A positioning recommendation method and system of a surgical robot

Abstract

This invention relates to the field of surgical robot technology and provides a method for recommending the positioning of a surgical robot, comprising: S1: obtaining the target pose when the axis of the yaw joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery; S2: obtaining the actual pose of the axis of the yaw joint of the instrument arm before positioning; S3: obtaining the operational space error between the expected value and the actual value of the pose of the axis of the yaw joint based on the target pose and the actual pose; S4: solving the operational space error calculation formula using an inverse kinematics algorithm to obtain the joint positions of the adjustment arm and the trolley, thereby guiding the operator in positioning the adjustment arm and the trolley. After positioning, the axis of the yaw joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery. This provides guidance to the operator for passive positioning before surgery, and the resulting positioning will increase the operational space of the surgical robot.

Description

Technical Field

[0001] This invention relates to the technical field of surgical robots, and more particularly to a method and system for recommending the positioning of a surgical robot. Background Technology

[0002] Minimally invasive surgery is a technique that utilizes tiny incisions or puncture channels to perform surgical procedures. Compared to traditional open surgery, minimally invasive surgery offers many advantages, including reduced surgical trauma, less bleeding, shorter hospital stays, and less pain. Minimally invasive surgery can be used in many different situations, including laparoscopic surgery, arthroscopic surgery, thoracoscopic surgery, and neuroendoscopic surgery. Laparoscopic and arthroscopic surgeries are the most common. In minimally invasive surgery, surgeons use specialized tools and imaging equipment to access the patient's body through tiny incisions or puncture channels to perform the surgical procedure. Because the surgical incisions are very small, there is minimal bleeding during the procedure, reducing surgical risks and postoperative recovery time.

[0003] For laparoscopic surgery, with the widespread use of traditional laparoscopic techniques, its limitations have gradually become apparent. For example, in nephrectomy, completing numerous internal sutures under traditional laparoscopes is quite difficult, requiring surgeons to have extensive experience in open surgery and proficient in traditional laparoscopic techniques. Due to the unique physiological and anatomical structures of some human organs and the limitations of traditional laparoscopic techniques, a new surgical platform is necessary to achieve widespread minimally invasive and precise surgical procedures.

[0004] The application of laparoscopic surgical robot systems has solved the clinical needs for minimally invasive and precise surgical procedures. It mainly consists of three subsystems: the surgeon's console, the bedside robotic arm surgical system, and the 3D imaging system. During surgery, the 3D imaging system reflects the surgical field of view clearly and realistically on the surgeon's console. The surgeon operates on the console, and the control system of the surgical robot accurately transmits the surgeon's movements outside the patient's body to the bedside robotic arm surgical system, which in turn translates them into the movements of surgical instruments inside the patient's body. The surgery is completed through several orifices without opening the chest or abdomen. Compared with traditional laparoscopic surgery, laparoscopic surgical robots have many advantages: (1) Advanced imaging technology. The application of high-definition 3D cameras and imaging equipment enables the surgical field of view to achieve a realistic three-dimensional effect. (2) Flexible, precise, and stable operation. The system can automatically filter out physiological vibrations and eliminate the adverse effects of the surgeon's hand tremors on the surgery. (3) Less trauma and faster recovery compared to traditional open surgery. It reduces the occurrence of postoperative sequelae and complications, thereby reducing patient suffering, making "daysurgery" possible. (4) Saves manpower and makes the surgical process more comfortable for doctors. Doctors no longer need to crowd around the operating table, which can reduce doctor fatigue and allow them to concentrate.

[0005] However, during laparoscopic surgical robotic systems, the passive positioning of the bedside robotic arm before surgery can negatively impact subsequent procedures, leading to complications (e.g., insufficient operating space) or even surgical interruption and failure. Therefore, a method for recommending preoperative positioning of the laparoscopic surgical robot is needed to address these issues. Summary of the Invention

[0006] To address the aforementioned problems, the present invention aims to provide a method and system for recommending the positioning of a surgical robot, which provides guidance to operators on passive positioning before surgery using a surgical robot system, thereby increasing the operating space of the surgical robot.

[0007] The above-mentioned objective of this invention is achieved through the following technical solutions:

[0008] A method for recommending the placement of a surgical robot includes the following steps:

[0009] S1: Obtain the target pose when the axis of the yaw joint of the surgical robot's instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0010] S2: Obtain the actual position and orientation of the axis of the eccentric joint of the surgical robot's instrument arm before positioning;

[0011] S3: Based on the target pose and the actual pose, obtain the operation space error between the expected value and the actual value of the pose of the axis where the yaw joint is located, and establish a calculation formula for the operation space error.

[0012] S4: The inverse kinematics algorithm is used to solve the operating space error calculation formula to obtain the joint positions of the adjustment arm and the trolley of the surgical robot, so as to guide the operator to position the adjustment arm and the trolley. After the adjustment arm and the trolley are positioned, the axis of the eccentric joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0013] Furthermore, the method for positioning the surgical robot also includes: in the surgical robot, the carriage, the adjusting arm, and the instrument arm are connected in sequence; the carriage and the adjusting arm are positioned before the operation, and the positions of the carriage and the adjusting arm remain unchanged during the operation, while only the position of the instrument arm is adjusted during the operation.

[0014] Further, in step S3, the operational space error between the expected and actual pose values ​​of the axis where the yaw joint is located is obtained based on the target pose and the actual pose, and an operational space error calculation formula is established, specifically as follows:

[0015] Let the target pose be X. d The actual pose is X e ;

[0016] The operational space error between the expected and actual pose values ​​of the axis where the yaw joint is located is:

[0017] e = X d -X e .

[0018] Further, in step S4, the inverse kinematics algorithm is used to solve the operational space error calculation formula to obtain the joint positions of the adjusting arm and the trolley of the surgical robot, so as to guide the operator in positioning the adjusting arm and the trolley. Specifically:

[0019] Calculate the derivative of the operating space error calculation formula:

[0020]

[0021] Based on differential kinematics, the derivative of the formula for calculating the operational space error is modified as follows:

[0022]

[0023] Among them, J A Let q be the Jacobian matrix containing the position information of each joint of the trolley and the adjusting arm. The speed of each joint of the trolley and the adjusting arm;

[0024] The differential kinematic formula for the derivative of the formula for calculating the operating space error is derived as follows:

[0025]

[0026]

[0027] make Where K is a user-defined diagonal matrix, then

[0028]

[0029] For the formula Integrating the data, the positions of each joint of the surgical robot's adjusting arm and the trolley are obtained.

[0030] Furthermore, the diagonal matrix K is specifically:

[0031]

[0032] Where n is the number of joints in the adjusting arm and the trolley, k1, k2...k n These are custom eigenvalues; the larger the eigenvalue, the faster the inverse solution converges.

[0033] Furthermore, the recommended positioning methods for surgical robots also include:

[0034] The surgical robot includes a trolley and several sets of parallel adjustable arms and instrument arms connected to the trolley;

[0035] The adjustment arms and the instrument arms connected in parallel to the trolley are positioned using the methods in steps S1-S4 respectively;

[0036] Several sets of parallel adjusting arms and instrument arms connected to the trolley are operated through different surgical instrument ports or endoscope ports.

[0037] The present invention also provides a surgical robot positioning recommendation system for performing the surgical robot positioning recommendation method as described above, comprising:

[0038] The target pose acquisition module is used to acquire the target pose when the axis of the yaw joint of the surgical robot's instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0039] The actual pose acquisition module is used to acquire the actual pose of the axis of the yaw joint of the surgical robot's instrument arm before positioning.

[0040] The operation space error formula definition module is used to obtain the operation space error between the expected value and the actual value of the pose of the axis where the yaw joint is located based on the target pose and the actual pose, and to establish the operation space error calculation formula.

[0041] The positioning recommendation module is used to solve the operation space error calculation formula using an inverse algorithm to obtain the joint positions of the adjustment arm and the trolley of the surgical robot, so as to guide the operator to position the adjustment arm and the trolley. After the adjustment arm and the trolley are positioned, the axis of the eccentric joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0042] The present invention also provides a surgical robot, comprising: a trolley, an adjusting arm, and an instrument arm;

[0043] The trolley, the adjusting arm, and the machine arm are connected in sequence;

[0044] The adjusting arm and the instrument arm exist in a group, with the lower end of each adjusting arm connected to the upper end of the corresponding instrument arm;

[0045] The adjusting arm and the machine arm include several groups, and the upper ends of the adjusting arms in different groups are connected in parallel to the trolley;

[0046] Before surgery, the adjustment arm and the instrument arm are positioned using the surgical robot positioning method described above. During surgery, the positions of the trolley and the adjustment arm remain stationary, and only the position of the instrument arm is adjusted.

[0047] A computer device includes a memory and one or more processors, the memory storing computer code that, when executed by the one or more processors, causes the one or more processors to perform the method described above.

[0048] A computer-readable storage medium storing computer code that, when executed, performs the method described above.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] A method for recommending the positioning of a surgical robot is provided, comprising: S1: obtaining the target pose when the axis of the swing joint of the surgical robot's instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery; S2: obtaining the actual pose of the axis of the swing joint of the surgical robot's instrument arm before positioning; S3: obtaining the operational space error between the expected value and the actual value of the pose of the axis of the swing joint based on the target pose and the actual pose, and establishing a formula for calculating the operational space error; S4: solving the operational space error calculation formula using an inverse kinematics algorithm to obtain the joint positions of the adjusting arm and the trolley of the surgical robot, so as to guide the operator in positioning the adjusting arm and the trolley, wherein after the adjusting arm and the trolley are positioned, the axis of the swing joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery. The above-mentioned technical solution involves positioning the axis of the instrument arm's swing joint perpendicular to the line connecting the surgical instrument port and the lesion during laparoscopic surgery before the operation. At the start of the operation, the instrument end can be moved to the lesion by adjusting only the instrument arm's swing joint and extension joint, while the instrument arm's pitch joint can be placed at zero. This ensures that the pitch joint is at its maximum range at the start of the operation, thus maximizing the operating space of the surgical robot throughout the entire procedure. Attached Figure Description

[0051] Figure 1 This is a simplified model diagram of the surgical robot system used in this invention;

[0052] Figure 2This is a schematic diagram of the laparoscopic surgical perforation of the present invention;

[0053] Figure 3 This is a schematic diagram of the swing joint positioning of the device arm of the present invention;

[0054] Figure 4 This is an overall flowchart of a surgical robot positioning recommendation method according to the present invention;

[0055] Figure 5 This is a flowchart of the inverse algorithm of the present invention;

[0056] Figure 6 This is an overall structural diagram of a surgical robot positioning recommendation system according to the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0059] First Embodiment

[0060] This embodiment provides a surgical robot positioning recommendation algorithm, which is applied to, for example... Figure 1 The surgical robot system shown is comprised of a trolley, an adjusting arm, and an instrument arm connected in sequence. Figure 1The trolley includes a large column lifting joint, a boom rotation joint, a boom telescopic joint, and a rotating lifting joint. The adjusting arm includes a sub-rotating lifting joint, an adjusting arm telescopic joint, an adjusting arm lifting joint, and an adjusting arm rotation joint. The instrument arm includes an instrument arm yaw joint, an instrument arm pitch joint, and an instrument arm telescopic joint. Before surgery, the joints of the trolley and adjusting arm need to be positioned. During surgery, the positions of the trolley and adjusting arm remain stationary; only the position of the instrument arm is adjusted. In this embodiment, four sets (this is just an example; in practice, any number of sets) of adjusting arms and instrument arms are connected in parallel after the suspension rotation joint of the trolley. During the positioning process, each set of adjusting arms needs to be positioned separately. The circles indicate the perforation points of the instrument arm, and the arrows indicate the yaw joint axis of the instrument arm.

[0061] During the surgery, the trolley and adjusting arm remain stationary, while only the instrument arm moves. Therefore, the preoperative positioning of the trolley and adjusting arm plays a decisive role in the movement of the instrument arm. If the preoperative positioning is improper, the instrument arm is prone to reaching its limit during movement.

[0062] A typical diagram illustrating the perforation technique used in laparoscopic surgery is shown below. Figure 2 As shown, p1 and p2 are surgical instrument ports, p3 is the endoscope port, and p4 is the lesion. When the axis of the lateral joint of the surgical arm is perpendicular to p1p4 and p2p4, the surgical arm's range of motion is maximized during the procedure. The effect is as follows... Figure 3 As shown, the core of this invention lies in providing a method for recommending the positioning of a surgical robot, which involves adjusting the trolley and the adjusting arm so that the axis of the yaw joint of the adjusted instrument arm is perpendicular to p1p4 and p2p4, as shown. Figure 4 As shown, it includes the following steps:

[0063] S1: Obtain the target pose when the axis of the yaw joint of the surgical robot's instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0064] Specifically, the purpose of this invention is to adjust the joints of the trolley and the adjusting arm so that the axis of the swing joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery. Therefore, it is necessary to first obtain the target pose when the axis of the swing joint is perpendicular to the straight line connecting the surgical instrument hole and the lesion, so as to provide guidance for the subsequent calculation of the joint position.

[0065] S2: Obtain the actual position of the axis of the yaw joint of the surgical robot's instrument arm before positioning.

[0066] Specifically, after obtaining the target pose, it is necessary to obtain the actual pose of the axis where the yaw joint is located in order to know the spatial error between the actual pose and the target pose.

[0067] S3: Based on the target pose and the actual pose, obtain the operational space error between the expected and actual pose values ​​of the axis where the yaw joint is located, and establish a formula for calculating the operational space error, specifically:

[0068] Let the target pose be X. d The actual pose is X e ;

[0069] The operational space error between the expected and actual pose values ​​of the axis where the yaw joint is located is:

[0070] e = X d -X e .

[0071] S4: The inverse kinematics algorithm is used to solve the operating space error calculation formula to obtain the joint positions of the adjustment arm and the trolley of the surgical robot, so as to guide the operator to position the adjustment arm and the trolley. After the adjustment arm and the trolley are positioned, the axis of the eccentric joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0072] Among them, such as Figure 5 As shown, the inverse kinematics algorithm is used to solve the operational space error calculation formula to obtain the joint positions of the adjusting arm and the trolley of the surgical robot, specifically:

[0073] Calculate the derivative of the operating space error calculation formula:

[0074]

[0075] Based on differential kinematics, the derivative of the formula for calculating the operational space error is modified as follows:

[0076]

[0077] Among them, J A Let q be the Jacobian matrix containing the position information of each joint of the trolley and the adjusting arm. The speed of each joint of the trolley and the adjusting arm;

[0078] The differential kinematic formula for the derivative of the formula for calculating the operating space error is derived as follows:

[0079]

[0080]

[0081] make Where K is a user-defined diagonal matrix, then

[0082]

[0083] For the formula Integrating the data, the positions of each joint of the surgical robot's adjusting arm and the trolley are obtained.

[0084] Furthermore, the diagonal matrix K mentioned above is specifically as follows:

[0085]

[0086] Where n is the number of joints in the adjusting arm and the trolley, k1, k2...k n These are custom eigenvalues; the larger the eigenvalue, the faster the inverse solution converges.

[0087] Based on this positioning, at the start of surgery, the instrument end can be moved to the lesion by adjusting only the instrument arm yaw joint and the instrument arm extension joint, while the instrument arm pitch joint can be placed at zero. In this way, at the start of surgery, the pitch joint is in the position of maximum range of motion, thereby ensuring the maximum range of motion throughout the entire surgical process.

[0088] Second Embodiment

[0089] like Figure 6 As shown, this embodiment provides a method for recommending the placement of a surgical robot as described in the first embodiment, including:

[0090] The target pose acquisition module 1 is used to acquire the target pose when the axis of the swing joint of the surgical robot's instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0091] Actual pose acquisition module 2 is used to acquire the actual pose of the axis of the yaw joint of the surgical robot's instrument arm before positioning.

[0092] Operational space error formula definition module 3 is used to obtain the operational space error between the expected value and the actual value of the pose of the axis where the yaw joint is located based on the target pose and the actual pose, and to establish an operational space error calculation formula.

[0093] Positioning recommendation module 4 is used to solve the operation space error calculation formula using an inverse algorithm to obtain the joint positions of the adjustment arm and the trolley of the surgical robot, so as to guide the operator to position the adjustment arm and the trolley. After the adjustment arm and the trolley are positioned, the axis of the eccentric joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

[0094] Third Embodiment

[0095] This embodiment also provides a surgical robot, including: a trolley, an adjusting arm, and an instrument arm;

[0096] The trolley, the adjusting arm, and the machine arm are connected in sequence;

[0097] The adjusting arm and the instrument arm exist in a group, with the lower end of each adjusting arm connected to the upper end of the corresponding instrument arm;

[0098] The adjusting arm and the machine arm include several groups, and the upper ends of the adjusting arms in different groups are connected in parallel to the trolley;

[0099] Before surgery, the adjustment arm and the instrument arm are positioned using the surgical robot positioning recommendation method as described in the first embodiment. During surgery, the positions of the trolley and the adjustment arm remain stationary, and only the position of the instrument arm is adjusted.

[0100] A computer-readable storage medium stores computer code that, when executed, performs the methods described above. Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0101] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0102] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A positioning recommendation method for a surgical robot, characterized by, Includes the following steps: S1: Obtain the target pose when the axis of the yaw joint of the surgical robot's instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery. S2: Obtain the actual position and orientation of the axis of the eccentric joint of the surgical robot's instrument arm before positioning; S3: Based on the target pose and the actual pose, obtain the operational space error between the expected and actual pose values ​​of the axis where the yaw joint is located, and establish a formula for calculating the operational space error, specifically: Let the target pose be , and the actual pose be ; The operational space error between the expected and actual pose values ​​of the axis where the yaw joint is located is: ； S4: The inverse kinematics algorithm is used to solve the operation space error calculation formula to obtain the joint positions of the adjustment arm and the trolley of the surgical robot, so as to guide the operator to position the adjustment arm and the trolley. After the adjustment arm and the trolley are positioned, the axis of the eccentric joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in the laparoscopic surgery. In step S4, the inverse kinematics algorithm is used to solve the operating space error calculation formula to obtain the joint positions of the adjusting arm and the trolley of the surgical robot, so as to guide the operator in positioning the adjusting arm and the trolley. Specifically: Calculate the derivative of the operating space error calculation formula: Based on differential kinematics, the derivative of the formula for calculating the operational space error is modified as follows: in, The Jacobian matrix for the trolley and the adjusting arm, containing the position information of each joint. This refers to the position information of each joint of the trolley and the adjusting arm. The speed of each joint of the trolley and the adjusting arm; The differential kinematic formula for the derivative of the formula for calculating the operating space error is derived as follows: make Where K is a user-defined diagonal matrix, then For the formula Integrate to obtain the positions of each joint of the adjusting arm and the trolley of the surgical robot; The diagonal matrix K is as follows: Where n is the number of joints in the adjusting arm and the trolley, k1, k2...k n These are custom eigenvalues; the larger the eigenvalue, the faster the inverse solution converges.

2. The positioning recommendation method of the surgical robot according to claim 1, characterized by, Also includes: In the surgical robot, the trolley, the adjusting arm, and the instrument arm are connected in sequence; Before surgery, the trolley and the adjusting arm are positioned. During surgery, the positions of the trolley and the adjusting arm remain unchanged, and only the position of the instrument arm is adjusted.

3. A surgical robot positioning recommendation system for performing the surgical robot positioning recommendation method as described in any one of claims 1-2, characterized in that, include: The target pose acquisition module is used to acquire the target pose when the axis of the yaw joint of the surgical robot's instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery. The actual pose acquisition module is used to acquire the actual pose of the axis of the yaw joint of the surgical robot's instrument arm before positioning. The operation space error formula definition module is used to obtain the operation space error between the expected value and the actual value of the pose of the axis where the yaw joint is located based on the target pose and the actual pose, and to establish the operation space error calculation formula. The positioning recommendation module is used to solve the operation space error calculation formula using an inverse algorithm to obtain the joint positions of the adjustment arm and the trolley of the surgical robot, so as to guide the operator to position the adjustment arm and the trolley. After the adjustment arm and the trolley are positioned, the axis of the eccentric joint of the instrument arm is perpendicular to the straight line connecting the surgical instrument hole and the lesion in laparoscopic surgery.

4. A surgical robot, characterized by include: Trolley, adjusting arm, and machine arm; The trolley, the adjusting arm, and the machine arm are connected in sequence; The adjusting arm and the instrument arm exist in a group, with the lower end of each adjusting arm connected to the upper end of the corresponding instrument arm; The adjusting arm and the machine arm include several groups, and the upper ends of the adjusting arms in different groups are connected in parallel to the trolley; Before surgery, the positioning recommendation method of the surgical robot as described in any one of claims 1-2 is used to position the adjustment arm and the instrument arm. During surgery, the positions of the trolley and the adjustment arm remain stationary, and only the position of the instrument arm is adjusted during surgery.

5. A computer device comprising a memory and one or more processors, the memory storing computer code that, when executed by the one or more processors, causes the one or more processors to perform the method as described in any one of claims 1 to 2.

6. A computer-readable storage medium storing computer code, wherein when the computer code is executed, the method of any one of claims 1 to 2 is performed.

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