Surgical robot and control method, device and medium of slave surgical arm thereof

Abstract

The present invention discloses a control method, device and medium for a surgical robot and its slave surgical arm. Its features include: when at least one arm joint of the slave surgical arm of the surgical robot is locked, obtaining the master hand motion information of the master end of the surgical robot, and determining the command posture of the slave surgical arm based on the master hand motion information; determining the preset unlocking logic corresponding to the locked arm joint, unlocking the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic; and when the arm joint has been unlocked, restoring the control of the unlocked arm joint. The technical solution of the embodiment of the present invention unlocks the slave surgical arm joint based on the master hand motion information and the preset unlocking logic, thereby simplifying the difficulty of unlocking the slave surgical arm joint and improving the unlocking safety of the slave surgical arm joint.

Description

Technical Field

[0001] The present invention relates to the field of medical robots, and in particular to a control method, device and medium for a surgical robot and a slave surgical arm thereof. Background Art

[0002] Each slave surgical arm of the split surgical robot has a movable base, so it can move according to the control instructions of the master console. When the movement of the slave surgical arm exceeds the preset limit, the slave surgical arm will trigger the protection lock, affecting the normal operation, and the slave surgical arm needs to be unlocked. When unlocking with the existing technology, it is often necessary to disconnect the connection between the master console and the slave surgical arm, move the slave surgical arm, and thus contact the protection lock.

[0003] The related art method for unlocking the slave surgical arm cannot directly and quickly unlock the protectively locked slave surgical arm, and the connection between the master and slave ends needs to be disconnected. Moreover, the unlocking takes a long time, which greatly affects the efficiency and safety of the operation. Summary of the invention

[0004] The present invention provides a control method, device and medium for a surgical robot and a slave surgical arm thereof, so as to optimize the unlocking mode of the slave surgical arm.

[0005] According to one aspect of the present invention, a method for controlling a surgical arm of a surgical robot slave end is provided, comprising:

[0006] When at least one arm joint of a surgical arm of a slave end of the surgical robot is locked, obtaining master hand motion information of a master end of the surgical robot, and determining a command posture of the surgical arm of the slave end based on the master hand motion information;

[0007] Determine a preset unlocking logic corresponding to the locked arm joint, and unlock the arm joint based on a kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic;

[0008] In the case where the arm joint is unlocked, the control of the unlocked arm joint is restored.

[0009] According to another aspect of the present invention, there is provided a control device for a surgical arm of a surgical robot slave end, comprising:

[0010] A master hand motion analysis module, used to obtain the master hand motion information of the master end of the surgical robot when at least one arm joint of the slave end surgical arm of the surgical robot is locked, and determine the command posture of the slave end surgical arm based on the master hand motion information;

[0011] An arm joint unlocking module, used to determine a preset unlocking logic corresponding to the locked arm joint, and unlock the arm joint based on a kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic;

[0012] The arm joint control module is used to restore the control of the unlocked arm joint when the arm joint is unlocked.

[0013] According to another aspect of the present invention, a surgical robot is provided, the surgical robot comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the surgical robot's slave-end surgical arm as described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for controlling a surgical robot slave-end surgical arm as described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention is to obtain the master hand motion information of the master end of the surgical robot when at least one arm joint of the slave end surgical arm of the surgical robot is locked, and determine the command posture of the slave end surgical arm based on the master hand motion information to achieve master-slave control; determine the preset unlocking logic corresponding to the locked arm joint, unlock the arm joint based on the kinematic inverse solution result of the command posture of the slave end surgical arm and the preset unlocking logic, determine the motion state of the arm joint according to the kinematic inverse solution result, unlock the arm joint that meets the unlocking condition, and achieve step-by-step unlocking of the arm joint, and can implement different unlocking logics for different arm joints, simplify the unlocking steps, and improve the unlocking efficiency; when the arm joint is unlocked, restore the control of the unlocked arm joint. The technical problem that the related technology cannot directly and quickly unlock the locked slave end surgical arm, and unlocks the slave end surgical arm joint based on the master hand motion information and the preset unlocking logic, so as to simplify the unlocking difficulty of the slave end surgical arm joint and improve the unlocking safety of the slave end surgical arm joint.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A flowchart of a method for controlling a surgical arm of a surgical robot slave end is provided for an embodiment of the present invention;

[0022] Figure 2 A flowchart of another method for controlling a surgical arm of a surgical robot slave end provided by an embodiment of the present invention;

[0023] Figure 3 A flowchart of another method for controlling a surgical arm of a surgical robot slave end provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the structure of a control device for a surgical arm of a surgical robot slave end provided by an embodiment of the present invention;

[0025] Figure 5 A schematic structural diagram of a surgical robot 10 that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and conditions of the present invention and the above-mentioned drawings are used to distinguish similar users, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Figure 1 A flowchart of a method for controlling a surgical robot's slave surgical arm is provided for an embodiment of the present invention. This embodiment is applicable to unlocking a locked surgical robot's slave surgical arm. The method can be executed by a control device for the surgical robot's slave surgical arm. The control device for the surgical robot's slave surgical arm can be implemented in the form of hardware and / or software. The control device for the surgical robot's slave surgical arm can be configured in the surgical robot. Figure 1 As shown, the method includes:

[0029] S110. When at least one arm joint of the surgical arm of the slave end of the surgical robot is locked, obtain the master hand motion information of the master end of the surgical robot, and determine the command posture of the surgical arm of the slave end of the surgical robot based on the master hand motion information.

[0030] The surgical robot can be used to perform surgical operations by operating a machine. The surgical robot includes at least one of a laparoscopic surgical robot, an orthopedic surgical robot, a panvascular surgical robot, and a natural cavity surgical robot.

[0031] The slave surgical arm may be a surgical arm in a split surgical robot that moves to perform surgery. The master end of the surgical robot may be a console for operating the surgical robot. It should be noted that the split surgical robot is divided into a master end and a slave surgical arm. The user manipulating the robot can observe the surgical situation through the master end, input surgical instructions in the master end, and the slave surgical arm receives the surgical instructions and performs surgery on the surgical object according to the surgical instructions.

[0032] Among them, the master hand motion information can be information used to control how the master hand of the surgical robot moves. The surgical robot can process the control instructions corresponding to the master hand motion information to obtain the command posture for controlling the slave end surgical arm. It should be noted that in a split surgical robot, the main end of the surgical robot is usually provided with at least one master hand for operation. The user can move by operating the master hand. The control system of the surgical robot processes the control instructions corresponding to the master hand movement, and then obtains the command posture for controlling the slave end surgical arm, thereby realizing the manipulation of the corresponding slave end surgical arm by the master hand.

[0033] Among them, the inverse kinematic solution can be to solve the position of each motion joint of the robot based on the end posture of the robot.

[0034] Among them, the arm joint can be a movable joint in the slave surgical arm. Specifically, the arm joint can be a component of the surgical robot other than surgical instruments that is used to perform surgical actions. Optionally, when performing surgery with a split surgical robot, when the medical staff manipulates the movement of the slave surgical arm to exceed the software limit of the arm joint of the current slave surgical arm, in order to protect the surgical robot, the arm joint of the slave surgical arm will trigger a protective lock, and the arm joint of the slave surgical arm will be locked, so that the current slave surgical arm joint cannot continue to move, and the slave surgical arm cannot correctly reproduce the operation instructions of the master end, which leads to the mismatch between the master and slave end postures of the surgical robot. Therefore, it is necessary to unlock the arm joint of the protectively locked slave surgical arm.

[0035] Specifically, the mismatch between the master and slave positions of the surgical robot may cause at least one arm joint of the surgical arm of the slave end of the surgical robot to be locked. When at least one arm joint of the surgical arm of the slave end of the surgical robot is locked, the surgical robot actively obtains the motion information of the master hand, and determines the command position of the surgical arm of the slave end of the surgical robot based on the motion information of the master hand.

[0036] S120, determining a preset unlocking logic corresponding to the locked arm joint, and unlocking the arm joint based on a kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic.

[0037] Among them, the preset unlocking logic may be a logic for pre-setting the unlocking of the arm joint of the surgical arm from the end. It should be noted that when the arm joint of the surgical robot is locked, it may cause other arm joints of the same surgical arm to trigger the protection lock. In order to unlock the currently locked arm joint when it is necessary, the preset unlocking logic corresponding to the current arm joint can be obtained first to determine whether the current arm joint can be unlocked. Exemplarily, the preset unlocking logic includes independent unlocking of a single arm joint and linkage unlocking of multiple arm joints. Among them, independent unlocking of a single arm joint may be unlocking for a single arm joint. Linkage unlocking of multiple arm joints may be unlocking of multiple arm joints that have a linkage unlocking relationship. Optionally, the method for unlocking multiple arm joints that have a linkage unlocking relationship may be to unlock them according to a preset unlocking priority, or to unlock multiple arm joints in a linkage unlocking relationship together.

[0038] Optionally, in the main end of the surgical robot, a corresponding preset unlocking logic will be pre-set for the arm joint of each slave surgical arm, and the arm joint and the corresponding preset unlocking logic will be stored correspondingly. After obtaining the locked arm joint, the preset unlocking logic corresponding to the arm joint can be directly obtained.

[0039] The kinematic inverse solution result may be the arm joint adjustment parameter obtained by kinematic inverse solution of the command posture of the slave surgical arm after converting the master hand motion information of the surgical robot master end into the command posture of the slave surgical arm. The arm joint adjustment parameter may include but is not limited to the joint angle of the arm joint and / or the movement distance of the arm joint along the preset direction.

[0040] It should be noted that, in a surgical robot including a master and a slave, the surgical robot operates the slave surgical arm through the master hand, and the surgical robot obtains the command posture of the slave surgical arm after processing the master hand motion information through the control system according to the control instruction. The slave surgical arm moves according to the command posture, and then the kinematic inverse solution of the command posture of the slave surgical arm can be performed, and the condition of the arm joint of the slave surgical arm can be obtained according to the result of the kinematic inverse solution.

[0041] Specifically, the locked arm joint is obtained, the preset unlocking logic corresponding to the locked arm joint is determined, the kinematic inverse solution result obtained after performing kinematic inverse solution on the command posture of the slave surgical arm of the surgical robot is obtained, and the arm joint is unlocked based on the kinematic inverse solution result and the preset unlocking logic of the arm joint.

[0042] Optionally, in another optional embodiment of the present invention, the determining of the preset unlocking logic corresponding to the locked arm joint includes: determining a locking triggering mode of the locked arm joint, and determining the preset unlocking logic based on the locking triggering mode.

[0043] Among them, the locking trigger mode can be used to protect the protective locking trigger mode of the arm joint. Optionally, the locking trigger mode can include the arm joint triggering protective locking alone and the arm joint associated locking. The arm joint triggering protective locking alone can be the protective locking triggered by the movement of the arm joint exceeding the software limit limit. The arm joint associated locking can be due to the locking of other associated arm joints, resulting in the performance of the device being reduced in certain slave surgical arm positions, and then all the associated arm joints are locked. Exemplarily, in the slave surgical arm, when the upper limit of the arm swivel mechanism, parallelogram mechanism and slide mechanism triggers the protective locking, all joints are locked to ensure surgical safety. When the slide exceeds the lower limit of the joint, the master hand controls the opening and closing angle of the instrument clamp, and the opening and closing angle of the instrument clamp is directly controlled by the opening and closing angle of the master hand clamp. Therefore, when the lower limit of the slide is triggered for protective locking, only the slide is locked, and the remaining joints except the slide can be controlled normally without being locked.

[0044] Specifically, the locked arm joint is obtained, the locking triggering mode of the arm joint is determined, and the preset unlocking logic corresponding to the locked arm joint is determined according to the locking triggering mode of the arm joint.

[0045] Optionally, in another optional embodiment of the present invention, the arm joint includes at least one of an arm rotation mechanism, a parallelogram mechanism and a sliding mechanism; the arm joint limit includes an upper limit of the arm joint and a lower limit of the arm joint; the locking trigger mode includes: the movement intention of the arm rotation mechanism exceeds its upper limit, the movement intention of the arm rotation mechanism exceeds its lower limit, the parallelogram mechanism exceeds its upper limit, the parallelogram mechanism exceeds its lower limit, the sliding mechanism exceeds its upper limit and the sliding mechanism exceeds at least one of its lower limit.

[0046] S130: When the arm joint has been unlocked, restore control over the unlocked arm joint.

[0047] Specifically, in the slave surgical arm, when the arm joint has been unlocked, the control of the surgical robot master over the unlocked arm joint can be restored, and the unlocked arm joint can be operated by the surgical robot master.

[0048] Optionally, in another optional embodiment of the present invention, the control method of the surgical arm of the surgical robot slave end further includes: when the surgical arm of the surgical robot has been locked, in response to the opening and closing control instructions input by the master end of the surgical robot for the clamping mechanism, performing an opening and closing action corresponding to the opening and closing control instructions.

[0049] The clamping mechanism may be a mechanism with an opening and closing function located at the end of the slave surgical arm for surgery. It is understandable that the functions of the clamping mechanism may be a clamping function, an expansion function, a shearing function, etc. For example, the clamping mechanism may be a surgical instrument clamp, a vascular opener, or a surgical scissors, etc.

[0050] Specifically, in the surgical robot, the clamping mechanism is located at the end of the slave surgical arm. When the slave surgical arm of the surgical robot has been locked, the clamping mechanism is not locked at this time, and the locking of the slave surgical arm does not affect the clamping mechanism from executing the main end operation instructions of the surgical robot. Therefore, the clamping mechanism can respond to the opening and closing control instructions input by the main end of the surgical robot to the clamping mechanism, and perform the opening and closing actions corresponding to the opening and closing control instructions.

[0051] Optionally, in another optional embodiment of the present invention, the control method of the surgical robot's slave-end surgical arm further includes: when the surgical arm of the surgical robot has been locked, generating locking prompt information for prompting that the surgical arm has been locked, and / or unlocking guide information for guiding the user to unlock the surgical arm.

[0052] Among them, the locking prompt information is to prompt the user to inform the user that the surgical arm of the surgical robot is locked. The locking prompt information may include at least one of a voice broadcast mode, a device indicator light mode, and an operation instruction animation mode. Exemplarily, the voice broadcast mode may be a prompt "the surgical arm is locked", or a "beep" sound; the device indicator light may be a green light or no light when the surgical arm is not locked, and a red light when the surgical arm is locked; the operation instruction animation may be an animation showing that the surgical arm cannot be operated.

[0053] The unlocking guidance information can be used to provide guidance information for prompting the user on how to unlock the device. For example, when the surgical arm is locked, the surgical robot actively displays guidance information for unlocking the device.

[0054] Specifically, when the surgical arm used by the user has been locked, a locking prompt message for prompting that the surgical arm has been locked, and / or an unlocking guide message for guiding the user to unlock the surgical arm is generated on the main end of the surgical robot.

[0055] The technical solution of the embodiment of the present invention is to obtain the master hand motion information of the master end of the surgical robot when at least one arm joint of the slave end surgical arm of the surgical robot is locked, and determine the command posture of the slave end surgical arm based on the master hand motion information to realize master-slave control; then, determine the preset unlocking logic corresponding to the locked arm joint, unlock the arm joint based on the kinematic inverse solution result of the command posture of the slave end surgical arm and the preset unlocking logic, determine the motion state of the arm joint by kinematic inverse solution according to the kinematic inverse solution result, unlock the arm joint that meets the unlocking condition, realize the step-by-step unlocking of the arm joint, and can implement different unlocking logics for different arm joints, simplify the unlocking steps, and improve the unlocking efficiency; when the arm joint is unlocked, restore the control of the unlocked arm joint. The technical problem that the related technology cannot directly and quickly unlock the locked slave end surgical arm, and the slave end surgical arm joint is unlocked based on the master hand motion information and the preset unlocking logic, so as to simplify the unlocking difficulty of the slave end surgical arm joint and improve the unlocking safety of the slave end surgical arm joint.

[0056] Figure 2 This is a flow chart of another control method of a surgical robot slave end surgical arm provided by an embodiment of the present invention. This embodiment further illustrates a method for independently unlocking a locked single arm joint of a surgical robot slave end surgical arm. Figure 2 As shown, the control method of the surgical robot's slave surgical arm includes:

[0057] S210. When at least one arm joint of a surgical arm of a slave end of the surgical robot is locked, obtain master hand motion information of the surgical robot master end, and determine a command posture of the surgical arm of the slave end based on the master hand motion information.

[0058] S220. For the arm joint to be unlocked, determine whether the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm.

[0059] The movement intention may be the arm joint position to which the arm joint is to move, and the arm joint limit may be the position where the arm joint triggers protective locking.

[0060] Optionally, when the arm joint of the slave surgical arm is locked, it is determined whether the current single arm joint meets the unlocking condition according to the condition of the single arm joint. If it meets the condition, the current single arm joint can be unlocked independently. The advantage of this is that the locked slave surgical arm can be unlocked step by step. The unlocking condition can be that the movement intention of the arm joint does not exceed the arm joint limit.

[0061] Specifically, the arm joint to be unlocked is determined, the movement intention of the arm joint is obtained according to the kinematic inverse solution result of the command posture of the surgical arm at the slave end, and it is determined whether the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint.

[0062] S230. When the preset unlocking logic corresponding to the arm joint is independent unlocking of a single arm joint and the movement intention of the arm joint does not exceed the arm joint limit, unlock the arm joint.

[0063] Specifically, determine the arm joint to be unlocked, obtain the movement intention of the arm joint according to the kinematic inverse solution result of the command posture of the surgical arm at the slave end, determine whether the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint, if the movement intention of the arm joint does not exceed the arm joint limit corresponding to the arm joint, determine whether the preset unlocking logic corresponding to the arm joint is independent unlocking of a single arm joint, if the preset unlocking logic corresponding to the arm joint is independent unlocking of a single arm joint, unlock the arm joint.

[0064] Optionally, if the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint, the arm joint continues to be locked; if the movement intention of the arm joint does not exceed the arm joint limit corresponding to the arm joint, and if the preset unlocking logic corresponding to the arm joint is not for independent unlocking of a single arm joint, the arm joint continues to be locked.

[0065] S240: When the arm joint has been unlocked, restore control over the unlocked arm joint.

[0066] In the embodiment of the present invention, optionally, if the movement intention of the slide mechanism exceeds the lower limit of the slide to trigger the lock of the slide mechanism, the slide mechanism can be unlocked independently.

[0067] The technical solution of the embodiment of the present invention is to obtain the master hand motion information of the master end of the surgical robot when at least one arm joint of the slave surgical arm of the surgical robot is locked, and determine the command posture of the slave surgical arm based on the master hand motion information to achieve master-slave control; for the arm joint to be unlocked, determine whether the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm; for the arm joint to be unlocked, determine whether the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint, judge the progress of each arm joint separately to improve the unlocking efficiency, unlock the arm joint when the preset unlocking logic corresponding to the arm joint is independent unlocking of a single arm joint and the movement intention of the arm joint does not exceed the arm joint limit, thereby achieving step-by-step rapid unlocking of the arm joint, and restore control of the unlocked arm joint when the arm joint has been unlocked.

[0068] Figure 3 This is a flow chart of another control method of a surgical robot slave end surgical arm provided by an embodiment of the present invention. This embodiment further illustrates a method for a surgical robot slave end surgical arm to unlock multiple linkage arm joints that have a linkage unlocking relationship. Figure 3 As shown, the control method of the surgical robot's slave surgical arm includes:

[0069] S310. When at least one arm joint of a surgical arm of a slave end of the surgical robot is locked, obtain master hand motion information of the surgical robot master end, and determine a command posture of the surgical arm of the slave end based on the master hand motion information.

[0070] S320. For the arm joints to be unlocked, each arm joint to be unlocked is taken as a first arm joint. When the preset unlocking logic corresponding to the first arm joint is linkage unlocking of multiple arm joints, a second arm joint that has a linkage unlocking relationship with the first arm joint is determined based on the preset unlocking logic.

[0071] Among them, the first arm joint can be any arm joint to be unlocked; the second arm joint can be multiple arm joints that have a linkage unlocking relationship with the first arm joint. It should be noted that, in the locked slave surgical arm, any arm joint is selected as the first arm joint, and other arm joints that have a linkage unlocking relationship with the first arm joint are determined, and the other arm joints that have a linkage unlocking relationship are used as the second arm joint. Exemplarily, when the upper limit of the arm rotation mechanism, parallelogram mechanism and slide mechanism of the slave surgical arm triggers the protective lock, the arm rotation mechanism is selected as the first arm joint, and the parallelogram mechanism and slide mechanism that have a linkage unlocking relationship with the arm rotation are used as the second arm joint.

[0072] Optionally, the preset unlocking logic includes multiple arm joint linkage unlocking. In the slave surgical arm of the surgical robot, the slave surgical arm receives the manipulation instruction issued by the surgical robot, and according to the manipulation instruction, multiple arm joints are linked to move together to reach the posture corresponding to the master hand movement information of the master end of the surgical robot. During the movement of multiple arm joints, when any of the arm joints triggers protective locking, in order to protect the slave surgical arm, the arm joints that are linked to the locked arm joint will also be locked. Then, the unlocking logic for the arm joints with linkage is preset to multiple arm joint linkage unlocking.

[0073] Specifically, for the arm joints to be unlocked, each arm joint to be unlocked is taken as the first arm joint, and the preset unlocking logic corresponding to the first arm joint is obtained. When it is obtained that the preset logic corresponding to the first arm joint is the linkage of multiple arm joints, the second arm joint that has a linkage unlocking relationship with the first arm joint is determined according to the preset unlocking logic.

[0074] S330. Based on the kinematic inverse solution result of the command posture of the slave surgical arm, determine whether the movement intentions of the first arm joint and the second arm joint exceed the arm joint limits corresponding to the arm joints.

[0075] Optionally, when the arm joints in the slave surgical arm that are in a linkage unlocking relationship are locked, the locked first arm joint and the second arm joint are determined to determine whether the first arm joint and the second arm joint meet the unlocking conditions. If both the first arm joint and the second arm joint meet the unlocking conditions, the first arm joint and the second arm joint are unlocked in linkage. The advantage of performing linkage unlocking on all arm joints in a linkage relationship is that the efficiency of unlocking can be improved and the safety of unlocking can be guaranteed.

[0076] Specifically, determine the first arm joint and the second arm joint to be unlocked, obtain the movement intentions of the first arm joint and the second arm joint respectively according to the kinematic inverse solution results of the command posture of the slave surgical arm, and then obtain the arm joint limits corresponding to the first arm joint and the second arm joint respectively, and determine whether the movement intentions of the first arm joint and the second arm joint exceed the arm joint limits corresponding to the arm joints.

[0077] S340: When the movement intentions of the first arm joint and the second arm joint do not exceed the corresponding arm joint limits, unlock the first arm joint and the second arm joint.

[0078] Specifically, it is determined whether the movement intentions of the first arm joint and the second arm joint exceed the corresponding arm joint limits. When the movement intentions of the first arm joint and the second arm joint do not exceed the corresponding arm joint limits, the first arm joint and the second arm joint are unlocked in linkage.

[0079] Optionally, when the movement intention of any one of the first arm joint and the second arm joint exceeds the corresponding arm joint limit, the first arm joint and the second arm joint continue to be locked.

[0080] S350: When the arm joint has been unlocked, restore control over the unlocked arm joint.

[0081] In the case where the arm rotation mechanism of the slave surgical arm exceeds the arm joint limit corresponding to the arm rotation mechanism, the slave surgical arm may not be able to correctly reproduce the manipulation instructions corresponding to the master hand motion information of the surgical robot master due to the lack of arm rotation mechanism cooperation, resulting in posture mismatch, thereby locking all arm joints to ensure surgical safety. When the arm rotation mechanism in the slave surgical arm is unlocked, the preset unlocking logic of the arm rotation mechanism at this time includes multiple arm joint linkage unlocking, with the arm rotation mechanism as the first arm joint and the other arm joints as the second arm joint. According to the kinematic inverse solution results of the command posture of the slave surgical arm, it is determined whether the movement intentions of the first arm joint and the second arm joint exceed the arm joint limits corresponding to each arm joint. If the movement intentions of the first arm joint and the second arm joint do not exceed the arm joint limits corresponding to each arm joint, all arm joints are unlocked; if the movement intention of any one of the first arm joint and the second arm joint exceeds the corresponding arm joint limit, all arm joints continue to be locked.

[0082] The technical solution of the embodiment of the present invention is as follows: for the arm joint to be unlocked, when the preset unlocking logic corresponding to the first arm joint is a linkage unlocking of multiple arm joints, the second arm joint that has a linkage unlocking relationship with the first arm joint is determined based on the preset unlocking logic; based on the kinematic inverse solution result of the command posture of the slave surgical arm, whether the movement intentions of the first arm joint and the second arm joint exceed the arm joint limit corresponding to the arm joint is determined respectively; the arm joints that have a linkage unlocking relationship are jointly judged to improve the unlocking efficiency, and when the movement intentions of the first arm joint and the second arm joint do not exceed the corresponding arm joint limit, the first arm joint and the second arm joint are unlocked, thereby realizing the linkage and synchronous unlocking of the arm joints, ensuring the safety of arm joint unlocking, and restoring the control of the unlocked arm joint when the arm joint has been unlocked.

[0083] Figure 4 The present invention provides a schematic diagram of the structure of a control device for a surgical robot slave end surgical arm. Figure 4 As shown, the device includes: a master hand motion analysis module 410, an arm joint unlocking module 420 and an arm joint control module 430.

[0084] The master hand motion analysis module 410 is used to obtain the master hand motion information of the master end of the surgical robot when at least one arm joint of the slave end surgical arm of the surgical robot is locked, and determine the command posture of the slave end surgical arm based on the master hand motion information;

[0085] An arm joint unlocking module 420, used to determine a preset unlocking logic corresponding to the locked arm joint, and unlock the arm joint based on a kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic;

[0086] The arm joint control module 430 is used to restore control of the unlocked arm joint when the arm joint is unlocked.

[0087] The technical solution of the embodiment of the present invention is to obtain the master hand motion information of the master end of the surgical robot when at least one arm joint of the slave end surgical arm of the surgical robot is locked, and determine the command posture of the slave end surgical arm based on the master hand motion information to achieve master-slave control; then, determine the preset unlocking logic corresponding to the locked arm joint, unlock the arm joint based on the kinematic inverse solution result of the command posture of the slave end surgical arm and the preset unlocking logic, unlock the arm joint according to the kinematic inverse solution result, and unlock the arm joint that meets the unlocking condition, thereby achieving step-by-step unlocking of the arm joint, simplifying the unlocking steps, and further improving the unlocking efficiency; when the arm joint has been unlocked, restore the control of the unlocked arm joint. The technical problem that the related technology cannot directly and quickly unlock the locked slave end surgical arm is solved, and the slave end surgical arm joint is unlocked based on the master hand motion information and the preset unlocking logic, thereby simplifying the unlocking difficulty of the slave end surgical arm joint and improving the unlocking safety of the slave end surgical arm joint.

[0088] Optionally, the preset unlocking logic includes independent unlocking of a single arm joint; the arm joint unlocking module 420 is specifically used for:

[0089] For the arm joint to be unlocked, determining whether the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm;

[0090] When the preset unlocking logic corresponding to the arm joint is independent unlocking of a single arm joint and the movement intention of the arm joint does not exceed the arm joint limit, the arm joint is unlocked.

[0091] Optionally, the preset unlocking logic includes multiple arm joint linkage unlocking; the arm joint unlocking module 420 is further specifically used for:

[0092] Taking each arm joint to be unlocked as a first arm joint, and in the case where the preset unlocking logic corresponding to the first arm joint is linkage unlocking of multiple arm joints, determining a second arm joint that has a linkage unlocking relationship with the first arm joint based on the preset unlocking logic;

[0093] Based on the kinematic inverse solution result of the command posture of the slave surgical arm, determining whether the movement intentions of the first arm joint and the second arm joint exceed the arm joint limits corresponding to the arm joints;

[0094] When the movement intentions of the first arm joint and the second arm joint do not exceed the corresponding arm joint limits, the first arm joint and the second arm joint are unlocked.

[0095] Optionally, the arm joint unlocking module 420 is further used for:

[0096] A locking triggering mode of the locked arm joint is determined, and a preset unlocking logic is determined based on the locking triggering mode.

[0097] Optionally, the arm joint unlocking module 420 is also used to

[0098] The arm joint includes at least one of an arm rotation mechanism, a parallelogram mechanism and a sliding mechanism; the arm joint limit includes an upper limit of the arm joint and a lower limit of the arm joint; the locking triggering method includes: the movement intention of the arm rotation mechanism exceeds its upper limit, the movement intention of the arm rotation mechanism exceeds its lower limit, the parallelogram mechanism exceeds its upper limit, the parallelogram mechanism exceeds its lower limit, the sliding mechanism exceeds its upper limit and the sliding mechanism exceeds at least one of its lower limit.

[0099] Optionally, the control device of the surgical arm of the surgical robot slave end further includes: a clamping mechanism control module. The clamping mechanism control module is used to respond to the opening and closing control instruction input by the master end of the surgical robot to the clamping mechanism when the surgical arm of the surgical robot has been locked, and execute an opening and closing action corresponding to the opening and closing control instruction.

[0100] Optionally, the control device of the surgical arm of the surgical robot slave end further includes: an information prompt module. The information prompt module is used to generate locking prompt information for prompting that the surgical arm has been locked, and / or unlocking guidance information for guiding the user to unlock the surgical arm when the surgical arm of the surgical robot has been locked.

[0101] The control device of the surgical robot slave-end surgical arm provided in the embodiments of the present disclosure can execute the control method of the surgical robot slave-end surgical arm provided in any embodiment of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.

[0102] 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-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present disclosure.

[0103] Figure 5 A schematic diagram of a surgical robot 10 that can be used to implement an embodiment of the present invention is shown. The surgical robot is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The surgical robot can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, 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 examples and are not intended to limit the implementation of the present invention described and / or conditions herein.

[0104] like Figure 5 As shown, the surgical robot 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the surgical robot 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0105] A number of components in the surgical robot 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the surgical robot 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0106] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for a surgical robot slave surgical arm.

[0107] In some embodiments, the control method of the surgical robot's slave surgical arm can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the surgical robot 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the surgical robot's slave surgical arm described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the control method of the surgical robot's slave surgical arm in any other appropriate manner (for example, by means of firmware).

[0108] Various implementations 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 chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] Computer programs for implementing 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, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0110] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] To provide interaction with a user, the systems and techniques described herein may be implemented on a surgical robot 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 can provide input to the surgical robot. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0112] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0113] The computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0114] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0115] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of a method for controlling a surgical arm of a slave end of a surgical robot provided in any embodiment of the present invention are implemented. The method includes:

[0116] When at least one arm joint of a surgical arm of a slave end of the surgical robot is locked, obtaining master hand motion information of a master end of the surgical robot, and determining a command posture of the surgical arm of the slave end based on the master hand motion information;

[0117] Determine a preset unlocking logic corresponding to the locked arm joint, and unlock the arm joint based on a kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic;

[0118] In the case where the arm joint is unlocked, the control of the unlocked arm joint is restored.

[0119] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0120] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0121] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0122] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0123] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0124] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0125] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design conditions and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for unlocking a surgical robot slave arm, characterized in that: include: When at least one arm joint of the surgical arm of the slave end of the surgical robot is locked, obtaining the master hand motion information of the surgical robot master end, and determining the command posture of the surgical arm of the slave end based on the master hand motion information; Determine a preset unlocking logic corresponding to the locked arm joint, and unlock the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic; wherein the preset unlocking logic may be a logic pre-set to unlock the arm joint of the slave surgical arm; In the case where the arm joint has been unlocked, restoring control over the unlocked arm joint; The preset unlocking logic includes multiple arm joint linkage unlocking; The unlocking of the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic includes: Taking each arm joint to be unlocked as a first arm joint, and in the case where the preset unlocking logic corresponding to the first arm joint is linkage unlocking of multiple arm joints, determining a second arm joint that has a linkage unlocking relationship with the first arm joint based on the preset unlocking logic; Based on the kinematic inverse solution result of the command posture of the slave surgical arm, determining whether the movement intentions of the first arm joint and the second arm joint exceed the arm joint limits corresponding to the arm joints; When the movement intentions of the first arm joint and the second arm joint do not exceed the corresponding arm joint limits, the first arm joint and the second arm joint are unlocked.

2. The method according to claim 1, characterized in that The preset unlocking logic includes independent unlocking of a single arm joint; The unlocking of the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic includes: For the arm joint to be unlocked, determining whether the movement intention of the arm joint exceeds the arm joint limit corresponding to the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm; When the preset unlocking logic corresponding to the arm joint is independent unlocking of a single arm joint and the movement intention of the arm joint does not exceed the arm joint limit, the arm joint is unlocked.

3. The method according to claim 1, characterized in that The determining of the preset unlocking logic corresponding to the locked arm joint includes: A locking triggering mode of the locked arm joint is determined, and a preset unlocking logic is determined based on the locking triggering mode.

4. The method according to claim 3, characterized in that The arm joint includes at least one of an arm rotation mechanism, a parallelogram mechanism and a slide mechanism; the arm joint limit includes an upper limit of the arm joint and a lower limit of the arm joint; The locking triggering mode includes: the movement intention of the arm rotating mechanism exceeds its upper limit, the movement intention of the arm rotating mechanism exceeds its lower limit, the parallelogram mechanism exceeds its upper limit, the parallelogram mechanism exceeds its lower limit, the slide mechanism exceeds its upper limit, and the slide mechanism exceeds its lower limit.

5. The method according to claim 1, characterized in that Also includes: When the surgical arm of the surgical robot has been locked, locking prompt information for prompting that the surgical arm has been locked and / or unlocking guide information for guiding a user to unlock the surgical arm are generated.

6. An unlocking device for a surgical robot's slave surgical arm, characterized in that: include: A master hand motion analysis module, used to obtain the master hand motion information of the master end of the surgical robot when at least one arm joint of the slave end surgical arm of the surgical robot is locked, and determine the command posture of the slave end surgical arm based on the master hand motion information; An arm joint unlocking module, used to determine a preset unlocking logic corresponding to the locked arm joint, and unlock the arm joint based on the kinematic inverse solution result of the command posture of the slave surgical arm and the preset unlocking logic; wherein the preset unlocking logic may be a logic pre-set to unlock the arm joint of the slave surgical arm; an arm joint control module, used for restoring control of the unlocked arm joint when the arm joint is unlocked; The preset unlocking logic includes multiple arm joint linkage unlocking; the arm joint unlocking module is also specifically used for: Taking each arm joint to be unlocked as a first arm joint, and in the case where the preset unlocking logic corresponding to the first arm joint is linkage unlocking of multiple arm joints, determining a second arm joint that has a linkage unlocking relationship with the first arm joint based on the preset unlocking logic; Based on the kinematic inverse solution result of the command posture of the slave surgical arm, determining whether the movement intentions of the first arm joint and the second arm joint exceed the arm joint limits corresponding to the arm joints; When the movement intentions of the first arm joint and the second arm joint do not exceed the corresponding arm joint limits, the first arm joint and the second arm joint are unlocked.

7. A surgical robot, characterized in that: The surgical robot comprises: at least one processor; and a memory communicatively connected to 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 so that the at least one processor can execute the method for unlocking the surgical robot slave end surgical arm according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the unlocking method of the surgical robot slave end surgical arm according to any one of claims 1 to 5 when executed.

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