding tool 20 moves according to the motion trend, the distance it will move within a predetermined time in the future will also be relatively large. This actually indicates that the target axis 21 will deviate from the guide axis 30 to a large extent in a short period of time. Therefore, the compensating torque applied to the robotic arm 120 is correspondingly large at this time to effectively prevent the grinding tool 20 from moving according to the motion trend and to prevent the target axis 21 from deviating from the guide axis. Conversely, if the current speed and acceleration of the grinding tool 20 are small, the resistive torque is also correspondingly small. When the motion trend is the third case, the direction of the compensating torque is the same as the direction of the force currently acting on the robotic arm 120.

[0084] Furthermore, to facilitate medical staff in quickly and promptly understanding whether the target axis 21 deviates from the guide axis 30, such as... Figure 10 and Figure 11 As shown, the guidance method further includes step S400: generating a prompt message to indicate that the target axis 21 deviates from the guide axis 30. The prompt message can be displayed by sound, light, or any other suitable means.

[0085] As previously mentioned, the guide axis 30 intersects the acetabulum 1 at a first point. Those skilled in the art will understand that during the surgical procedure, even if the target axis 21 deviates from the guide axis 30, the target axis 21 will still intersect the acetabulum 1 at a point referred to as the second intersection. In this embodiment, it is preferable to determine whether the target axis 21 deviates from the guide axis 30 by the distance between the second intersection and the first intersection. That is, if the distance between the second intersection and the first intersection is zero, the target axis 21 is collinear with the guide axis 30; if the distance between the second intersection and the first intersection is greater than zero, the target axis 21 deviates from the guide axis 30.

[0086] In this embodiment, reference continues to be made to Figure 11 The guidance method further includes steps S500 and S600. Step S500 includes obtaining the distance between the first intersection point and the second intersection point. Step S600 includes determining whether the distance between the first intersection point and the second intersection point is greater than a predetermined value. If so, step S400 is executed.

[0087] It is understood that the distance between the second intersection point and the first intersection point can also characterize the degree to which the target axis 21 deviates from the guide axis 30. In other words, the degree to which the target axis 21 deviates from the guide axis 30 varies depending on the different distances between the second and first intersection points. In a non-limiting embodiment, the robotic arm 120 has multiple different safety states depending on the degree to which the target axis 21 deviates from the guide axis 30. Specifically, when the distance between the second and first intersection points is zero, the robotic arm 120 is in an absolutely safe state; when the distance between the second and first intersection points is greater than zero but less than or equal to a first threshold, the robotic arm 120 is in a high-safety state; when the distance between the second and first intersection points is greater than the first threshold but less than or equal to a second threshold, the robotic arm 120 is in a medium-safety state; and when the distance between the second and first intersection points is greater than the second threshold, the robotic arm 120 is in a low-safety state. The first and second thresholds are set according to actual needs, for example, the first threshold is 5 mm and the second threshold is 10 mm.

[0088] In some cases, medical staff prefer to perform bone-grinding procedures under conditions of absolute safety. Therefore, a preset value of zero can be set, meaning the control unit will immediately issue a warning message if the target axis 21 deviates from the guide axis 30. In other cases, performing bone-grinding procedures under high-safety conditions is also acceptable. In this case, a preset value of a first threshold can be set. That is, the control unit will only issue a warning message when the distance between the target axis 21 and the guide axis 30, from the second intersection point to the first intersection point, exceeds the first threshold.

[0089] Optionally, different safety states correspond to different prompt messages. Accordingly, step S400 includes steps S410 and S420. Step S410 includes obtaining the safety state of the robotic arm 120 based on the distance between the first intersection point and the second intersection point. Step S420 includes generating corresponding prompt messages based on the safety state of the robotic arm 120.

[0090] For example, such as Figure 11 As shown, if the predetermined value is zero, then when the robotic arm 120 is in a high-safety state, the control unit generates a first type of prompt message; when the robotic arm 120 is in a medium-safety state, the control unit generates a second type of prompt message; and when the robotic arm 120 is in a low-safety state, the control unit generates a third type of prompt message. If the predetermined value is a first threshold, when the robotic arm 120 is in a high-safety state, the control unit does not generate a prompt message. When the robotic arm 120 is in a medium-safety state, the control unit generates the first type of prompt message. When the robotic arm 120 is in a low-safety state, the control unit generates the second type of prompt message (not shown in the figure).

[0091] Optionally, the guide axis 30 is superimposed on the real-world scene so that medical staff can visually see the guide axis 30. In a preferred embodiment, such as Figures 12 to 14 The surgical robot system also includes a beam generator 300, which generates a collimated beam. By propagating the collimated beam along the guide axis 30, the guide axis 30 can be characterized using the collimated beam, thus achieving the purpose of superimposing the guide axis 30 onto the real-world scene.

[0092] Preferably, the collimated beam is configured to have multiple selectable colors. The prompting information can be displayed through changes in the color of the collimated beam. In other words, in this embodiment, the state of the robotic arm 120 is displayed through changes in the color of the collimated beam. Specifically, when the robotic arm 120 is in an absolutely safe state, the collimated beam displays the first color. If the predetermined value is zero, then when the robotic arm 120 is in a high-safety state, the collimated beam changes and displays the second color; when the robotic arm 120 is in a medium-safety state, the collimated beam changes and displays the third color; and when the robotic arm 120 is in a low-safety state, the collimated beam changes and displays the fourth color. If the predetermined value is a first threshold, then when the robotic arm 120 is in a high-safety state, the control unit does not generate a prompting information, that is, the color of the collimated beam remains unchanged and is still displayed as the first color. When the robotic arm 120 is in a medium-safety state, the collimated beam changes and displays the second color. When the robotic arm 120 is in a low-safety state, the collimated beam changes and displays the third color. In response, the guidance method further includes step S700: controlling the color of the collimated beam to change so that the prompt information is displayed.

[0093] Furthermore, the robotic arm 120 has a protection mode. When the robotic arm 120 is in protection mode, it is locked and remains stationary. Medical personnel need to correct the position of the robotic arm 120 to ensure that the target axis 21 is coaxial with the guide axis 30 before the bone-grinding operation can be performed again. Thus, the guidance method also includes step S800: controlling the robotic arm 120 to enter protection mode. This setting further improves the safety of the surgery. Additionally, if the robotic arm 120 is in a moderately safe state when a predetermined value is a first threshold, medical personnel need to consider whether to continue the bone-grinding operation.

[0094] As described above, the surgical robot system provided in this embodiment of the invention, by configuring the control unit, enables the control unit to execute the aforementioned guidance method. This allows the system to predict whether the target axis will deviate from the guide axis before it does, and then determine whether a compensating torque needs to be applied to the robotic arm in advance to intervene in its movement. This aims to prevent the target axis from deviating from the guide axis as much as possible, achieving pre-emptive correction before deviation occurs. This reduces or even completely avoids situations where the target axis deviates from the guide axis, improving the movement accuracy of the robotic arm, enhancing surgical safety, and improving surgical outcomes. By using a collimated beam to characterize the guide axis, the degree of deviation is visually displayed through color changes in the collimated beam when the target axis deviates from the guide axis. This helps medical personnel to understand the deviation status in a timely manner and perform targeted next steps, further improving surgical safety.

[0095] Furthermore, it should be noted that this guidance method is a method executed according to preset control logic. Its essence is autonomous category selection for the surgery, not target object identification. Understandably, since target object identification is not required, these operations can still be performed even if the target object is a human tissue model, organ model, bone model, or other object. Therefore, the surgery here does not specifically refer to surgical procedures performed on a patient, but merely a set of operational steps executed according to preset control logic. This can be used in applications such as simulation training (where the target object is various models or other objects, such as a hip socket model).

[0096] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a program, which, when executed, performs the boot method as described above.

[0097] 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 claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A computer-readable storage medium for use in a surgical robotic system, the computer-readable storage medium having stored thereon a program, the program comprising: When the program is executed, the following steps are performed: acquiring a movement trend of an operating instrument connected to the end of the robot arm during movement of the robot arm; and judging whether the target axis will deviate from the guide axis according to the movement trend of the operating instrument, and further judging whether to apply a compensation moment to the robot arm, the compensation moment being used to prevent the target axis from deviating from the guide axis during movement of the robot arm, the target axis being an axis of the operating instrument; the step of acquiring the movement trend of the operating instrument comprises: acquiring current moments of the joints of the robot arm; acquiring current joint speeds and current joint accelerations of the joints of the robot arm according to the current moments of the joints of the robot arm and a robot arm dynamics model; acquiring current speed and current acceleration of the end of the robot arm according to the current joint speeds and the current joint accelerations of the joints of the robot arm; acquiring the movement trend of the end of the robot arm according to the current speed and the current acceleration of the end of the robot arm; and acquiring the movement trend of the operating instrument according to the movement trend of the end of the robot arm.

2. The computer-readable storage medium of claim 1, wherein, When the movement trend of the operating instrument is that the target axis moves along the guide axis, it is determined not to apply the compensation moment to the robot arm; when the movement trend of the operating instrument is that the target axis moves in a direction away from the guide axis or the target axis moves in a direction close to the guide axis, it is determined to apply the compensation moment to the robot arm.

3. The computer-readable storage medium of claim 2, wherein, The program further performs the following steps: controlling a power mechanism to apply the compensation moment to the robot arm.

4. The computer-readable storage medium of claim 1, wherein, The step of acquiring the movement trend of the end of the robot arm according to the current speed and the current acceleration of the end of the robot arm comprises: acquiring an integral of the current speed of the end of the robot arm with respect to a predetermined time as an expected distance of the end of the robot arm in a predetermined time in the future; acquiring an integral of the current acceleration of the end of the robot arm with respect to a predetermined time as an expected speed of the end of the robot arm in a predetermined time in the future; acquiring the movement trend of the end of the robot arm according to the expected distance and the expected speed of the end of the robot arm.

5. The computer-readable storage medium of claim 1, wherein, The program further performs the following steps: generating prompt information to prompt that the target axis deviates from the guide axis.

6. The computer-readable storage medium of claim 5, wherein, The guide axis has a first intersection point with a target object, and the target axis has a second intersection point with the target object; The program performs the following steps: acquiring a distance between the first intersection point and the second intersection point; judging whether the distance between the first intersection point and the second intersection point is greater than a predetermined value, and if so, generating the prompt information.

7. The computer-readable storage medium of claim 6, wherein, Corresponding to different distances between the first intersection point and the second intersection point, the robot arm has different safety states, and different safety states correspond to different prompt information; The step of generating prompt information comprises: acquiring a safety state of the robot arm according to the distance between the first intersection point and the second intersection point; generating corresponding prompt information according to the safety state.

8. The computer-readable storage medium of claim 7, wherein, The robot arm has a protection mode, when the robot arm is in the protection mode, the robot arm keeps still; The safety state includes a medium safety state and a low safety state; when the robot arm is in the low safety state, the program further performs the following step: controlling the robot arm to enter a protection mode.

9. The computer-readable storage medium of any of claims 5 to 7, wherein, The guide axis is characterized by a collimated light beam; The program further performs the following steps: The color of the collimated light beam is changed so that the prompt information is displayed.

10. A surgical robotic system, characterized by, Comprise: A robot arm; A torque sensor arranged on the robot arm and configured to detect a torque acting on a joint of the robot arm; And A control unit in communication with the torque sensor and the robot arm, the control unit being configured to execute a program stored on the computer readable storage medium of any one of claims 1-9.

11. The surgical robotic system of claim 10, wherein, The surgical robot system further comprises a light beam generating device for generating a collimated light beam for characterizing the guide axis.

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