Control method of a robot system and robot system

Abstract

The present disclosure relates to the technical field of control, and discloses a control method for a robot system, a computer device, a computer readable storage medium and a robot system. The control method for the robot system comprises: obtaining a pose of a first sheath tube of an auxiliary connecting device; determining a first target pose of a first motion arm based on the pose of the first sheath tube; and controlling the first motion arm to move to the first target pose to connect with the first sheath tube of the auxiliary connecting device.

Description

Technical Field

[0001] This disclosure relates to the field of control technology, and in particular to a control method and a robot system for robot systems. Background Technology

[0002] Laparoscopic surgery is a widely used surgical procedure with advantages such as smaller incisions. In recent years, surgical robots have used motion arms to achieve greater stability and precision in surgery. During surgery, the motion arm delivers surgical instruments to the surgical site inside the body (e.g., in humans or animals) through an auxiliary connecting device (e.g., a sheath of the auxiliary connecting device) to perform the surgical procedure.

[0003] Currently, surgical procedures using surgical robots mainly include preoperative positioning (also known as preoperative setup), intraoperative manipulation, and postoperative care. Before surgery, a surgical assistant (such as a physician assistant or nurse) usually adjusts the robotic arm to a suitable position according to the type of surgery and surgical posture, fixes the robotic arm to the auxiliary connecting device, and then places surgical instruments at the end of the robotic arm so that the surgical instruments can enter the body through the channel of the auxiliary connecting device.

[0004] In the above applications, since the motion arm may be large in size and weight, having the surgical assistant or doctor perform the preoperative positioning operation may lead to problems with the stability of the motion arm and excessively long preoperative adjustment time. Summary of the Invention

[0005] In some embodiments, this disclosure provides a control method for a robot system, the robot system including a plurality of motion arms, the plurality of motion arms including a first motion arm, the method including: obtaining the pose of a first sheath of an auxiliary connecting device; determining a first target pose of the first motion arm based on the pose of the first sheath; and controlling the first motion arm to move to the first target pose to connect with the first sheath of the auxiliary connecting device.

[0006] In some embodiments, this disclosure provides a computer device including: a memory for storing at least one instruction; and a processor coupled to the memory for executing the at least one instruction to perform the methods in some embodiments of this disclosure.

[0007] In some embodiments, this disclosure provides a computer-readable storage medium storing at least one instruction, which is executed by a processor to cause a computer to perform the methods described in some embodiments of this disclosure.

[0008] In some embodiments, this disclosure provides a robot system including: a plurality of motion arms, the plurality of motion arms including a first motion arm; and a control device configured to perform methods in some embodiments of this disclosure. Attached Figure Description

[0009] Figure 1 This diagram illustrates a structural block diagram of a robot system according to some embodiments of the present disclosure;

[0010] Figure 2 This diagram illustrates a three-dimensional structural schematic of a robot system according to some embodiments of the present disclosure;

[0011] Figure 3 A schematic diagram of the structure of multiple motion arms of a robot system according to some embodiments of the present disclosure is shown;

[0012] Figure 4 A partial cross-sectional view of an auxiliary connection device according to some embodiments of the present disclosure is shown;

[0013] Figure 5 A schematic diagram showing the connection state of a motion arm and an auxiliary connecting device according to some embodiments of the present disclosure;

[0014] Figure 6 A flowchart illustrating a control method for a robot system according to some embodiments of the present disclosure is shown.

[0015] Figure 7 A flowchart illustrating a method for determining the motion path of a motion arm according to some embodiments of the present disclosure is shown;

[0016] Figure 8 A schematic block diagram of a computer device according to some embodiments of the present disclosure is shown;

[0017] Figure 9 Schematic diagrams of surgical robot systems according to some embodiments of the present disclosure are shown;

[0018] Figure 10 A schematic diagram of a surgical instrument according to some embodiments of the present disclosure is shown;

[0019] Figure 11 A schematic diagram of a main control trolley according to some embodiments of the present disclosure is shown;

[0020] Figure 12 A schematic diagram of an operating table according to some embodiments of the present disclosure is shown. Detailed Implementation

[0021] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0022] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this disclosure, it should be noted that unless otherwise expressly specified and limited, the terms "installed," "connected," "coupled," and "coupled" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the user (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear portion, and the end closer to the surgical patient is defined as the distal end, distal or front end, or anterior portion. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as in other non-medical devices (e.g., industrial robots).

[0023] In this disclosure, the term "position" refers to the location of an object or a portion of an object in three-dimensional space (e.g., the three translational degrees of freedom can be described using variations in the Cartesian X, Y, and Z coordinate directions, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, respectively). In this disclosure, the term "pose" refers to the rotational setting of an object or a portion of an object (i.e., one or all of the three rotational degrees of freedom, such as roll, pitch, and yaw). In this disclosure, the term "pose" refers to a combination of the position and pose of an object or a portion of an object, which can be described, for example, using six parameters of the six degrees of freedom mentioned above. In this disclosure, the pose of a portion of a motion arm refers to the pose of the coordinate system defined by the motion arm or a portion thereof relative to the coordinate system defined by the support, base, or world coordinate system on which the motion arm is located. In this disclosure, the pose of a motion arm can be represented by a set of joint values ​​(e.g., a one-dimensional matrix of these joint values) of the plurality of joints included in the motion arm when the motion arm is in that pose. In this disclosure, the joint value indicates the angle of rotation of the corresponding joint relative to the corresponding joint axis or the distance of movement relative to the initial position. In this disclosure, the motion path of the motion arm or a portion thereof refers to the path traversed by the motion arm or a portion thereof from one pose to another.

[0024] Figure 1A structural block diagram of a robot system 100 according to some embodiments of the present disclosure is shown. Figure 1 As shown, the robot system 100 may include a control device 110 and a plurality of motion arms connected to the control device 110. In some embodiments, such as Figure 1 As shown, the plurality of motion arms may include a first motion arm 120a and a second motion arm 120b. A control device 110 can be used to control the first motion arm 120a and the second motion arm 120b. For example, the control device 110 can adjust the movement, pose, and coordination of the first motion arm 120a and the second motion arm 120b. In some embodiments, the control device 110 can control the motion arm (e.g., the first motion arm 120a or the second motion arm 120b) to move to a target pose. In some embodiments, the ends of the first motion arm 120a and the second motion arm 120b may respectively include a first end (e.g., end arm 1201a or the distal end of end arm 1201a) and a second end (e.g., end arm 1201b or the distal end of end arm 1201b). The control device 110 can control the first motion arm 120a or the second motion arm 120b to move to the target pose, so that the corresponding end moves to the desired position and posture.

[0025] In some embodiments, the robotic system 100 may further include three, four, or more robotic arms. The robotic system 100 may include a surgical robotic system, such as a laparoscopic surgical robotic system (e.g., Figure 2 The robot system 200 shown, or Figure 9 The surgical robot system 900 shown is illustrated. It should be understood that the robot system 100 may also include dedicated or general-purpose robot systems for other fields (e.g., manufacturing, machinery, etc.).

[0026] Figure 2 A three-dimensional structural schematic diagram of a robot system 200 according to some embodiments of the present disclosure is shown. Figure 2 As shown, the robot system 200 may include a surgical cart 230 and a first moving arm 220a and a second moving arm 220b disposed on the surgical cart 230. In some embodiments, the surgical cart 230 may include a base 2301 and a crossbeam 2302. In some embodiments, the first moving arm 220a and the second moving arm 220b may be movably disposed on the crossbeam 2302. It should be understood that multiple moving arms of the robot system 200 may also be disposed on multiple surgical carts. For example, each moving arm may be disposed on one surgical cart. Alternatively, one moving arm may be disposed on one surgical cart, and the remaining multiple moving arms may be disposed on another surgical cart.

[0027] In some embodiments, each moving arm of the robot system (e.g., Figure 2The first moving arm 220a or the second moving arm 220b shown may comprise multiple links and multiple joints connected in series. In some embodiments, each joint of each moving arm may include a motor for driving the corresponding joint to rotate, thereby driving the corresponding link to rotate.

[0028] Figure 3 A schematic diagram of the structure of a plurality of motion arms of a robot system 300 according to some embodiments of the present disclosure is shown. Figure 3 As shown, taking the second moving arm 320b as an example, the second moving arm 320b may include joints 32011b-32081b and connecting rods 3201b-3208b. The proximal end of connecting rod 3201b is connected to the crossbeam 3302, and connecting rods 3201b-3207b are connected in series. Joint 32011b can be located at the proximal connection between crossbeam 3302 and link 3201b; joint 32021b can be located at the connection between link 3201b and link 3202b; joint 32031b can be located at the connection between link 3202b and link 3203b; joint 32041b can be located at the connection between link 3203b and link 3204b; joint 32051b can be located at the connection between link 3204b and link 3205b; joint 32061b can be located at the connection between link 3205b and link 3206b; joint 32071b can be located at the connection between link 3206b and link 3207b; and joint 32081b can be located at the connection between link 3207b and link 3208b. Link 3208b serves as the farthest link of the second motion arm 320b, forming the end arm of the second motion arm 320b. The position and orientation of the end arm are determined and represented jointly by each of the aforementioned joints.

[0029] In some embodiments, the robotic system may also include one or more surgical instruments (e.g., Figure 2 The first surgical instrument 260a and the second surgical instrument 260b shown are illustrated. Figure 2 As shown, a first surgical instrument 260a can be detachably mounted on a first end arm 2208a of a first moving arm 220a, and a second surgical instrument 260b can be detachably mounted on a second end arm 2208b of a second moving arm 220b. It should be understood that the first surgical instrument 260a and the second surgical instrument 260b may include, but are not limited to, clamps, electrosurgical units, or image capture devices (e.g., endoscopic tools) for performing surgery, such as for illumination imaging. A portion of the first surgical instrument 260a and the second surgical instrument 260b can enter a body part of a human or animal to perform a medical procedure, such as surgery. In some embodiments, the surgical instruments may include, for example, […]. Figure 10 The surgical instrument 1000 is shown.

[0030] In some embodiments, such as Figure 2 As shown, the robotic system 200 may also include an auxiliary connection device 250, such as a sheath. A portion of the auxiliary connection device 250 may be positioned at the body part of a human or animal where surgery is required, such as a surgical opening (e.g., an incision or natural cavity), and another portion may be detachably connected to a motion arm (e.g., a first end arm 22081a or a second end arm 22081b connected to a first motion arm 220a or a second motion arm 220b) to better serve the surgery.

[0031] Figure 4 A partial cross-sectional view of an auxiliary connection device 400 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 4 As shown, the auxiliary connection device 400 may include multiple sheaths, such as a first sheath 451 and a second sheath 452. In some embodiments, the auxiliary connection device 250 may further include multiple connecting portions (e.g., a first connecting portion 4511 and a second connecting portion 4521) disposed on the multiple sheaths. The connecting portions may include, but are not limited to, clamps, engaging structures, adhesive structures, insertion and extraction structures, and suction structures. The first connecting portion 4511 and the second connecting portion 4521 may be fixedly disposed on the first sheath 451 and the second sheath 452, respectively. In some embodiments, the auxiliary connection device 400 further includes a main cavity tube 453 connected to at least one sheath. In some embodiments, the main cavity tube 453 may include multiple tool channels 4531, each tool channel 4531 communicating with a corresponding sheath.

[0032] In some embodiments, the auxiliary connecting device 400 is further provided with a positioning device. For example, such as Figure 4 As shown, the positioning device can be, for example, a positioning device 4512 disposed on the first sheath 451 or a positioning device 4532 disposed on the main body cavity 453. The positioning device 4512 can be used to detect the position of the first sheath 451. The positioning device 4532 can be used to detect the position of the main body cavity 453. Those skilled in the art will understand that a positioning device can also be disposed on the second sheath 452 to detect the position of the second sheath 452.

[0033] In some embodiments, after the surgical instruments are attached to the distal arm, they can pass through the sheath of the auxiliary connection device into the surgical operating space (e.g., the patient's abdominal cavity). For example, surgical tools or imaging tools can enter the surgical operating space through the sheath and tool channel.

[0034] It should be understood that, such as Figure 4The auxiliary connection device 400 shown is merely exemplary. In some embodiments, the robotic system may include other numbers of motion arms, such as one, three, four, or more motion arms, and the auxiliary connection device may include other numbers of sheaths, such as one, three, four, or more sheaths, each sheath including a corresponding connection portion for connecting each sheath to each motion arm and constraining the relative pose relationship between the ends of the multiple motion arms. Furthermore, the surgical instruments and sheaths are not necessarily in a one-to-one correspondence. For example, in some embodiments, multiple surgical instruments can enter the surgical operating space through the same sheath.

[0035] Figure 5 A schematic diagram of a motion arm connected to an auxiliary connecting device in a connection state 500 according to some embodiments of the present disclosure is shown. In some embodiments, each motion arm may include a connector that mates with a connecting portion of the auxiliary connecting device (e.g., Figure 2 The first connector 22081a or the second connector 22081b shown Figure 5 The connector shown is 55082. See also... Figure 5 The auxiliary connection device 550 includes four sheaths (e.g., sheath 551 and sheath 552) and a main body tube 553 connected to the sheaths. Figure 5 The diagram shows four moving arms. Taking moving arm 520 as an example, a connector 52082 for moving arm 520 is located at the end of the end arm 5208. Connector 52082 is connected to the connecting portion 5511 of sheath 551 to connect moving arm 520 to auxiliary connecting device 550. In some embodiments, connector 52082 is detachably fixed to connecting portion 5511 of sheath 551. In some embodiments, auxiliary connecting device 550 may, for example, be connected to... Figure 4 The auxiliary connection device 400 shown has the same construction.

[0036] In some embodiments, if there are multiple surgical instruments, they can enter the surgical operating space simultaneously or sequentially through their respective sheaths. For example, the first surgical instrument and the second surgical instrument can enter the surgical operating space simultaneously through the first and second sheaths, respectively, or the first surgical instrument can enter the surgical operating space first through the first sheath, followed by the second surgical instrument through the second sheath. In some embodiments, the sheath of the auxiliary connecting device can be flexible, and the portion of the surgical instrument extending through the auxiliary connecting device is also flexible.

[0037] It should be understood that the end effector of the motion arm may be, for example, the distal end of the end arm, the remote center of motion (RCM), or a connector of the motion arm. The end effector pose of the motion arm may be the pose of the end effector coordinate system relative to the coordinate system of the support, base, or world coordinate system on which the motion arm is located. In some embodiments, the relative pose relationship of the ends of multiple motion arms may be determined based on the current surgical type or the configuration of the auxiliary connection device. For example, the configuration of the auxiliary connection device may be determined based on the current surgical type. Based on the configuration of the auxiliary connection device, the shape and relative positional relationship between the multiple sheaths of the auxiliary connection device are determined to determine the relative pose relationship of the ends of multiple motion arms. For example, the relative pose relationship of the ends of the first motion arm and the second motion arm may be determined based on the shape and relative positional relationship of the first sheath and the second sheath. In some embodiments, the relative pose relationship of the ends of the first motion arm and the second motion arm may indicate the relative positional relationship and relative posture relationship of the ends of the first motion arm and the second motion arm. For example, the relative pose relationship of the end effector may include, for instance, the relative pose relationship between a first end effector or a portion thereof of a first moving arm and a second end effector or a portion thereof of a second moving arm. Alternatively, the relative pose relationship of the end effector may also include the relative pose relationship between a first surgical instrument (mounted on the first end effector) and a second surgical instrument (mounted on the second end effector). Alternatively, the relative pose relationship of the end effector may also include the relative pose relationship between a first connector and a second connector fixedly disposed on the first and second end effectors. In some embodiments, the relative pose relationship may be stored in an associated relative pose model for calculating the target pose of the end effector of the second moving arm. Since the first connector and the second connector are respectively fixed on the first and second end effectors, when the first and second end effectors conform to the relative pose relationship of the end effector, the first connector and the second connector may be connected to the first connecting portion and the second connecting portion, respectively.

[0038] In some embodiments of this disclosure, the target position or orientation of the end effector of each motion arm can be achieved by one or more joints among a plurality of joints included in the respective motion arm. In some embodiments, the plurality of joints of the motion arm used to achieve the target orientation are closer to the distal end of the motion arm than the plurality of joints of the motion arm used to achieve the target position. It should be understood that the plurality of joints used to achieve the target orientation and target position of the end effector of the motion arm may also include other configurations, which can be set according to specific requirements.

[0039] During the preoperative preparation phase, the position of the auxiliary connection device is relatively fixed (e.g., the auxiliary connection device is connected to the patient's abdominal wall, and the auxiliary connection device is in a relatively fixed state to avoid traction on the patient's abdominal wall). In some embodiments, the movement arm can be positioned preoperatively based on the position of the auxiliary connection device so that the movement arm is in a suitable position for connection with the sheath of the auxiliary connection device.

[0040] This disclosure provides a control method for a robot system through several embodiments. In some embodiments, the robot system includes multiple kinematic arms, such as... Figure 2 or Figure 5 As shown. Figure 6 A flowchart of a control method 600 for a robot system according to some embodiments of the present disclosure is shown. Some or all of the steps in method 600 may be controlled by a control device (e.g., control device 110) of the robot system 100 or... Figure 9 The method is executed by the controller of the illustrated main control carriage 940 or operating carriage 930. The control device 110 can be configured on a computing device. Method 600 can be implemented by software, firmware, and / or hardware. In some embodiments, method 600 can be implemented as computer-readable instructions. These instructions can be read and executed by a general-purpose processor or a special-purpose processor. In some embodiments, these instructions can be stored on a computer-readable medium.

[0041] See Figure 6 In step 601, the pose of the first sheath of the auxiliary connecting device is obtained. In some embodiments, the pose of the first sheath can be represented by the pose of the coordinate system of the first sheath. For example, the pose of the coordinate system of the first sheath relative to a reference coordinate system can be used as the pose of the first sheath. The reference coordinate system can be, for example, the base coordinate system of the robot system or the motion arm, or the world coordinate system. In some embodiments, the origin of the coordinate system of the first sheath can be set at the entrance position of the first sheath, or it can be set at the connecting part of the first sheath. In some embodiments, the auxiliary connecting device can be, for example, a... Figure 2 The auxiliary connection device 250 shown, or Figure 4 The auxiliary connection device 400 shown, or Figure 5 The auxiliary connection device 550 shown.

[0042] In some embodiments, a first positioning device is provided on the auxiliary connecting device, and method 600 further includes: determining the pose of the first sheath based on the first positioning device. In some embodiments, the first positioning device is, for example, a sheath positioning device (the sheath positioning device may be, for example, a positioning device 4512 provided on the first sheath 451). The first positioning device may be located at the position of the coordinate system of the first sheath, and the first positioning device may also have a defined pose transformation relationship with the coordinate system of the first sheath. In some embodiments, the first positioning device may be able to detect first positioning information for positioning. Method 600 further includes: detecting the first positioning information of the first positioning device; and determining the pose of the first sheath based on the first positioning information.

[0043] In some embodiments, method 600 further includes: determining the pose of the main cavity of the auxiliary connecting device based on the first positioning device; and determining the pose of the first sheath based on the pose of the main cavity of the auxiliary connecting device and the configuration of the auxiliary connecting device. In some embodiments, the pose of the main cavity of the auxiliary connecting device can be represented by the pose of the coordinate system of the main cavity relative to a reference coordinate system. In some embodiments, the pose of the main cavity can be used as the pose of the auxiliary connecting device. In some embodiments, the first positioning device is, for example, a main positioning device (the main positioning device can be, for example, a positioning device 4532 disposed on the main cavity 453). The first positioning device can be disposed at the position of the coordinate system of the main cavity, and the first positioning device can also have a defined pose transformation relationship with the coordinate system of the main cavity. It should be understood that after the configuration or structure of the auxiliary connecting device is determined, the relative pose relationship between the first sheath and the main cavity can be determined. The pose transformation relationship between the coordinate system of the first sheath and the coordinate system of the main cavity can be basically determined according to the configuration of the auxiliary connecting device. In some embodiments, the pose of the main cavity can be determined based on the first positioning information of the first positioning device.

[0044] In some embodiments, the first positioning device may be, for example, one of a sound wave generating device, a magnetic field generating device, and an optical positioning device. In some embodiments, the first positioning information may include at least one of acoustic positioning information, electromagnetic positioning information, and optical positioning information.

[0045] Continue reading Figure 6 In step 603, a first target pose of the first moving arm is determined based on the pose of the first sheath. In some embodiments, the first target pose of the first moving arm can be represented by a set of target joint values ​​(e.g., a one-dimensional matrix composed of these target joint values) of multiple joints included in the first moving arm.

[0046] In some embodiments, method 600 further includes: determining a target pose of a first swing point of the first moving arm; and determining a first target pose of the first moving arm based on the target pose of the first swing point and a kinematic model of the first moving arm. In some embodiments, the target pose of the first swing point can be determined based on the pose of the first sheath. In this disclosure, the swing point of the moving arm can be a pose reference point of the position where the moving arm is connected to the sheath during swinging.

[0047] When the pivot point is in a predetermined target pose, the connection position of the motion arm to the sheath is in a suitable pose for connection with the sheath. In this disclosure, the pose of the pivot point can be represented by the pose of the coordinate system of the pivot point. For example, the pose of the coordinate system of the pivot point relative to a reference coordinate system can be used as the pose of the pivot point. In some embodiments, the pivot point of the motion arm can be located on the connector of the motion arm, or the pivot point of the motion arm can also be located at the end of the motion arm, or the pivot point of the motion arm can be the distal motion center of the motion arm. For example, the pivot point of the motion arm can be located at the end of the motion arm, and the pose of the pivot point can be the same as the pose of the end of the motion arm (e.g., the coordinate system of the end of the motion arm is the same as the coordinate system of the pivot point) or have a predetermined transformation relationship with the pose of the end of the motion arm. In some embodiments, the motion arm can be described by a kinematic model, and the kinematic model of the motion arm can be determined based on the structure of the motion arm. In some embodiments, the kinematic model of the motion arm can be constructed based on the DH parameter method. For example, the DH matrix corresponding to the joints of the motion arm is determined, and the kinematic model of the motion arm is determined based on the DH matrix of the joints. Based on the target pose of the first pivot point and the kinematic model of the first moving arm, the first target pose of the first moving arm can be calculated using an inverse kinematics algorithm. In some embodiments, based on the target pose of the first pivot point and the kinematic model of the first moving arm, the joint values ​​of some or all joints of the first moving arm can be calculated using an inverse kinematics algorithm as the first target pose.

[0048] In some embodiments, method 600 further includes: determining predetermined target joint values ​​for characteristic joints among a plurality of joints of the first motion arm; and determining target joint values ​​for other joints of the first motion arm based on the target pose of the first pivot point, the predetermined target joint values, and the kinematic model of the first motion arm. In some embodiments, the characteristic joints among the plurality of joints of the motion arm may be joints that are prone to collision with other motion arms or structures, for example... Figure 3The joints shown are 32051b or 32061b. It should be understood that when the robot system includes multiple motion arms (e.g., three or four motion arms), the predetermined target joint values ​​for the characteristic joints of different motion arms may be different. In some embodiments, the target joint values ​​for other joints may include the target joint values ​​for all other joints of the first motion arm except for the characteristic joints. In some embodiments, based on the target pose of the first positioning point, the predetermined target joint values, and the kinematic model of the first motion arm, the target joint values ​​for the other joints of the first motion arm can be calculated using an inverse kinematics algorithm.

[0049] In some embodiments, method 600 further includes: determining whether the target joint value of other joints is within the joint range of motion of the corresponding joint; and, in response to at least one of the target joint values ​​of other joints not being within the joint range of motion of the corresponding joint, increasing or decreasing the predetermined target joint value by a preset adjustment value to adjust the predetermined target joint value. It should be understood that each joint of the motion arm has a certain range of motion, and the joint range of motion of each joint includes the range between the minimum limit joint value and the maximum limit joint value of the corresponding joint. In some embodiments, the minimum limit joint value and the maximum limit joint value may not be within the joint range of motion. For example, and not as a limitation, some joints move between 18 degrees and 45 degrees, some joints move between 45 degrees and 90 degrees, and some joints move between -90 degrees and -45 degrees, etc. In some embodiments, the preset adjustment value may be set to, for example, 0.2° or 0.5°, etc., to adjust the predetermined target joint value. It should be understood that 0.2° or 0.5° is only an example, and the adjustment value may also be set to other values. In some embodiments, the preset adjustment value is increased or decreased until a solution is found or the joint range of motion of the characteristic joint (which may not include the limit value) is reached. For example, a solution can indicate that the predetermined target joint value or the target joint value of another joint is within the joint range of motion of the corresponding joint. In some embodiments, method 600 further includes determining whether the adjusted predetermined target joint value is within the joint range of motion of the feature joint.

[0050] In some embodiments, method 600 further includes: in response to the fact that the target joint values ​​of other joints are all within the joint range of motion of the respective joints, determining a first target pose of the first moving arm based on a predetermined target joint value and the target joint values ​​of other joints. For example, in response to the fact that the target joint values ​​of other joints of the first moving arm are all within the joint range of motion of the respective joints, selecting the set of the predetermined target joint value and the target joint values ​​of other joints as the first target pose of the first moving arm.

[0051] Continue reading Figure 6In step 605, the first moving arm is controlled to move to a first target pose to connect with the first sheath of the auxiliary connecting device. In some embodiments, the control device may control the movement of multiple joints of the first moving arm to move the first moving arm from a first initial pose to a first target pose to connect with the first sheath. For example, in the first target pose, the first end effector is connected to the first sheath of the auxiliary connecting device.

[0052] In some embodiments, the plurality of moving arms further includes a second moving arm. Method 600 further includes: determining a second target pose of the second moving arm based on the pose of the first sheath or a first target pose. In some embodiments, method 600 further includes: determining a target pose of a second swing point on the second moving arm based on the relative pose relationship between the first and second sheaths and the pose of the first sheath or the first target pose and the relative pose relationship between the first and second moving arms, wherein the relative pose relationship between the first and second sheaths or the relative pose relationship between the first and second moving arms is determined based on the configuration of the auxiliary connecting device; and determining the second target pose of the second moving arm based on the target pose of the second swing point on the second moving arm. After the configuration or structure of the auxiliary connecting device is determined, the relative pose relationship between the first and second sheaths or the relative pose relationship between the first and second moving arms can be determined based on the configuration or structure of the auxiliary connecting device. The pose transformation relationship between the coordinate system of the second sheath and the coordinate system of the first sheath or the relative pose relationship between the first and second moving arms can be basically determined according to the configuration of the auxiliary connecting device. For example, the pose transformation relationship between the coordinate systems of the second sheath and the first sheath, or the relative pose relationship between the first and second moving arms, can be predetermined. In actual operation, the predetermined pose transformation relationship between the coordinate systems of the second and first sheaths, or the relative pose relationship between the first and second moving arms, can be conveniently invoked. In some embodiments, the pose of the second sheath can be determined based on the relative pose relationship between the first and second sheaths and the pose of the first sheath. In some embodiments, the target pose of the second swing point can be determined based on the pose of the second sheath. In some embodiments, similar to the first moving arm, the second target pose of the second moving arm can be determined based on the target pose of the second swing point and the kinematic model of the second moving arm. For example, based on the target pose of the second swing point and the kinematic model of the second moving arm, the joint values ​​of some or all joints of the second moving arm can be calculated using an inverse kinematics algorithm as the second target pose. In some embodiments, method 600 further includes: controlling the second moving arm to move to the second target pose to connect with the second sheath. In some embodiments, the control device may control the movement of multiple joints of the second moving arm to move the second moving arm from a second initial position to a second target position for connection with the second sheath. For example, in the second target position, the second end arm is connected to the second sheath of the auxiliary connecting device.

[0053] In some embodiments, the plurality of moving arms further includes a second moving arm, and method 600 further includes: obtaining the pose of a second sheath on an auxiliary connecting device based on a second positioning device, wherein the second positioning device is disposed on the second sheath of the auxiliary connecting device; and determining a second target pose of the second moving arm based on the pose of the second sheath. In some embodiments, the second positioning device is, for example, a sheath positioning device. The second positioning device may be disposed at the location of the coordinate system of the second sheath, or the coordinate system of the second positioning device and the coordinate system of the second sheath may have a defined pose transformation relationship. In some embodiments, the pose of the second sheath may be represented by the pose of the coordinate system of the second sheath. For example, the pose of the coordinate system of the second sheath relative to a reference coordinate system may be used as the pose of the second sheath. In some embodiments, the origin of the coordinate system of the second sheath may be disposed at the entrance position of the second sheath, or it may be disposed at the connecting portion of the second sheath.

[0054] In some embodiments, the second positioning device can detect second positioning information for positioning. Method 600 further includes: detecting the second positioning information of the second positioning device; and determining the pose of the second sheath based on the second positioning information. In some embodiments, the second positioning device and the first positioning device can be positioning devices of the same type or specification. For example, both the first and second positioning devices can be magnetic field generating devices. In some embodiments, determining the pose of the second sheath based on the second positioning information can be implemented similarly to determining the pose of the first sheath based on the first positioning information described above.

[0055] In some embodiments, similar to determining the pose of the first sheath as described above, method 600 further includes: determining the pose of the second sheath based on the pose of the main lumen of the auxiliary connecting device and the configuration of the auxiliary connecting device. The pose of the main lumen can be determined based on a first positioning device or a second positioning device. For example, in some embodiments, the second positioning device is, for instance, a main lumen positioning device, which can be positioned at the location of the main lumen in the coordinate system, and the pose of the main lumen is determined based on the second positioning device.

[0056] In some embodiments, method 600 further includes: controlling a first moving arm to connect to a first sheath. In some embodiments, a control device controls the first moving arm to connect to the first sheath. In some embodiments, a first connector of the first moving arm is controlled to connect to a first connecting portion of the first sheath so that the first moving arm is connected to the first sheath. In some embodiments, method 600 further includes: controlling a second moving arm to connect to a second sheath. Similar to the first moving arm, the control device can control the second moving arm to connect to the second sheath. In some embodiments, a second connector of the second moving arm is controlled to connect to a second connecting portion of the second sheath so that the second moving arm is connected to the second sheath. In some embodiments, the first moving arm and the second moving arm are controlled to connect to the first sheath and the second sheath simultaneously or sequentially. For example, the control device controls the first moving arm and the second moving arm to move simultaneously to connect to the first sheath and the second sheath, respectively. For example, the control device can first control the first moving arm to connect to the first sheath, and in response to the first moving arm connecting to the first sheath, the control device controls the second moving arm to connect to the second sheath.

[0057] In some embodiments, a first motion path of the first moving arm can be determined based on a first target pose. In some embodiments, method 600 further includes: controlling the first moving arm to move to the first target pose based on the first motion path. In some embodiments, a second motion path of the second moving arm can be determined based on a second target pose. Method 600 further includes: controlling the second moving arm to move to the second target pose based on the second motion path. In some embodiments, method 600 further includes: synchronously or sequentially controlling the first moving arm to move to the first target pose and the second moving arm to move to the second target pose based on the first motion path and the second motion path. It should be understood that the motion path may include the path of multiple joints of the moving arm. In some embodiments, the movement of multiple joints of the moving arm can be controlled based on the motion path to make the moving arm move to the target pose according to a set motion path. For example, a control device can control the movement of multiple joints of the first moving arm based on the first motion path to make the first moving arm move to the first target pose according to a set first motion path.

[0058] Figure 7 A flowchart of a method 700 for determining the motion path of a motion arm according to some embodiments of the present disclosure is shown. Some or all of the steps in method 700 may be controlled by the control device of robot system 100 (e.g., control device 110) or... Figure 9The method 700 is executed by the controller of the illustrated main control carriage 940 or operating carriage 930. The method 700 can be implemented by software, firmware, and / or hardware. In some embodiments, the method 700 can be implemented as computer-readable instructions. These instructions can be read and executed by a general-purpose processor or a special-purpose processor. In some embodiments, these instructions can be stored on a computer-readable medium. In some embodiments, the method 700 can be used to determine a first motion path of a first moving arm or a second motion path of a second moving arm.

[0059] See Figure 7 In step 701, the initial pose of the motion arm is obtained. In some embodiments, the initial pose of the motion arm can be obtained by using sensors mounted at each joint of the motion arm to obtain the initial joint values ​​of each joint. It should be understood that the initial pose may also include the current pose of the motion arm.

[0060] In step 703, the motion path of the arm is determined based on the initial pose and the target pose of the arm. In some embodiments, for example, based on the initial pose and the target pose of the arm, interpolation can be used to plan the motion path of the arm from its initial pose to its target pose.

[0061] In some embodiments, method 700 may further include: determining whether an interference relationship will form between the current moving arm and other moving arms of a plurality of moving arms. For example, during the planning of the second motion path of the second moving arm, determining whether an interference relationship will form between the first and second moving arms. An interference relationship may include, for example, a collision between the second and first moving arms. In some embodiments, in response to the fact that the target joint values ​​of all other joints of the second moving arm are within the joint motion range of the corresponding joints, determining whether an interference relationship will form between the second and first moving arms. The joint motion range may be determined based on the pose of the first moving arm to avoid interference with the first moving arm. In some embodiments, in response to the fact that no interference relationship will form between the second and first moving arms, controlling the second moving arm to move to the second target pose based on the second motion path. In some embodiments, when there are multiple sets of solutions that satisfy the conditions for the joint values ​​of the moving arm (e.g., multiple sets of target joint values ​​of the second moving arm that satisfy the conditions), the set of solutions with the lowest probability of interference between each joint of the second moving arm and the first moving arm may be selected as the target joint values ​​of the second moving arm. It should be understood that the probability of interference and whether interference has occurred can be determined based on the predetermined target joint values ​​of the second moving arm and the distances between the target joint values ​​of other joints and the corresponding joint values ​​of the first moving arm. For example, the greater the distance, the lower the probability of interference.

[0062] In some embodiments, the control device of the robot system is configured to perform the methods of this disclosure. For example... Figure 6 and Figure 7 Some or all of the steps in method 600 or method 700 are shown. In some embodiments, the robot system may be, for example, […]. Figure 1 The robot system 100 shown, or Figure 9 The surgical robot system 900 is shown.

[0063] In some embodiments, the robot system further includes: an auxiliary connection device, comprising at least one sheath for connection to a plurality of motion arms (e.g., Figure 5 The sheath 551 shown is connected to the corresponding motion arm 520; and the pose detection device includes: at least one positioning device; and a detector connected to the control device for detecting positioning information of the at least one positioning device. In some embodiments, the auxiliary connection device may be, for example, Figure 2 The auxiliary connection device 250 shown, or Figure 4 The auxiliary connection device 400 shown, or Figure 5 The auxiliary connection device 550 is shown. In some embodiments, at least one positioning device may be, for example, Figure 4 The positioning device 4512 or positioning device 4532 shown in the figure. In some embodiments, at least one positioning device may also be, for example, a positioning device 4512 or positioning device 4532. Figure 5 The positioning device 5512 is shown in the figure. In some embodiments, the detector may be disposed, for example, on the body or crossbeam of the operating table. For example, Figure 2 The crossbeam 2302 shown is equipped with a detector 23021 or Figure 3 A detector 33021 is provided on the crossbeam 3302 shown. In some embodiments, the detector may be provided, for example, on the motion arm, such as on... Figure 5 The motion arm 520 shown.

[0064] In some embodiments, the auxiliary connection device includes a main lumen tube connected to at least one sheath tube, and at least one positioning device includes a main positioning device disposed on the main lumen tube (e.g., Figure 4 The positioning device 4532 shown is disposed on the main body cavity tube 453. In some embodiments, at least one positioning device includes a sheath positioning device disposed on the first sheath tube (e.g., Figure 4 The positioning device 4512 shown is disposed on the first sheath 451. In some embodiments, at least one positioning device includes a sound wave generating device and a detector including a sound wave detector; or at least one positioning device includes a magnetic field generating device and a detector including a magnetic field detector; or at least one positioning device includes an optical positioning device and a detector including a light signal collector.

[0065] In some embodiments, the acoustic wave generating device may include, for example, multiple ultrasonic generators. For example, the acoustic wave generating device may include three or more ultrasonic generators. In some embodiments, the multiple ultrasonic generators may be disposed on a sheath (e.g., a first sheath or a second sheath), or the multiple acoustic wave generators may be disposed on a main body cavity. In some embodiments, the multiple ultrasonic generators may be distributed across the sheath and the main body cavity. In some embodiments, the acoustic wave detector may include, for example, multiple ultrasonic detection units. For example, the acoustic wave detector may include three or more ultrasonic detection units. The multiple ultrasonic detection units are disposed at relatively fixed positions to receive ultrasonic pulse signals emitted by the multiple ultrasonic generators. For example, the multiple ultrasonic detection units have a known relative pose relationship with a reference coordinate system. In some embodiments, the multiple ultrasonic detection units may be disposed on the crossbeam of a robot system.

[0066] In some embodiments, the magnetic field generating device includes multiple or multiple sets of magnetic field generators. A magnetic field detector is used to detect electromagnetic positioning information generated by the multiple magnetic field generators. In some embodiments, the electromagnetic positioning information may include at least one of the magnetic field strength, magnetic field polarity, magnetic field direction, and magnetic field shape generated by the magnetic field generators. In some embodiments, the multiple magnetic field generators may include two or two sets of magnetic field generators, used to generate a first magnetic field having a first shape and a second magnetic field having a second shape, respectively. The relative pose relationship between the magnetic field detector and the multiple magnetic field generators is determined based on the first and second magnetic fields detected by the magnetic field detector, thereby determining the pose of the sheath or main cavity. In some embodiments, the multiple magnetic field generators may be arranged in a predetermined manner on the sheath or main cavity. In some embodiments, the magnetic field detector may be mounted on the crossbeam of the robot system. In other embodiments, the magnetic field detector may be mounted on the sheath or main cavity, and the multiple magnetic field generators may be arranged in a predetermined manner at fixed positions, such as on the main body or crossbeam of an operating table.

[0067] In some embodiments, the optical positioning device may be, for example, a positioning tag disposed on the sheath or main cavity. For example, the positioning tag may be disposed around the periphery of the sheath or main cavity. In some embodiments, the optical positioning device may be, for example, a dot marker disposed on the sheath or main cavity. For example, multiple dot markers may be distributed on the sheath or main cavity according to a predetermined arrangement rule. In some embodiments, the optical signal collector may be, for example, an image collector to acquire image information including the positioning tag or dot marker. In some embodiments, the optical signal collector may be, for example, a light intensity detector to detect the light intensity information emitted or reflected by the positioning tag or dot marker.

[0068] In some embodiments of this disclosure, a computer device is also provided, including a memory and a processor. The memory may be used to store at least one instruction, and the processor is coupled to the memory for executing the at least one instruction to perform some or all of the steps in the method of this disclosure, such as... Figure 6 and Figure 7 Some or all of the steps in the disclosed method 600 or method 700.

[0069] Figure 8 A schematic block diagram of a computer device 800 according to some embodiments of the present disclosure is shown. See also Figure 8 The computer device 800 may include a Central Processing Unit (CPU) 801, a system memory 804 including Random Access Memory (RAM) 802 and Read-Only Memory (ROM) 803, and a system bus 805 connecting the various components. The computer device 800 may also include an input / output device 806 and a mass storage device 807 for storing an operating system 813, application programs 814, and other program modules 815. The input / output device 806 includes an input / output controller 810 mainly composed of a display 808 and input devices 809.

[0070] Mass storage device 807 is connected to central processing unit 801 via a mass storage controller (not shown) connected to system bus 805. Mass storage device 807 or computer-readable media provides non-volatile storage for computer devices. Mass storage device 807 may include computer-readable media (not shown) such as hard disk or compact disc read-only memory (CD-ROM) drives.

[0071] Without loss of generality, computer-readable media can include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include read-only memory, random access memory, flash memory or other solid-state storage technologies, read-only optical discs or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the above-mentioned types. The aforementioned system memories and mass storage devices can be collectively referred to as memory.

[0072] Computer device 800 can be connected to network 812 via network interface unit 811 connected to system bus 805.

[0073] The system memory 804 or mass storage device 807 is also used to store one or more instructions. The central processing unit 801 implements all or part of the steps of the methods in some embodiments of this disclosure by executing the one or more instructions.

[0074] In some embodiments of this disclosure, a computer-readable storage medium is also provided, storing at least one instruction that is executed by a processor to cause a computer to perform some or all of the steps in the methods of some embodiments of this disclosure, such as... Figure 6 and Figure 7 Some or all of the steps in the disclosed method. Examples of computer-readable storage media include memory for computer programs (instructions), such as read-only memory, random access memory, read-only optical disk, magnetic tape, floppy disk, and optical data storage devices.

[0075] Figure 9 A schematic diagram of a surgical robot system 900 according to some embodiments of the present disclosure is shown. In some embodiments of the present disclosure, see [reference needed]. Figure 9 The surgical robot system 900 may include a surgical tool 960a, a main control carriage 940, and a surgical carriage 930. A drive module is provided on the surgical carriage 930 for driving the surgical tool 960a, which is mounted on the surgical carriage 930 and connected to the drive module. The main control carriage 940 is communicatively connected to the surgical carriage 930 and is used to control the surgical tool 960a to perform surgical operations. In some embodiments, the control device of the main control carriage 940 or the surgical carriage 930 may be used to perform some or all of the steps in the methods of some embodiments of this disclosure, such as... Figure 6 and Figure 7 The method disclosed herein includes some or all of the steps. In some embodiments, the main control carriage 940 and the operating carriage 930 are connected via wired or wireless transmission. For example, the main control carriage 940 and the operating carriage 930 can be connected via a cable. In some embodiments, the surgical robot system 900 may further include an imaging tool 960b. The imaging tool 960b may include a manipulator arm and an imaging module disposed at the end of the manipulator arm. The imaging tool 960b may be disposed on the operating carriage 930 and driven by a corresponding drive module. Images of the manipulator arm and actuators of the surgical tool 960a acquired by the imaging module can be transmitted to the main control carriage 940. In some embodiments, the surgical tool 960a is, for example, a Figure 10 The surgical instrument 1000 is shown in the image. In some embodiments, the main control carriage 940 is, for example, a surgical instrument 1000. Figure 11The main control carriage 1100 is shown in the figure. In some embodiments, the surgical carriage 930 is, for example, a Figure 12 The surgical cart 1200 is shown in the image.

[0076] In some embodiments, a surgical robot or system includes at least two surgical tools, each tool comprising a manipulator arm and an actuator disposed at the end of the manipulator arm. In some embodiments, a surgical robot system may include a surgical cart capable of mounting at least two surgical tools. In some embodiments, a surgical robot system may include at least two surgical carts, each cart mounting one surgical tool.

[0077] Figure 10 A schematic diagram of a surgical tool 1000 according to some embodiments of the present disclosure is shown. Referring to some embodiments of the present disclosure... Figure 10 The surgical tool 1000 includes a drive transmission device 1090, an operating arm 1040, and an actuator 1060 disposed at the end of the operating arm. In some embodiments, the drive transmission device 1090 can cooperate with a drive module to drive the operating arm 1040 to move. The drive transmission device 1090 is used to connect to the drive module, and the driving force of the drive module is transmitted to the operating arm 1040 through the drive transmission device 1090, thereby driving the operating arm 1040 to achieve multi-degree-of-freedom movement. The drive module can also control the actuator 1060 to perform surgical operations. In some embodiments of this disclosure, the actuator 1060 may include, but is not limited to, a bipolar curved dissecting forceps actuator, a bipolar curved grasping forceps actuator, a unipolar curved scissors actuator, a unipolar electric hook actuator, a bipolar grasping forceps actuator, a needle holder actuator, and a tissue grasping forceps actuator. In some embodiments, the surgical tool 1000 may be mounted, for example, on a drive transmission device 1090. Figure 9 The surgical cart 930 shown in the image Figure 12 The surgical cart 1200 is shown in the image.

[0078] Figure 11 A schematic diagram of a main control carriage 1100 according to some embodiments of the present disclosure is shown. In some embodiments of the present disclosure, see [reference needed]. Figure 11 The main control carriage 1100 includes: a controller (which can be configured on a computer device and is located inside the main control carriage 1100), a main operator 1101, a main control carriage display (e.g., displays 1102-1104), and pedals (e.g., pedals 1105-1107). The controller is communicatively connected to the main operator 1101, the main control carriage display, and the pedals, respectively, for signal interaction with the main operator 1101, the main control carriage display, and the pedals, and for generating corresponding control commands based on collected control information. In some embodiments, the controller is also communicatively connected to a surgical carriage, for example, with... Figure 9The surgical cart 930 shown is communication-connected and used to control the surgical instrument 960b to perform surgical operations or to control the imaging instrument 960a to operate. In some embodiments, the controller of the main control cart 1100 can also be used to perform some or all of the steps in the methods of some embodiments of this disclosure, such as... Figure 6 and Figure 7 Some or all of the steps in the method disclosed herein.

[0079] In some embodiments, the master manipulator 1101 typically includes a left master manipulator (e.g., for controlling the first manipulator arm) for operation with the left hand of the medical worker and a right master manipulator (e.g., for controlling the second manipulator arm) for operation with the right hand. In practical scenarios, the master manipulator 1101 is used to collect the operation input of the medical worker, who then remotely operates the master manipulator 1101 to control the movement of surgical or imaging tools within the operating area to perform medical operations. In some embodiments, the master manipulator 1101 includes a multi-degree-of-freedom robotic arm 11011, with a master manipulator sensor located at each joint of the multi-degree-of-freedom robotic arm 11011. Joint information (such as joint angle data) is generated through the master manipulator sensor at each joint. In some embodiments, the master manipulator sensor employs a potentiometer and / or an encoder. In some embodiments, the multi-degree-of-freedom robotic arm 11011 has six degrees of freedom. In some embodiments, the pose of the master manipulator 1101 can be represented by a set of joint information of the master manipulator joints (e.g., a one-dimensional matrix composed of this joint information). In some embodiments, the main manipulator 1101 further includes a clamp 11012, which can be used to control the opening and closing angle of the actuator. In some embodiments, the main control carriage display includes a stereoscopic display 1102, a main control external display 1103, and a main control touch display 1104. The stereoscopic display 1102 displays surgical images and system status prompts, the main control external display 1103 displays surgical images and system status prompts, and the touch display 1104 displays the software user interface of the main control carriage 1100. In some embodiments, the images displayed by the stereoscopic display 1102 or the main control external display 1103 can be determined based on images acquired by the imaging module, for example... Figure 12 The imaging module 1262b shown is included. In some embodiments, the main control carriage pedal is used to collect input from the feet of medical staff and includes structures such as an electrocautery pedal 1105, an electrocoagulation pedal 1106, and a clutch pedal 1107.

[0080] Figure 12 A schematic diagram of a surgical cart 1200 according to some embodiments of the present disclosure is shown. In some embodiments of the present disclosure, see [reference needed]. Figure 12The operating trolley 1200 includes: a controller (which can be configured on a computer device and is located inside the operating trolley 1200), an operating trolley chassis 1202, an operating trolley housing 1203, a system status display 1205, a main column 1206, a main crossbeam 1207, motion arms 1220, and a drive module 1209. The operating trolley chassis 1202 is used to realize the movement and fixing functions of the operating trolley 1200. The operating trolley housing 1203 is used to integrate the electrical components of the operating trolley internally. The system status display 1205 is used to display the operating trolley system user interface and receive user input. The main column 1206 is height-adjustable, and its top is fixed to the main crossbeam 1207. The end of the main crossbeam 1207 has a crossbeam platform, and multiple motion arms 1220 are fixed to the lower end of the crossbeam platform. The motion arm 1220 is equipped with a drive module 1209, which is used to load surgical tools 1260a or imaging tools 1260b (the imaging tool 1260b may be, for example, a 3D electronic endoscope). In some embodiments, the surgical cart 1200 integrates multiple motion arms 1220, each motion arm 1220 having multiple motion joints. In some embodiments, the surgical cart 1200 integrates multiple surgical tools 1260a and imaging tools 1260b, with some manipulating arms 1261a and actuators 1262a of the multiple surgical tools 1260a and some manipulating arms 1261b and imaging modules 1262b of the imaging tools 1260b entering the workspace via the sheath and main cavity tube 1253 of the auxiliary connecting device. In some embodiments, the controller of the surgical cart 1200 can also be used to perform some or all of the steps in the methods of some embodiments of this disclosure, such as... Figure 6 and Figure 7 Some or all of the steps in the method disclosed herein.

[0081] While specific embodiments of the invention have been illustrated and described, it will be apparent to those skilled in the art that many other changes and modifications can be made without departing from the spirit and scope of the invention. Therefore, all such changes and modifications falling within the scope of the invention are included in the appended claims.

Claims

1. A control method for a robot system, the robot system comprising a plurality of motion arms, the plurality of motion arms including a first motion arm, the method comprising: Obtain the position of the first sheath of the auxiliary connecting device; Based on the pose of the first sheath, the first target pose of the first moving arm is determined; as well as Control the first moving arm to move to the first target position so as to connect with the first sheath of the auxiliary connecting device; The auxiliary connecting device is provided with a first positioning device, and the method further includes: determining the position of the first sheath based on the first positioning device; Determining the first target pose of the first moving arm includes: Determine the target pose of the first swing point of the first moving arm; and Based on the target pose of the first placement point and the kinematic model of the first moving arm, the first target pose of the first moving arm is determined, and the first target pose of the first moving arm is represented by a set of target joint values ​​of multiple joints contained in the first moving arm. Controlling the first moving arm to move to the first target pose includes: Obtain the first initial pose of the first moving arm; Based on the first initial pose and the first target pose, determine the first motion path of the first arm; and Based on the first motion path, control the first motion arm to move to the first target pose.

2. The control method according to claim 1, further comprising: Based on the first positioning device, the position and orientation of the main cavity tube of the auxiliary connecting device are determined; as well as The position of the first sheath is determined based on the orientation of the main cavity of the auxiliary connecting device and the configuration of the auxiliary connecting device.

3. The control method according to claim 1, comprising: Detect the first positioning information of the first positioning device; as well as Based on the first positioning information, the pose of the first sheath is determined.

4. The control method according to claim 3, wherein the first positioning information includes: At least one of acoustic positioning information, electromagnetic positioning information, and optical positioning information.

5. The control method according to any one of claims 1-4, further comprising: Control the first moving arm to connect with the first sheath.

6. The control method according to claim 1, comprising: Determine the predetermined target joint values ​​of the characteristic joints among the multiple joints of the first moving arm; as well as Based on the target pose of the first positioning point, the predetermined target joint values, and the kinematic model of the first moving arm, the target joint values ​​of the other joints of the first moving arm are determined.

7. The control method according to claim 6, comprising: Determine whether the target joint values ​​of the other joints are within the range of motion of the corresponding joints; as well as In response to at least one of the target joint values ​​of the other joints being outside the joint range of motion of the corresponding joint, the predetermined target joint value is increased or decreased by a preset adjustment value to adjust the predetermined target joint value. or In response to the fact that the target joint values ​​of the other joints are all within the joint range of motion of the corresponding joints, the first target pose of the first moving arm is determined based on the predetermined target joint value and the target joint values ​​of the other joints.

8. The control method according to claim 1, wherein the plurality of moving arms further includes a second moving arm, the method comprising: The second target pose of the second motion arm is determined based on the pose of the first sheath or the first target pose.

9. The control method according to claim 8, further comprising: Based on the relative pose relationship between the first sheath and the second sheath and the pose of the first sheath or the first target pose and the relative pose relationship between the first moving arm and the second moving arm, the target pose of the second swing point on the second moving arm is determined, wherein the relative pose relationship between the first sheath and the second sheath or the relative pose relationship between the first moving arm and the second moving arm is determined based on the configuration of the auxiliary connecting device. Based on the target pose of the second swing point on the second motion arm, determine the second target pose of the second motion arm; and Control the second motion arm to move to the second target position so as to connect with the second sheath.

10. The control method according to claim 1, wherein the plurality of moving arms further comprises a second moving arm, the method comprising: Based on the second positioning device, the position and orientation of the second sheath on the auxiliary connecting device are obtained, wherein the second positioning device is disposed on the second sheath of the auxiliary connecting device; and Based on the pose of the second sheath, the second target pose of the second motion arm is determined.

11. The control method according to claim 9 or 10, comprising: Based on the first target pose, determine the first motion path of the first moving arm; Based on the second target pose, determine the second motion path of the second motion arm; as well as Based on the first motion path and the second motion path, the first motion arm is controlled to move to the first target pose and the second motion arm is controlled to move to the second target pose simultaneously or sequentially.

12. A computer device, comprising: Memory, used to store at least one instruction; as well as A processor, coupled to the memory, is configured to execute the at least one instruction to perform the control method as described in any one of claims 1-11.

13. A computer-readable storage medium storing at least one instruction, which is executed by a processor to cause a computer to perform the control method as described in any one of claims 1-11.

14. A robotic system, comprising: Multiple moving arms, wherein the multiple moving arms include a first moving arm; as well as The control device is configured to perform the control method as described in any one of claims 1-11.

15. The robot system of claim 14, further comprising: An auxiliary connection device includes at least one sheath for connection to the plurality of motion arms; as well as The pose detection device includes: At least one positioning device; as well as A detector, connected to the control device, is used to detect the positioning information of the at least one positioning device.

16. The robot system according to claim 15, wherein the auxiliary connection device includes a main cavity tube connected to the at least one sheath tube, and the at least one positioning device includes a main positioning device disposed on the main cavity tube.

17. The robot system of claim 15, wherein the at least one positioning device comprises a sheath positioning device disposed on the first sheath.

18. The robot system according to claim 15 or 16, The at least one positioning device includes a sound wave generating device, and the detector includes a sound wave detector; or The at least one positioning device includes a magnetic field generating device, and the detector includes a magnetic field detector; or The at least one positioning device includes an optical positioning device, and the detector includes a light signal collector.

Images