Surgical instrument unlocking methods and devices, medical electronic devices and storage media

Abstract

This invention provides a surgical instrument unlocking method, apparatus, surgical robot, and storage medium. The method includes: when the surgical robot is operating in master-slave mode and the joints of the slave surgical instrument are locked, determining the desired position of the slave surgical instrument based on the master hand pose of the surgical robot; if preset instrument unlocking conditions are met, performing pose planning on the slave surgical instrument based on the desired and actual positions of the instruments; and restoring control of the joints once the pose planning is complete. This invention's technical solution restores control of the slave surgical instrument's joints by performing pose planning on the locked surgical instrument using the desired and actual positions, thereby achieving secure unlocking of the joints, reducing unlocking difficulty, and improving unlocking efficiency.

Description

Technical Field

[0001] This invention relates to the field of medical robots, and more particularly to a surgical instrument unlocking method, device, medical electronic device, and storage medium. Background Technology

[0002] Each slave surgical arm of the split-type surgical robot has a movable base, so it can move according to the control commands of the master control console. When the slave surgical instrument commands exceed the preset joint soft limit, the slave surgical instrument will trigger a protection lock, affecting the normal operation of the surgery, and the slave surgical instrument needs to be unlocked.

[0003] When unlocking surgical instruments, related technologies often require disconnecting the connection between the master control console and the slave surgical arm before adjusting the slave surgical instrument. This makes it impossible to quickly unlock the locked slave surgical instrument, compromising the security of the unlocking process. Disconnecting the master and slave ends is necessary, and the unlocking process takes a considerable amount of time, significantly impacting the efficiency and safety of the surgery. Summary of the Invention

[0004] This invention provides a surgical instrument unlocking method, device, surgical robot, and storage medium to optimize the unlocking method of instrument joints in a surgical arm.

[0005] In a first aspect, embodiments of the present invention provide a method for unlocking surgical instruments, comprising:

[0006] When the surgical robot is operating in master-slave mode and the joint of the slave surgical instrument of the surgical robot is locked, the desired position of the slave surgical instrument is determined based on the master hand position of the surgical robot.

[0007] Under the condition that the preset instrument unlocking conditions are met, the position planning of the slave surgical instrument is performed based on the desired position and actual position of the slave surgical instrument.

[0008] Once the pose planning of the secondary surgical instrument has been completed, control over the instrument joints of the secondary surgical instrument is restored.

[0009] Secondly, embodiments of the present invention also provide a surgical instrument unlocking device, comprising:

[0010] The master hand motion detection module is used to determine the desired pose of the slave surgical instrument based on the master hand pose of the surgical robot when the surgical robot is working in master-slave mode and the joint of the slave surgical instrument of the surgical robot is locked.

[0011] The pose planning module is used to plan the pose of the slave surgical instrument based on the desired pose and actual pose of the slave surgical instrument, provided that the preset instrument unlocking conditions are met.

[0012] The instrument joint control module is used to restore control of the instrument joints of the secondary surgical instrument after the pose planning of the secondary surgical instrument has been completed.

[0013] Thirdly, embodiments of the present invention also provide a medical electronic device, the medical electronic device comprising:

[0014] One or more processors;

[0015] Storage device for storing one or more programs.

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical instrument unlocking method as described in any embodiment of the present invention.

[0017] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, characterized in that the computer-executable instructions, when executed by a computer processor, are used to perform the surgical instrument unlocking method as described in any embodiment of the present invention.

[0018] The technical solution of this invention, when the surgical robot is operating in master-slave mode and the joints of the slave surgical instrument are locked, determines the desired position of the slave surgical instrument based on the master hand's position, thereby obtaining the intention to unlock the joints of the slave surgical instrument through the master hand's position. When preset instrument unlocking conditions are met, pose planning is performed on the slave surgical instrument based on its desired and actual positions. The locked joints of the slave surgical instrument are unlocked through pose planning, achieving secure unlocking of the slave surgical instrument's joints, simplifying the unlocking steps, and further improving unlocking efficiency. Once the pose planning of the slave surgical instrument is complete, control over the joints of the slave surgical instrument is restored. This invention solves the technical problem that related technologies cannot directly and quickly unlock the joints of locked slave surgical instruments. Based on the desired and actual positions of the slave surgical instruments, pose planning is performed. When the pose planning is completed, the joints of the slave surgical instruments are unlocked, thus achieving safe unlocking of the surgical instruments, reducing the difficulty of unlocking and improving the efficiency of unlocking. Attached Figure Description

[0019] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 This is a flowchart illustrating a surgical instrument unlocking method provided in an embodiment of the present invention;

[0021] Figure 2 This is a schematic flowchart of another surgical instrument unlocking method provided in an embodiment of the present invention;

[0022] Figure 3 This is a flowchart illustrating an example of a surgical instrument unlocking method disclosed in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of a surgical instrument unlocking device provided in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of a surgical robot provided in an embodiment of the present invention. Detailed Implementation

[0025] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0026] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0027] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0028] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0029] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0030] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0031] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0032] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to autonomously choose whether to provide personal information to the software or hardware, such as the medical electronic device, application, server, or storage medium executing the operation of this invention, based on the prompt message.

[0033] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose whether to "agree" or "disagree" to provide personal information to the medical electronic device.

[0034] It is understood that the above notification and user authorization process is merely illustrative and does not constitute a limitation on the implementation of the present invention. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present invention.

[0035] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0036] Figure 1This is a flowchart illustrating a surgical instrument unlocking method provided in an embodiment of the present invention. The present invention is applicable to situations where the instrument joint of a secondary surgical instrument is locked, and the secondary surgical instrument is unlocked. The method can be executed by a surgical instrument unlocking device, which can be implemented in software and / or hardware, and optionally, by a medical electronic device.

[0037] like Figure 1 As shown, the method includes:

[0038] S110. When the surgical robot is operating in master-slave mode and the slave surgical instrument of the surgical robot has been locked, determine the desired instrument pose of the slave surgical instrument based on the master hand pose of the master hand of the surgical robot.

[0039] The slave surgical instrument can be the surgical instruments and joints of the surgical instrument equipped on the surgical robot used to perform surgery. It should be noted that the slave surgical instrument can be controlled by the master hand of the surgical robot. The master hand pose can be the actual operating pose of the master hand of the surgical robot. The desired instrument pose can be the instrument command pose corresponding to the master hand pose of the surgical robot, that is, the pose that the surgical instrument is expected to reach.

[0040] Optionally, during surgery performed by the master-slave surgical robot, the user manipulates the slave surgical instruments via the master hand, and the slave instruments perform the surgery according to the manipulation commands from the master hand. If the slave surgical instrument commands issued by the master hand exceed the joint limits of the slave surgical instruments, the slave surgical instruments cannot execute the commands. Therefore, for operational safety, all slave surgical instruments can be locked when they exceed the joint limits. To facilitate instrument removal and ensure surgical safety, when all slave surgical instruments are locked, the user can choose to lock or not lock the instrument positions, and the instrument grippers can continue to be controlled by the master hand to open and close. In other words, when the slave surgical instruments are unlocked, the user can set whether the instrument position is movable. If it is set that the instrument position is immovable when the slave surgical instruments are unlocked, no instrument position planning is performed, only posture planning. After the slave surgical instruments are unlocked, the user can regain control over the instrument position.

[0041] In this embodiment of the invention, after the joint of the slave surgical instrument is locked, the angle command of the slave surgical instrument corresponding to the pose of the master hand of the surgical robot can still be calculated in real time to determine the desired pose of the slave surgical instrument.

[0042] Specifically, when the surgical robot is working in master-slave mode, if the instruction pose corresponding to the slave surgical instrument command issued by the surgical robot exceeds the instrument pose corresponding to the joint limit, the slave surgical instrument will be locked. In the case of the slave surgical instrument of the surgical robot, the master hand pose of the surgical robot is still obtained to determine the desired instrument pose of the slave surgical instrument.

[0043] S120. Under the condition that the preset instrument unlocking conditions are met, the position planning of the slave surgical instrument is performed based on the desired position and actual position of the slave surgical instrument.

[0044] The instrument unlocking conditions can be pre-set conditions that allow pose planning for the slave surgical instrument. It should be noted that when the slave surgical instrument is locked, it is necessary to determine whether the slave surgical instrument meets the pre-set instrument unlocking conditions.

[0045] Optionally, the device unlocking conditions include at least one of the following conditions:

[0046] The angles of each joint of the slave surgical arm of the surgical robot are within a preset angle limit;

[0047] The posture deviation between the master hand and the slave surgical instrument is within a preset deviation range;

[0048] The positional deviation between the master hand and the slave surgical instrument is within a preset positional deviation range;

[0049] The target operating parameters of the surgical robot's slave surgical arm are within a preset parameter range. The target operating parameters include parameters that describe the relationship between the instrument's end-effector velocity and joint velocity in Cartesian space.

[0050] The preset angle limit can be a pre-set angle limit used to determine whether the angles of each joint of the slave surgical arm meet the instrument unlocking conditions. Optionally, the angles of each joint of the slave surgical arm are acquired, and it is determined whether the angles of each joint of the slave surgical arm are within the preset angle limit of the surgical instrument, i.e., in an unlocked state. If so, the arm joints of the slave surgical instrument are considered to meet the instrument unlocking conditions. Each joint of the slave surgical arm includes at least one of arm joints and instrument joints.

[0051] If the arm joint triggers a protective lock during the unlocking process of the surgical instrument joint, the unlocking of the instrument joint is terminated, and the processing logic after the arm joint triggers a protective lock is executed.

[0052] The preset posture deviation range can be a pre-set range for judging the posture deviation between the slave surgical instrument and the master hand of the surgical robot, used to determine whether the posture deviation between the slave surgical instrument and the master hand of the surgical robot meets the instrument unlocking conditions. Optionally, the surgical robot acquires the posture of the slave surgical instrument and the posture of the master hand of the surgical robot, determines the posture deviation between the two, and judges whether the posture deviation between the two is within the preset posture deviation range. If the posture deviation between the two is within the preset posture deviation range, it is considered that the posture deviation between the slave surgical instrument and the master hand meets the instrument unlocking conditions.

[0053] The preset position deviation range can be a pre-set range for judging the positional deviation between the slave surgical instrument and the master hand of the surgical robot, used to determine whether the positional deviation between the slave surgical instrument and the master hand of the surgical robot meets the instrument unlocking conditions. Optionally, the surgical robot acquires the position of the slave surgical instrument and the position of the master hand of the surgical robot, determines the positional deviation between the two, and judges whether the positional deviation between the two is within the preset position deviation range. If the positional deviation between the two is within the preset position deviation range, it is considered that the positional deviation between the slave surgical instrument and the master hand meets the instrument unlocking conditions.

[0054] The preset parameter value range can be a pre-set parameter used to determine whether the target working parameters of the slave surgical arm meet the instrument unlocking conditions. The target working parameters include parameters describing the relationship between the instrument's end effector velocity and joint velocity in Cartesian space. It should be noted that the parameters describing the relationship between the instrument's end effector velocity and joint velocity in Cartesian space can include at least one of the following: the operability of the Jacobian matrix, the condition number, and the minimum singularity value. The Jacobian matrix is ​​used to represent the mapping relationship between the surgical robot's operating space and joint space. For example, the condition number can be calculated by using the inverse kinematics result obtained from the inverse kinematics of the slave surgical instrument's command pose as input. The Jacobian matrix condition number can represent the singularity of the desired motion pose.

[0055] Optionally, the target working parameters of the slave surgical arm are obtained, and it is determined whether the value of the target working parameters of the slave surgical arm is within the preset parameter value range. If the value of the target working parameters of the slave surgical arm is within the preset parameter value range, it is considered that the target working parameters of the slave surgical arm of the surgical robot meet the preset instrument unlocking conditions.

[0056] The actual instrument pose can be the current pose of the slave surgical instrument. Pose planning can be used to plan the pose of the locked slave surgical instrument, so as to restore control of the instrument joints of the slave surgical instrument based on the pose planning results.

[0057] Specifically, it can be determined whether the surgical instrument and the surgical arm meet the preset instrument unlocking conditions. If the surgical instrument and the surgical arm meet the preset instrument unlocking conditions, the desired position and actual position of the surgical instrument are obtained. Position planning is performed based on the desired position and actual position of the surgical instrument to ensure the safety of operation when unlocking the joints of the surgical instrument.

[0058] After the instrument unlocking conditions are met, when planning the pose of the slave surgical instrument based on its desired and actual poses, two methods are used: independent position and attitude planning, and hybrid position and attitude planning. Independent position planning plans the desired and actual positions of the instrument to obtain a position command that satisfies joint motion performance limitations. Independent attitude planning plans the desired and actual attitudes of the instrument to obtain an attitude command that satisfies joint motion performance limitations. Hybrid position and attitude planning plans the desired and actual poses of the instrument to obtain an attitude command that satisfies joint motion performance limitations.

[0059] Optionally, in another optional embodiment of the present invention, the pose planning of the slave surgical instrument based on the desired and actual poses of the instrument includes at least one of the following operations:

[0060] The instrument position command corresponding to the slave surgical instrument is determined based on the desired instrument position and the actual instrument position of the slave surgical instrument.

[0061] The instrument posture command corresponding to the slave surgical instrument is determined based on the desired instrument posture and the actual instrument posture of the slave surgical instrument.

[0062] The instrument pose command corresponding to the slave surgical instrument is determined based on the desired instrument pose and the actual instrument pose of the slave surgical instrument.

[0063] The desired instrument position can be the position of the slave surgical instrument corresponding to the position of the master hand of the surgical robot. Optionally, the desired instrument position and the actual instrument position of the slave surgical instrument are obtained, and the corresponding instrument position command of the slave surgical instrument is determined based on the desired instrument position and the actual instrument position of the slave surgical instrument.

[0064] The desired posture of the instrument can be the posture of the slave surgical instrument corresponding to the posture of the master hand of the surgical robot. Optionally, the desired posture and actual posture of the slave surgical instrument are obtained, and the corresponding instrument posture command of the slave surgical instrument is determined based on the desired posture and actual posture.

[0065] Optionally, the desired and actual positions of the surgical instruments at the slave end are obtained, and the corresponding instrument position command for the surgical instruments at the slave end is determined based on the desired and actual positions of the instruments.

[0066] S130. With the pose planning of the secondary surgical instrument completed, control over the instrument joints of the secondary surgical instrument is restored.

[0067] Specifically, the position planning of the surgical instruments at the end is performed, and once the position planning of the surgical instruments at the end is completed, control of the joints of the surgical instruments at the end is restored.

[0068] Optionally, in another optional embodiment of the present invention, the method further includes: determining the desired joint angle corresponding to the desired position of the instrument and the actual joint angle corresponding to the actual position of the instrument; if the difference between the desired joint angle and the actual joint angle does not exceed a preset joint angle difference threshold, then it is determined that the position planning of the surgical instrument at the end has been completed.

[0069] The desired joint angle can be the joint angle corresponding to the master hand pose of the slave surgical instrument and the master hand of the surgical robot, or the desired joint angle corresponding to the desired pose of the slave surgical instrument. The actual joint angle can be the joint angle corresponding to the actual pose of the slave surgical instrument. The preset joint angle difference threshold can be a pre-set angle difference used to determine the pose planning of the slave surgical instrument.

[0070] Specifically, the desired pose of the slave surgical instrument is obtained based on the master hand pose of the surgical robot. The desired joint angles of the slave surgical instrument are determined based on the desired pose of the slave surgical instrument. The actual pose of the slave surgical instrument is obtained, and the actual joint angles are obtained based on the actual pose of the instrument. The difference between the desired joint angle and the actual joint angle is calculated, and it is determined whether the difference exceeds a preset joint angle threshold. If the difference between the joint angle and the actual joint angle does not exceed the preset joint angle threshold, the pose planning of the slave surgical instrument is considered to be completed. If the difference between the joint angle and the actual joint angle exceeds the preset joint angle threshold, the pose planning of the slave surgical instrument continues.

[0071] When performing pose planning for a surgical instrument at the end of the device, pose planning termination conditions can be preset for reasons of method safety and ease of use. When the pose planning termination condition is triggered, the pose planning of the surgical instrument at the end of the device is terminated, and the joints of the surgical instrument at the end of the device are relocked.

[0072] Optionally, in another optional embodiment of the present invention, the method further includes: during the pose planning process of the slave surgical instrument, if a preset pose planning termination condition is detected, the pose planning of the slave surgical instrument is stopped.

[0073] The pose planning termination condition can be a pre-set condition for terminating pose planning, i.e., a condition for not performing pose planning.

[0074] Specifically, during pose planning, a preset termination condition for the pose planning of the slave surgical instrument is set. When the pose planning of the slave surgical instrument reaches the termination condition, the pose planning of the slave surgical instrument is stopped. The advantage of this is that effective planning can be performed while the slave surgical instrument is being pose planned, avoiding unnecessary planning that wastes computational resources.

[0075] Optionally, the pose planning termination condition includes at least one of the following conditions:

[0076] The device joint command corresponding to the pose planning of the surgical instrument exceeds the device pose corresponding to the preset joint limit, wherein the device joint command includes at least one of device position command, device posture command and device pose command.

[0077] The deviation between the posture of the master hand and the posture of the slave surgical instrument exceeds a preset posture deviation threshold.

[0078] The deviation between the position of the master hand and the position of the slave surgical instrument exceeds a preset position deviation threshold.

[0079] The number of iterations for pose planning is greater than the preset number of iterations;

[0080] The time spent on pose planning exceeds the preset time threshold;

[0081] The operating mode of the surgical robot is switched from master-slave mode to other modes;

[0082] The joints of the surgical robot trigger the instrument joint locking of the slave surgical instrument.

[0083] The preset joint limit can be a pre-set joint limit of the slave surgical instrument. The instrument joint command can be an instrument joint command obtained by posing the slave surgical instrument. The command pose can be the pose of the slave surgical instrument determined based on the instrument joint command. The instrument pose corresponding to the preset joint limit can be the pose of the slave surgical instrument determined based on the preset joint limit.

[0084] It should be noted that the position and / or orientation of the surgical instrument at the distal end includes its location and / or posture, which is related to the range of motion of its joints. For example, the range of motion of the joints may include the range of change in the joint angle and / or the range of movement distance of the joint in a preset direction. Therefore, preset joint limits may be joint angle limits and / or movement distance limits, etc.

[0085] Among these, the instrument position command can be a position command obtained by position planning of the surgical instrument at the slave end. The instrument posture command can be a posture command obtained by posture planning of the surgical instrument at the slave end. The instrument pose command can be a pose command obtained by pose planning of the surgical instrument at the slave end.

[0086] Optionally, the device joint commands obtained by performing pose planning on the surgical instrument at the end are acquired, the corresponding command pose obtained by the surgical instrument at the end according to the device joint commands is determined, and it is determined whether the command pose exceeds the preset joint limit. If the command pose of the surgical instrument at the end exceeds the preset joint limit, it is considered that the pose planning of the surgical instrument at the end has reached the pose planning termination condition.

[0087] The preset posture deviation threshold can be a pre-set threshold for judging the posture deviation of the slave surgical instrument, which can be used to determine whether the pose planning of the slave surgical instrument has reached the pose planning termination condition. Optionally, the posture of the master hand of the surgical robot and the posture of the slave surgical instrument are acquired. During the posture change of the master hand, the posture deviation between the posture of the master hand and the posture of the slave surgical instrument is calculated in real time, and it is determined whether the posture deviation between the master hand of the surgical robot and the slave surgical instrument exceeds the preset posture deviation threshold. If the posture deviation between the master hand of the surgical robot and the slave surgical instrument exceeds the preset posture deviation threshold, it is considered that the pose planning of the slave surgical instrument has reached the pose planning termination condition.

[0088] The preset position deviation threshold can be a pre-set threshold for judging the position deviation of the slave surgical instrument, which can be used to determine whether the pose planning of the slave surgical instrument has reached the pose planning termination condition. Optionally, the positions of the master hand of the surgical robot and the slave surgical instrument are obtained. During the change of the master hand position, the position deviation between the position of the master hand and the position of the slave surgical instrument is calculated in real time, and it is determined whether the position deviation between the master hand and the slave surgical instrument exceeds the preset position deviation threshold. If the position deviation between the master hand and the slave surgical instrument exceeds the preset position deviation threshold, it is considered that the pose planning of the slave surgical instrument has reached the pose planning termination condition.

[0089] The iteration count can be the number of pose planning operations performed on the slave surgical instrument. It's important to note that the number of pose planning operations must be determined each time the slave surgical instrument is used for pose planning, and this number is used as the iteration count. This prevents indefinite pose planning, which could affect unlocking efficiency and pose safety risks during surgery. Optionally, the iteration count of the slave surgical instrument's pose planning can be obtained, and it can be determined whether the iteration count is greater than a preset iteration count. If the iteration count is greater than the preset iteration count, the pose planning of the slave surgical instrument is considered to have reached the pose planning termination condition.

[0090] The preset time threshold can be a pre-set time limit for pose planning of the slave surgical instrument, used to determine whether the pose planning time of the slave surgical instrument has reached the pose planning termination condition. Optionally, when the pose planning of the slave surgical instrument begins, the master hand of the surgical robot records the pose planning time. If the pose planning time exceeds the preset time threshold, it is considered that the pose planning of the slave surgical instrument has reached the pose planning termination condition.

[0091] The remaining modes can be any mode other than the master-slave mode of the surgical robot. Optionally, when the operating mode of the surgical robot is detected to have switched from the master-slave mode to another mode, it is considered that the pose planning of the slave surgical instrument has reached the pose planning termination condition. In other words, the unlocking of the joints of the slave surgical instrument is performed in the master-slave mode. If the unlocking process of the joints of the slave surgical instrument deviates from the master-slave mode, the locked state of the joints of the slave surgical instrument is restored, and the relevant control logic of the locked joints of the slave surgical instrument in the specific mode is executed.

[0092] The joints of the surgical robot can be the joints of the slave surgical instruments or joints other than those of the slave surgical instruments. Optionally, when a joint of the surgical robot triggers the locking of the slave surgical instrument's joint, the pose planning of the slave surgical instrument is considered to have reached the pose planning termination condition.

[0093] The technical solution of this invention, when a surgical robot is operating in master-slave mode and the joints of the slave surgical instrument are locked, determines the desired position of the slave surgical instrument based on the master hand pose of the surgical robot. Even when the slave surgical instrument is locked, the desired position is still obtained through the master hand pose, enabling rapid unlocking and improving unlocking efficiency. When preset instrument unlocking conditions are met, pose planning is performed on the slave surgical instrument based on its desired and actual positions. This pose planning unlocks the locked joints of the slave surgical instrument, achieving safe unlocking, simplifying the unlocking process, and further improving unlocking efficiency. Once the pose planning of the slave surgical instrument is complete, control over its joints is restored. This invention solves the technical problem that related technologies cannot directly and quickly unlock the protected and locked surgical instruments. Based on the expected and actual positions of the instruments, pose planning is performed. When the pose planning is completed, the instrument joints of the instruments are unlocked, thus achieving safe unlocking of the instrument joints, reducing the difficulty of unlocking, and improving the safety and efficiency of unlocking.

[0094] Figure 2 This is a schematic flowchart illustrating another surgical instrument unlocking method provided in an embodiment of the present invention. The technical solution of this embodiment further refines the pose planning of the surgical instrument at the slave end, based on the above embodiments. Detailed implementation methods can be found in the description of this embodiment. Technical features that are the same as or similar to those in the foregoing embodiments will not be repeated here.

[0095] like Figure 2 As shown, the method in this embodiment may specifically include:

[0096] S210. When the surgical robot is operating in master-slave mode and the joint of the slave surgical instrument of the surgical robot is locked, determine the desired position of the slave surgical instrument based on the master hand position of the surgical robot.

[0097] S220. Under the condition of meeting the preset instrument unlocking conditions, obtain the motion information of the main hand of the surgical robot, and determine whether the main hand has a motion intention based on the motion information.

[0098] The motion information can be information about the master hand of the surgical robot. Motion intent is used to indicate whether the master hand of the surgical robot has a genuine tendency to move. For example, the motion information may include position change information and / or posture change information. It should be noted that the position and / or posture of the master hand of the surgical robot are detected, and when the detected change in the position and / or posture of the master hand exceeds a preset range, it is determined that the master hand of the surgical robot has a motion intent.

[0099] Specifically, under preset instrument unlocking conditions, the motion information of the master hand at the main end of the surgical robot is acquired, and the presence of any intention to move is determined based on this motion information. Specifically, the amplitude of the master hand's movement can be detected in real time to determine its intention.

[0100] S230. If the motion intention exists, then the position planning of the surgical instrument is performed based on the desired position and actual position of the instrument.

[0101] Specifically, when the master hand of the surgical robot has a movement intention, the slave surgical instrument's pose is planned based on the desired and actual poses of the slave surgical instrument. If no movement intention is detected in the master hand, the pose planning for the slave surgical instrument in the current cycle is stopped, and the process is repeated in the next cycle. This ensures that the pose planning of the slave surgical instrument is under the control of the master hand operator.

[0102] S240. With the pose planning of the secondary surgical instrument completed, control over the instrument joints of the secondary surgical instrument is restored.

[0103] Optionally, based on any of the optional technical solutions of this invention, when the instrument joint of the slave surgical instrument triggers a protective lock, a lock prompt message indicating that the instrument joint of the slave surgical instrument is locked can be generated and displayed, and / or an unlock prompt message guiding the slave surgical instrument to unlock. Specifically, after the instrument joint of the slave surgical instrument triggers a protective lock, a prompt can be given at the master end and / or slave end in the form of sound, indicator lights, and operation instruction animations to ensure that the device user is aware that the instrument has triggered a protective lock and to provide the device user with an unlocking instruction. A human-computer interaction method is provided when the instrument joint of the slave surgical instrument triggers a protective lock, so that the device user is aware of whether the device has triggered a protective lock. Operation guidance is provided through human-computer interaction, reducing the difficulty of unlocking.

[0104] For example, Figure 3 This is a flowchart illustrating an example of a surgical instrument unlocking method disclosed in an embodiment of the present invention. Figure 3 As shown:

[0105] S310. Determine whether the arm joint of the slave surgical arm containing the slave surgical instrument is locked. If yes, end the unlocking process of the instrument joint of the slave surgical instrument; if no, execute S320.

[0106] S320: If the joint of the surgical instrument at the slave end is locked, determine whether the surgical instrument at the slave end meets the instrument unlocking conditions. If yes, execute S330; otherwise, repeat S320.

[0107] S330, Perform pose planning for the surgical instruments at the distal end. Execute S340.

[0108] S340. Check if the pose planning has reached the preset pose planning termination condition. If yes, return to execute S320; otherwise, execute S350.

[0109] S350: Check if the surgical instrument at the slave end meets the conditions for instrument unlocking completion. If yes, proceed to S370; otherwise, continue to S330.

[0110] S360, Restore control of the instrument joints of the surgical instruments at the distal end.

[0111] The technical solution of this invention provides an unlocking method based on the movement of the master hand when the instrument joint of a surgical instrument is triggered into protective locking. This method can unlock the instrument joint without interrupting the master and slave operations, and can be achieved by visually adjusting the posture of the master end. Furthermore, it provides a series of safety and accuracy judgment conditions for triggering instrument unlocking, covering aspects such as joint angle limitations, the singularity of the Jacobian matrix, and posture deviations, ensuring safe and reliable unlocking.

[0112] Furthermore, a series of safety and accuracy judgment conditions for terminating posture planning are given, covering aspects such as joint angle limitations, posture deviation, number of iterations, mode switching, and re-triggered protective stop, ensuring the safety and reliability of the posture planning process. It also takes into account the handling method when the arm joint triggers protective locking, improves the unlocking process of the instrument joints of the slave surgical instrument, and ensures the unlocking efficiency and unlocking safety of the instrument joints of the slave surgical instrument.

[0113] Figure 4 This is a schematic diagram of the structure of a surgical instrument unlocking device provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes: a main hand motion detection module 410, a posture planning module 420, and an instrument joint control module 430.

[0114] The master hand motion detection module 410 is used to determine the desired pose of the slave surgical instrument based on the master hand pose of the master hand of the surgical robot when the surgical robot is working in master-slave mode and the joint of the slave surgical instrument of the surgical robot has been locked.

[0115] The pose planning module 420 is used to perform pose planning for the slave surgical instrument based on the desired pose and actual pose of the slave surgical instrument when the preset instrument unlocking conditions are met.

[0116] Instrument joint control module 430 is used to restore control of the instrument joints of the secondary surgical instrument after the pose planning of the secondary surgical instrument has been completed.

[0117] The technical solution of this invention, when the surgical robot is operating in master-slave mode and the joints of the slave surgical instrument are locked, determines the desired position of the slave surgical instrument based on the master hand's position, thereby obtaining the intention to unlock the joints of the slave surgical instrument through the master hand's position. When preset instrument unlocking conditions are met, pose planning is performed on the slave surgical instrument based on its desired and actual positions. The locked joints of the slave surgical instrument are unlocked through pose planning, achieving secure unlocking of the slave surgical instrument's joints, simplifying the unlocking steps, and further improving unlocking efficiency. Once the pose planning of the slave surgical instrument is complete, control over the joints of the slave surgical instrument is restored. This invention solves the technical problem that related technologies cannot directly and quickly unlock the joints of locked slave surgical instruments. Based on the desired and actual positions of the slave surgical instruments, pose planning is performed. When the pose planning is completed, the joints of the slave surgical instruments are unlocked, thus achieving safe unlocking of the surgical instruments, reducing the difficulty of unlocking and improving the efficiency of unlocking.

[0118] Optionally, the surgical instrument unlocking device further includes: an instrument position detection module and an instrument position judgment module.

[0119] The device pose detection module is used to determine the desired joint angle corresponding to the desired pose of the device, and the actual joint angle corresponding to the actual pose of the device.

[0120] The instrument pose determination module is used to determine that the pose planning of the surgical instrument at the end has been completed if the difference between the expected joint angle and the actual joint angle does not exceed a preset joint angle difference threshold.

[0121] Optionally, the pose planning module is specifically used for:

[0122] Acquire motion information of the main hand of the surgical robot, and determine whether the main hand has a motion intention based on the motion information;

[0123] If the stated motion intention exists, then the surgical instrument is pose planned based on its desired pose and actual pose.

[0124] Optionally, the pose planning module is further used for:

[0125] The device unlocking conditions include at least one of the following conditions:

[0126] The posture deviation between the master hand and the slave surgical instrument is within a preset posture deviation range;

[0127] The positional deviation between the master hand and the slave surgical instrument is within a preset positional deviation range;

[0128] The posture deviation between the master hand and the slave surgical instrument is within a preset deviation range;

[0129] The target operating parameters of the surgical robot's slave surgical arm are within a preset parameter range. The target operating parameters include parameters that describe the relationship between the instrument's end-effector velocity and joint velocity in Cartesian space.

[0130] Optionally, the surgical instrument unlocking device may further include a pose planning and stopping module.

[0131] The pose planning stop module is used to stop the pose planning of the slave surgical instrument if a preset pose planning termination condition is detected during the pose planning process.

[0132] Optionally, the pose planning stopping module is specifically used for:

[0133] The pose planning termination condition includes at least one of the following conditions:

[0134] The device joint command corresponding to the pose planning of the surgical instrument exceeds the device pose corresponding to the preset joint limit, wherein the device joint command includes at least one of device position command, device posture command and device pose command.

[0135] The deviation between the posture of the master hand and the posture of the slave surgical instrument exceeds a preset deviation threshold.

[0136] The deviation between the position of the master hand and the position of the slave surgical instrument exceeds a preset position deviation threshold.

[0137] The number of iterations for pose planning is greater than the preset number of iterations;

[0138] The time spent on pose planning exceeds the preset time threshold;

[0139] The operating mode of the surgical robot is switched from master-slave mode to other modes;

[0140] The joints of the surgical robot trigger the instrument joint locking of the slave surgical instrument.

[0141] Optionally, the pose planning module is further used for:

[0142] The pose planning of the surgical instrument based on the desired and actual poses of the surgical instrument at the slave end includes at least one of the following operations:

[0143] The instrument position command corresponding to the slave surgical instrument is determined based on the desired instrument position and the actual instrument position of the slave surgical instrument.

[0144] The instrument posture command corresponding to the slave surgical instrument is determined based on the desired instrument posture and the actual instrument posture of the slave surgical instrument.

[0145] The instrument pose command corresponding to the slave surgical instrument is determined based on the desired instrument pose and the actual instrument pose of the slave surgical instrument.

[0146] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0147] Figure 5 A schematic diagram of a medical electronic device 10, which can be used to implement embodiments of the present invention, is shown. The medical electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The medical electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention as described and / or conditions herein.

[0148] like Figure 5As shown, the medical electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the medical electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0149] Multiple components in the medical electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the medical electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0150] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a surgical instrument unlocking method for medical electronic devices.

[0151] In some embodiments, the surgical instrument unlocking method for a medical electronic device may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the medical electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the surgical instrument unlocking method for a medical electronic device described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the surgical instrument unlocking method for a medical electronic device by any other suitable means (e.g., by means of firmware).

[0152] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0153] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0154] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0155] To provide interaction with a user, the systems and techniques described herein can be implemented on a medical electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the medical electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0156] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0157] A computing system can include client-side and server-side components. Client-side and server-side components are generally geographically separated and typically interact via communication networks. The client-server relationship is established by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosting and VPS services, such as high management difficulty and weak business scalability.

[0158] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0159] This embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements the surgical instrument unlocking method steps provided in any embodiment of the present invention. The method includes:

[0160] When the surgical robot is operating in master-slave mode and the joint of the slave surgical instrument of the surgical robot is locked, the desired position of the slave surgical instrument is determined based on the master hand position of the surgical robot.

[0161] Under the condition that the preset instrument unlocking conditions are met, the position planning of the slave surgical instrument is performed based on the desired position and actual position of the slave surgical instrument.

[0162] Once the pose planning of the secondary surgical instrument has been completed, control over the instrument joints of the secondary surgical instrument is restored.

[0163] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0164] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0165] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0166] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0167] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0168] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0169] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made depending on design conditions and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A surgical instrument unlocking method, characterized by, The method comprises the following steps: In a case where a surgical robot works in a master-slave mode and a joint of a slave-end surgical instrument of the surgical robot has been locked, determining an instrument expected pose of the slave-end surgical instrument based on a master hand pose of a master hand of the surgical robot; In a case where a preset instrument unlocking condition is met, performing pose planning on the slave-end surgical instrument based on the instrument expected pose and an instrument actual pose of the slave-end surgical instrument; In a case where the pose planning on the slave-end surgical instrument has been completed, resuming the control on the joint of the slave-end surgical instrument.

2. The surgical instrument unlock method of claim 1, wherein, Further comprising: Determining an expected joint angle corresponding to the instrument expected pose and an actual joint angle corresponding to the instrument actual pose; If a difference between the expected joint angle and the actual joint angle does not exceed a preset joint angle difference threshold, determining that the pose planning on the slave-end surgical instrument has been completed.

3. The surgical instrument unlock method of claim 1, wherein, The pose planning on the slave-end surgical instrument based on the instrument expected pose and the instrument actual pose comprises: Obtaining motion information of the master hand of the surgical robot, and determining whether there is a motion intention of the master hand based on the motion information; If there is the motion intention, performing the pose planning on the slave-end surgical instrument based on the instrument expected pose and the instrument actual pose of the slave-end surgical instrument.

4. The surgical instrument unlock method of claim 1, wherein, The instrument unlocking condition comprises at least one of the following conditions: The angles of the joints of the slave-end surgical arm of the surgical robot are within preset angle limits; The attitude deviation between the master hand and the slave-end surgical instrument is within a preset attitude deviation range; The position deviation between the master hand and the slave-end surgical instrument is within a preset position deviation range; The value of a target working parameter of the slave-end surgical arm of the surgical robot is within a preset parameter value range, wherein the target working parameter comprises a parameter for describing the relationship between the velocity of the instrument end and the joint velocity in the Cartesian space.

5. The surgical instrument unlock method of claim 1, wherein, Further comprising: In the process of performing the pose planning on the slave-end surgical instrument, if it is detected that a preset pose planning termination condition is reached, stopping the pose planning on the slave-end surgical instrument.

6. The surgical instrument unlock method of claim 5, wherein, The pose planning termination condition comprises at least one of the following conditions: The instruction pose corresponding to the instrument joint instruction obtained by the pose planning on the slave-end surgical instrument exceeds the instrument pose corresponding to the preset joint limit, wherein the instrument joint instruction comprises at least one of an instrument position instruction, an instrument attitude instruction and an instrument pose instruction; The deviation between the attitude of the master hand and the attitude of the slave-end surgical instrument exceeds a preset attitude deviation threshold; The deviation between the position of the master hand and the position of the slave-end surgical instrument exceeds a preset position deviation threshold; The iteration number of the pose planning is greater than a preset iteration number; The time cost of the pose planning is greater than a preset time threshold; The working mode of the surgical robot is switched from the master-slave mode to a remaining mode; The joint of the surgical robot triggers the locking of the joint of the slave-end surgical instrument.

7. The surgical instrument unlock method of claim 1, wherein, The pose planning on the slave-end surgical instrument based on the instrument expected pose and the instrument actual pose comprises at least one of the following operations: determine the instrument position instruction corresponding to the slave surgical instrument based on the instrument expected position and the instrument actual position of the slave surgical instrument; determine the instrument attitude instruction corresponding to the slave surgical instrument based on the instrument expected attitude and the instrument actual attitude of the slave surgical instrument; determine the instrument pose instruction corresponding to the slave surgical instrument based on the instrument expected pose and the instrument actual pose of the slave surgical instrument.

8. A surgical instrument unlocking device, characterized by, comprise: a master motion detection module configured to, when the surgical robot works in a master-slave mode and instrument joints of a slave surgical instrument of the surgical robot have been locked, determine an instrument expected pose of the slave surgical instrument based on a master pose of a master of the surgical robot; a pose planning module configured to, when a preset instrument unlocking condition is met, plan a pose of the slave surgical instrument based on the instrument expected pose and an instrument actual pose of the slave surgical instrument; an instrument joint control module configured to, when the pose planning of the slave surgical instrument is completed, restore control over the instrument joints of the slave surgical instrument.

9. A surgical robot, characterized by The surgical robot comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the surgical instrument unlocking method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to execute the surgical instrument unlocking method in any one of claims 1-7 when executed by the processor.

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