Control method of surgical robot, surgical robot, and readable storage medium

Abstract

The embodiment of the application provides a surgical robot control method, a surgical robot and a readable storage medium, the method comprises the following steps: acquiring a first joint variable of a first posture joint; based on the mapping between a first end effector and a first operating part, controlling the first posture joint according to the first joint variable, so that the posture of the first operating part is aligned with the posture of the first end effector; controlling the first operating part and the second operating part to change the position and / or the self-rotation posture of the target point according to the instruction of the operator; based on the mapping between the target point and the image device, controlling the image device to follow the position of the target point, and / or controlling the image device to be aligned with the self-rotation posture of the target point, so that when the first end effector is switched back to be controlled, the posture alignment does not need to be performed again, thereby improving the control experience.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more specifically, to a control method for a surgical robot, a surgical robot, and a readable storage medium. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. With the advancement of technology, minimally invasive surgical techniques and robotics have gradually matured and are widely used. Robot-assisted minimally invasive surgery is gradually becoming the development trend of minimally invasive surgery and has been gradually applied in actual clinical practice.

[0003] Surgical instruments can be equipped with different end effectors, such as image end effectors or surgical end effectors. For example, in minimally invasive surgery, tissue cutting, dissection, and suturing are frequently required. Ultrasonic surgical devices generate high-frequency electrical energy through a generator. The transducer uses piezoelectric or electromagnetic compressive materials to convert this high-frequency electrical energy into high-frequency mechanical vibrations (e.g., 55,500 times per second), which are then amplified and transmitted to the actuator of the ultrasonic surgical instrument. The actuator then transmits the ultrasonic energy to the biological tissue, producing physiological effects, particularly using the generated heat for tissue cauterization, hemostasis, or cutting. Therefore, ultrasonic surgical devices have been used as end effectors in various surgical applications. Currently, in robot-assisted minimally invasive surgery, operators sometimes need to switch between controlling multiple end effectors in turn. However, after switching, posture alignment is required, which reduces the smoothness of the surgeon's operation. Summary of the Invention

[0004] The embodiments of this application address the problem of poor operational smoothness in existing mobile phone robot surgical instrument control methods.

[0005] To address the aforementioned problems, embodiments of this application provide a control method for a surgical robot. The surgical robot includes a main control panel and a slave control device. The main control panel includes a first control unit, which includes multiple sets of main joints. The slave control device includes a first surgical instrument with a first end effector. The method includes:

[0006] Get the first joint variable of the first pose joint;

[0007] Based on the mapping between the first end effector and the first operating unit, the first attitude joint is controlled according to the first joint variable so that the attitude of the first operating unit is aligned with the attitude of the first end effector.

[0008] According to the operator's instructions, the first and second operating units are controlled to change the position and / or rotation attitude of the target point;

[0009] Based on the mapping between the target point and the image device, control the image device to follow the position of the target point, and / or control the image device to align with the rotational attitude of the target point.

[0010] Optionally, the second operating unit includes a second posture joint, and the operating device further includes a second end effector; the method further includes:

[0011] Obtain the second joint variables of the second pose joint;

[0012] Based on the mapping between the second end effector and the second operating unit, the second attitude joint is controlled according to the second joint variable so that the attitude of the second operating unit is aligned with the attitude of the second end effector.

[0013] Optionally, the first operating unit further includes a first position joint, and the second operating unit further includes a second position joint. The steps, according to the operator's instructions, control the first and second operating units to change the position and / or rotation attitude of the target point, including:

[0014] The operator controls the first and second position joints to change the position and / or rotation attitude of the target point according to the operator's instructions, and the changes of the first and second position joints do not follow the changes of the first end effector.

[0015] Optionally, the first operating unit further includes a first position joint, and the second operating unit further includes a second position joint. The steps, according to the operator's instructions, control the first and second operating units to change the position and / or rotation attitude of the target point, including:

[0016] According to the operator's instructions, the first position joint and the second position joint are controlled to change the position and / or rotation attitude of the target point, and the change of the first position joint does not follow the change of the first end effector, and the change of the second position joint does not follow the change of the second end effector.

[0017] Optionally, the steps to obtain the first joint variables of the first pose joint include:

[0018] Obtain the first slave pose information of the first end effector;

[0019] Based on the first slave pose information and the mapping between the first operating unit and the slave operating device, the first master pose information of the first operating unit is determined;

[0020] The first joint variables are determined based on the first principal pose information.

[0021] Optionally, the surgical robot also includes a display device. The step of determining the first master pose information of the first operating unit based on the first slave pose information, the mapping between the first operating unit and the slave operating device, includes:

[0022] Based on the first slave pose information and the mapping between the base coordinate system of the first end effector and the coordinate system of the image device, the second slave pose information of the first end effector in the coordinate system of the image device is determined;

[0023] Based on the second slave pose information and the mapping between the coordinate system of the image device and the coordinate system of the display device, the second master pose information of the first operation unit in the coordinate system of the display device is determined;

[0024] Based on the second principal pose information and the mapping between the coordinate system of the display device and the base coordinate system of the main operating console, the third principal pose information of the first operating unit in the base coordinate system of the main operating console is determined.

[0025] Use the third principal pose information as the first principal pose information.

[0026] Optionally, the surgical robot includes a master control panel and slave manipulation devices. The master control panel includes a manipulation unit, which includes posture joints. The slave manipulation devices include an end effector and an imaging device. The method includes:

[0027] Get the joint variables of the posture joints;

[0028] Based on the mapping between the end effector and the manipulator, the attitude joint is controlled according to the joint variables so that the attitude of the manipulator is aligned with the attitude of the end effector.

[0029] The operator controls the operating unit to change its position and / or rotation attitude according to the operator's instructions;

[0030] Based on the mapping between the operating unit and the imaging device, the imaging device is controlled to follow the position of the operating unit, and / or the rotational attitude of the imaging device and the operating unit is aligned.

[0031] Optionally, the operating unit also includes a position joint, and the steps involve controlling the operating unit to change its position and / or rotation attitude according to the operator's instructions, including:

[0032] The position joints are controlled to change position and / or rotation attitude according to the operator's instructions, and the changes in position joints do not follow the changes in the end effector.

[0033] This application provides a surgical robot, including: a main operating table, the main operating table including an operating part; a slave operating device; and a controller, the controller being coupled to the operating part and the slave operating device, and configured to perform a first control method for the surgical robot.

[0034] This application provides a computer-readable storage medium storing a computer program configured to be loaded and executed by a processor to implement the control method of the surgical robot described above.

[0035] This application provides a control method for a surgical robot, comprising: acquiring first joint variables of a first posture joint; controlling the first posture joint according to the first joint variables based on the mapping between a first end effector and a first operating unit, such that the posture of the first operating unit is aligned with the posture of the first end effector; controlling the first operating unit and the second operating unit to change the position and / or rotation posture of a target point according to the operator's instructions; controlling the imaging device to follow the position of the target point and / or controlling the imaging device to align with the rotation posture of the target point based on the mapping between the target point and an imaging device, thereby eliminating the need for posture alignment when switching back to control the first end effector, thus improving the user experience. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of a main control panel according to an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of an operating device according to an embodiment of this application;

[0039] Figure 3 This is a schematic diagram of the main wrist of an operating unit in an embodiment of this application;

[0040] Figure 4 This is a schematic flowchart illustrating a control method for a surgical robot according to an embodiment of this application;

[0041] Explanation of reference numerals in the attached figures:

[0042] 100 - Main control panel; 200 - Slave control device; 110 - Main arm; 120 - Main wrist; 121 - First lever; 122 - Second lever; 123 - Third lever; 124 - Clamp; 125 - First rotary joint; 126 - Second rotary joint; 127 - Third rotary joint; 128 - Fourth rotary joint; 129 - Pushable component; J1 - First rotation axis; J2 - Second rotation axis; J3 - Third rotation axis; 210 - Robotic arm; 220 - Surgical instrument. Detailed Implementation

[0043] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0044] Surgical robots consist of a master control panel and slave control devices. For example... Figure 1 The diagram shows a main control panel according to an embodiment of this application. The main control panel 100 includes an operation unit, which includes multiple sets of main joints. The multiple sets of main joints include at least one of arm joints, wrist joints, and rotation joints. Arm joints can also be called position joints, and wrist joints and rotation joints can also be called posture joints.

[0045] The operating unit may further include a master arm 110, with an arm joint disposed within the master arm 110 to change the position of the master arm 110. The operating unit may also include a master wrist 120, with a wrist joint disposed within the master wrist to control the position of the master wrist. Optionally, the first operating unit may further include a pushable component, by which the position of the first operating unit can be changed.

[0046] The operating unit may also include a drive device, such as a motor, which may be equipped with an encoder to achieve automatic alignment and other corresponding control functions. The drive device may include at least one of a position drive device, a rotation drive device, and a wrist joint drive device. It is understood that this classification of drive devices is based on function, and their specific implementation does not necessarily correspond to a specific drive device. The correspondence between various functions and specific drive devices can be flexibly configured; optionally, one drive device may correspond to one or more functions.

[0047] The operating unit may also include a display device so that the operator can observe from the operating device 200.

[0048] like Figure 2 The diagram shown illustrates a slave operating device 200 according to an embodiment of this application. The slave operating device 200 may include a robotic arm 210 and surgical instruments 220, and slave joints. All joints in the slave operating device 200 are collectively referred to as slave joints. Both the robotic arm 210 and the surgical instruments 220 require joints. In this embodiment, the joints in the robotic arm 210 are referred to as robotic arm slave joints, and the joints in the surgical instruments 220 are referred to as instrument slave joints. Optionally, the robotic arm 210 may also include at least one link connected via a robotic arm slave joint. Optionally, the robotic arm 210 may have multiple links connected via slave joints, and the robotic arm 210 is used to adjust the spatial position of the surgical instruments 220 before or during surgery.

[0049] The operating device 200 also includes an end effector, which may include an imaging device or a surgical end effector. The end effector can be configured as either an imaging device or a surgical end effector depending on the actual surgical needs. The surgical end effector can be used to perform surgical operations such as cutting and suturing. The end effector can be housed within the surgical instrument 220. Exemplary examples include tissue grippers, needle actuators, scissors, retractors, electrosurgical cauterization tools, suture devices, surgical clamps, ultrasonic cutters, aspiration / irrigation tools, catheters, and ultrasonic probes. The imaging device may be an endoscope.

[0050] The manipulator 200 may also include a drive mechanism, such as a motor, which can drive the robotic arm 210 and surgical instruments 220 to move, thereby changing the pose of the end effector. Similarly, the drive mechanism in the manipulator 200 may also include at least one of a position drive mechanism, a rotation drive mechanism, and a wrist joint drive mechanism.

[0051] Specifically, a positional mapping control is established between the master arm 110 and master wrist and the surgical instrument 220 of the slave operating device 200. This mapping can be a positional correspondence, such as a proportional distance or a distance trend correspondence. Alternatively, this mapping can be a motion correspondence, such as a motion posture correspondence or a motion trend correspondence. Thus, the operator can control the surgical instrument 220 to perform corresponding actions (e.g., pitch, yaw, roll, clamping, etc.) by manipulating the master arm 110 and master wrist.

[0052] The surgical robot may also include multiple master operating consoles 100 and / or multiple slave operating devices 200. Each operating console may include multiple operating parts, and each slave operating device may include multiple surgical instruments 220. This embodiment of the application is not limited in this respect. For example, the master arm 110 may include two, namely the left arm and the right arm, corresponding to the left hand and the right hand respectively, so that the doctor can operate on them with his left hand and right hand respectively. Optionally, there may be one or more master arms 110, which can be flexibly configured according to the actual situation.

[0053] like Figure 3The diagram shows a schematic of the main wrist of an operating unit according to an embodiment of this application. The main wrist 120 has multiple degrees of freedom, generally including at least three. The main wrist 120 includes a first link 121, a second link 122, a third link 123, a clamp 124, a first rotary joint 125, a second rotary joint 126, a third rotary joint 127, a fourth rotary joint 128, and a pushable part 129. The clamp 124 is mounted to one end of the first link 121 via the first rotary joint 125. The pushable part includes two push buttons 129 disposed on the clamp 124. The other end of the first link 121 is mounted to one end of the second link 122 via the second rotary joint 126; the other end of the second link 122 is mounted to one end of the third link 123 via the third rotary joint 127; and the other end of the third link 123 is mounted to the main arm 110 via the fourth rotary joint 128. The first rotational joint 125 is a self-rotating joint, and the second rotational joint 126, the third rotational joint 127 and the fourth rotational joint 128 are wrist joints.

[0054] The clamp 124 is rotatably connected to the first rod 121 via the first rotary joint 125, so that the clamp 124 can rotate around the first rotation axis J1 of the first rotary joint 125. The first rod 121 is rotatably connected to the second rod 122 via the second rotary joint 126, so that the first rod 121 can rotate around the second rotation axis J2 of the second rotary joint 126. The second rod 122 is rotatably connected to the third rod 123 via the third rotary joint 127, so that the second rod 122 can rotate around the third rotation axis J3 of the third rotary joint 127. The third rod 123 is rotatably connected to the main arm 110 via the fourth rotary joint 128, so that the third rod 123 can rotate around the rotation axis of the fourth rotary joint 128.

[0055] In the illustrated embodiment, the rotation axes of the first rotational joint 125, the second rotational joint 126, and the third rotational joint 127—the first rotation axis J1, the second rotation axis J2, and the third rotation axis J3—intersect at a single point. The master wrist 120 adopts a multi-axis intersection design, which relatively decouples the posture and position of the entire master hand, facilitating kinematic calculations.

[0056] The surgical robot may also include a controller, which can be integrated into the main control panel or the slave control device 200. Alternatively, the controller can operate independently of the main control panel 100 and the slave control device 200; for example, it can be deployed locally or in the cloud. The controller can consist of more than one processor. It should be noted that there can be multiple controllers, each processing different information. These controllers can include one master controller and the others slave controllers, or they can operate relatively independently of each other.

[0057] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0058] like Figure 4 This is a schematic flowchart illustrating a control method for a surgical robot according to one embodiment of this application. The surgical robot includes a master control panel and a slave control device. The master control panel includes a first control part and a second control part, with a target point disposed between the first and second control parts. The first control part includes a first posture joint. The slave control device includes a first end effector and an imaging device, specifically including:

[0059] Step S401: The first operating unit includes a first posture joint, and the first joint variable of the first posture joint is obtained. The first posture joint can be a wrist joint or a rotation joint, or it can include both a wrist joint and a rotation joint.

[0060] Step S402: Based on the mapping between the first end effector and the first operating unit, control the first attitude joint according to the first joint variable to align the attitude of the first operating unit with the attitude of the first end effector. Since the first attitude joint directly affects the attitude of the first operating unit, controlling the first attitude joint can achieve the alignment of the attitude of the first operating unit with the attitude of the first end effector.

[0061] Step S403: Control the first and second operating units to change the position and / or rotation attitude of the target point according to the operator's instructions.

[0062] The position or rotation posture of the target point can be controlled and changed according to the operator's surgical needs, or the position and rotation posture of the target point can be changed simultaneously.

[0063] Step S404: Based on the mapping between the target point and the image device, control the image device to follow the position of the target point, and / or control the image device to align with the rotational attitude of the target point.

[0064] In this embodiment, the posture of the first operating unit is aligned with that of the first end effector by controlling the first posture joint according to the first joint variable, and the image device is controlled to follow the position of the target point according to the operator's instructions, and the rotation posture of the image device is aligned with that of the target point. This ensures that the posture of the first operating unit is aligned with that of the first end effector while the operating unit controls the image device.

[0065] The control method for a surgical robot provided in this application embodiment includes a main control panel and a slave control device. The main control panel includes a first control part and a second control part, with a target point disposed between the first and second control parts. The first control part includes a first posture joint. The slave control device includes a first end effector and an imaging device, specifically including:

[0066] Step S401: The first operation unit includes a first attitude joint, and obtains the first joint variable of the first attitude joint, including two implementation methods:

[0067] The first implementation method: calculation-based determination, including:

[0068] Step S4011: Obtain the first slave pose information of the first end effector, specifically including:

[0069] The first slave pose information is obtained based on a specified point in the first end effector. Optionally, the specified point is located in the distal region of the first end effector, for example, at the head of the first end effector. In other embodiments, the specified point may also be located in other regions of the first end effector, for example, in the middle region of the first end effector. There may be one or more specified points. The second slave pose information can be obtained in real time according to preset rules, or it can be obtained only once when the device is stationary. The first slave pose information may be the pose information of the first end effector in the base system of the first end effector, specifically including:

[0070] Obtain the first slave joint variables corresponding to the first end effector, such as position information and / or rotation information;

[0071] The first slave pose information is determined based on the first slave joint variables.

[0072] Optionally, the pose information of the first end effector can be determined by joint variables in the robotic arm and the first surgical instrument, such as actual position and angle information. Specifically, this involves acquiring the current joint variables of the robotic arm's and the first surgical instrument's joints from the operating device, such as position and / or rotation information, and then resolving these current joint variables into the first slave pose information of the first end effector. Similarly, the first slave joint variables can be acquired via sensors, and the first slave pose information of the first end effector can be obtained based on these variables. For example, a processor can obtain the first slave pose information of the first end effector based on the first slave joint variables.

[0073] This application embodiment determines the first slave pose information by using the positive solution of the actual joint variables of the first slave joint of the first end effector, thereby determining the first slave pose information of the first end effector based on the actual pose of the first end effector, ensuring the authenticity and reliability of the pose information.

[0074] Step S4012: Determine the first master pose information of the first operating unit based on the first slave pose information and the mapping between the first operating unit and the slave operating device, specifically including the following steps:

[0075] Step 1: Based on the first slave pose information and the mapping between the base system of the first end effector and the coordinate system of the image device, determine the second slave pose information of the first end effector in the coordinate system of the image device.

[0076] Step 2: Based on the second slave pose information and the mapping between the coordinate system of the image device and the coordinate system of the display device, determine the second master pose information of the end of the first operation unit in the coordinate system of the display device.

[0077] Step 3: Based on the second principal pose information and the mapping between the coordinate system of the display device and the base coordinate system of the main operating console, determine the third principal pose information of the end of the first operating unit in the base coordinate system of the main operating console.

[0078] Step 4: Use the third principal pose information as the first principal pose information.

[0079] In this embodiment of the application, the first slave pose information of the first end effector in the base coordinate system of the first end effector is converted into the first master pose information of the first operating unit end in the base coordinate system of the main operating table through coordinate system transformation.

[0080] Step S4013: Determine the first joint variable based on the first principal pose information.

[0081] Based on kinematics, the first principal pose information is inversely decomposed into the first joint variables corresponding to the first pose joints of the first operating unit, such as position and / or rotation information. Optionally, depending on the actual situation, only the first joint variables corresponding to the first pose joints that need to be adjusted in the next step can be inversely decomposed, or it can be decomposed into the joint variables of all joints of the first operating unit. For example, if the first operating unit also includes a first position joint and a first rotation joint, the joint variables corresponding to the first position joint and the first rotation joint can be inversely decomposed simultaneously with the first joint variables. It is understood that inversely decomposing only the first joint variables can improve processing efficiency and save system resources.

[0082] The second implementation method: direct acquisition.

[0083] Optionally, first joint variables in the first operating unit, such as position information and / or rotation information, can be acquired via sensors, and first principal pose information can be obtained based on the principal joint variables. The sensors may include angle sensors for sensing joint rotational motion and displacement sensors for sensing linear joint motion; specific sensors can be configured according to the type of joint. For example, joint variables can be obtained by acquiring the values ​​from an encoder installed in the drive device. Similarly, joint variables of all joints in the first operating unit can be acquired according to the actual situation.

[0084] Step S402: Based on the mapping between the first end effector and the first operating unit, control the first posture joint according to the first joint variable so that the posture of the first operating unit is aligned with the posture of the first end effector. The first posture joint may include a wrist joint or a rotation joint.

[0085] Step 1: Determine the drive device control command based on the first joint variable. The drive device control command includes the first posture joint control command.

[0086] Step 2: Control the first attitude joint according to the first attitude joint control command, so that the attitude of the first operating part is aligned with the attitude of the first end effector.

[0087] The first joint variable directly reflects the parameters corresponding to the first posture joint of the operation unit mapped from the first end effector to the operation unit before switching the control image device. Therefore, the first posture joint is controlled according to the first joint variable so that the posture of the first operation unit is aligned with the posture of the first end effector. That is, the first posture joint is controlled according to the first end effector so that the posture of the first operation unit is aligned with the posture of the first end effector.

[0088] In this embodiment, the first operating unit can control multiple end effectors, optionally switching between them in turn, for example, controlling the first end effector first and then switching to control the imaging device. Optionally, if the first end effector remains stationary after switching to control the imaging device, the first posture joint needs to be kept stationary to align the posture of the first operating unit with that of the first end effector. If the first end effector moves after switching to control the imaging device, the first posture joint needs to be moved to align the posture of the first operating unit with that of the first end effector.

[0089] Step S403: Control the first and second operating units to change the position and / or rotation attitude of the target point according to the operator's instructions.

[0090] The main operating table includes a first operating section and a second operating section. The first operating section can be a left-hand operating section, and the second operating section can be a right-hand operating section. The operator can change the position or posture of the operating section according to the needs of the surgery, thereby changing the position or posture of the target point located between the first and second operating sections.

[0091] According to the operator's commands, such as moving the left-hand operating unit, moving the right-hand operating unit, or moving both the left-hand and right-hand operating units simultaneously, the position of the target point can be changed. Optionally, the first operating unit further includes a first position joint, and the second operating unit further includes a second position joint. The position of the target point can be changed by moving the first position joint, moving the second position joint, or moving both the first and second position joints simultaneously.

[0092] Optionally, the first operating unit may also include a first rotation joint, and the second operating unit may also include a second rotation joint. According to the operator's command, the rotation attitude of the target point can be changed by rotating the first rotation joint, or the second rotation joint, or by rotating the first rotation joint and the second rotation joint simultaneously.

[0093] Optionally, the first operating unit includes a first position joint and a first rotation joint, and the second operating unit includes a second position joint and a second rotation joint. According to the operator's command, the position of the target point can be changed by moving the first position joint, or moving the second position joint, or moving both the first and second position joints simultaneously; the rotational attitude of the target point can be changed by rotating the first rotation joint, or rotating the second rotation joint, or rotating both the first and second rotation joints simultaneously. By moving the position joints and rotation joints of the operating unit, the position and rotational attitude of the target point can be changed.

[0094] A first designated point can be configured based on the first operating unit, and a second designated point can be configured based on the second operating unit. The number and location of the designated points can be set as needed. Optionally, the designated point is located in the distal region of the pushable part, for example, at the intersection of the rotation axes of the first rotary joint 125, the second rotary joint 126, and the third rotary joint 127. In other embodiments, the designated point may also be located in the middle region of the pushable part.

[0095] Furthermore, a target point is configured based on the first designated point and the second designated point. The target point is located within a preset neighborhood of the midpoint of the line connecting the first designated point and the second designated point. The selectable target point is the midpoint of the line connecting the first designated point and the second designated point.

[0096] Step S404: Based on the mapping between the target point and the image device, control the image device to follow the position of the target point, and / or control the image device to align with the rotational attitude of the target point.

[0097] If the target point changes position, the imaging device is controlled to follow the target point's position; if the target point changes its rotation attitude, the imaging device is controlled to align with the target point's rotation attitude; if the target point changes both its position and rotation attitude, the imaging device is controlled to follow the target point's position and align with the target point's rotation attitude.

[0098] This application embodiment achieves motion following by configuring a target point between the first operation unit and the second operation unit, using the target point as a reference, controlling the position of the image device to follow the operation unit, and controlling the rotation posture of the image device and the operation unit to align.

[0099] In this embodiment, after the first operating unit switches to control the image device, it controls the first posture joint according to the first joint variable, so that the posture of the first operating unit is aligned with the posture of the first end effector. Therefore, when the first operating unit switches back to control the first end effector, no alignment is required and it can be directly operated, reducing the operator's waiting time and improving the operator's operating experience.

[0100] In this embodiment, the second operating unit includes a second posture joint. Like the first operating unit, the second operating unit can also control the second posture joint according to the first joint variable to align the posture of the second operating unit with the posture of the first end effector. The specific control process is the same as controlling the first posture joint according to the first joint variable to align the posture of the first operating unit with the posture of the first end effector, and will not be described again here.

[0101] In this embodiment, after switching to the control image device, the postures of the left-hand and right-hand operating units are aligned with the posture of the first end effector, thereby making the left-hand and right-hand operating units feel consistent. At the same time, if it is necessary to switch back to control the first end effector, the operator is provided with multiple options, and can flexibly choose to control the first end effector with either the left-hand or right-hand operating unit, instead of having to continue using the first operating unit, thus eliminating the need for alignment and improving the operating experience.

[0102] In this embodiment, the first operating unit includes a first position joint, and the second operating unit includes a second position joint. To enable the operator to autonomously control the imaging device, the first and second operating units are controlled according to the operator's instructions to change the position and / or rotation attitude of the target point. Specifically, this includes:

[0103] According to the operator's instructions, the first and second operating units are controlled to change the position and / or rotation attitude of the target point, and the changes of the first and second position joints do not follow the changes of the first end effector.

[0104] Optionally, the position of the target point can be changed by moving the first position joint, the second position joint, or both, according to the operator's command. To ensure that the operator has autonomy in movement and can freely move the first and second position joints, it is necessary to ensure that the changes in the first and second position joints are only based on the operator's instructions and do not follow the changes in the first end effector.

[0105] Optionally, the first position joint and the second position joint do not need to generate corresponding movements based on the position joint variable control. That is, the position joint variable may not be acquired, or even if the position joint variable is acquired, the drive device control command may not be determined based on the position joint variable, or even if the drive device control command is determined based on the position joint variable, the drive device control command may not be sent to the position joint, or even if the drive device control command is sent to the position joint, the position joint may not respond to the command.

[0106] Optionally, the first operating unit further includes a first rotating joint, and the second operating unit includes a second rotating joint. According to the operator's command, the rotational attitude of the target point can be changed by rotating either the first or second rotating joint, or simultaneously. To ensure the operator has autonomy in movement and can freely rotate the first and second rotating joints, it is necessary to ensure that the changes in the first and second rotating joints are solely based on the operator's instructions and do not follow changes in the first end effector.

[0107] Optionally, the first and second rotatable joints do not need to generate corresponding movements based on the rotatable joint variable control. That is, they may not acquire the rotatable joint variable, or even if they acquire the rotatable joint variable, they may not determine the drive device control command based on the rotatable joint variable, or even if they determine the drive device control command based on the rotatable joint variable, they may not send the drive device control command to the rotatable joint, or even if the drive device control command is sent to the rotatable joint, the rotatable joint may not respond to the command.

[0108] Optionally, if the operator needs to simultaneously control the position joint and the rotation joint autonomously, the position joint changes do not follow the changes of the first end effector, and the rotation joint changes do not follow the pose changes of the first end effector.

[0109] In this embodiment, the changes in the first position joint and the second position joint do not follow the changes in the first end effector, and the changes in the first rotation joint and the second rotation joint do not follow the changes in the first end effector. That is, the first posture joint is adjusted according to the first end effector, which is more conducive to the operator's smooth switching control of the first end effector, while ensuring the operator's motion autonomy, thereby facilitating the acceptance of the operator's instructions.

[0110] In another embodiment of this application, the second operating unit includes a second posture joint, and the operating device further includes a second end effector. The first operating unit can control the first end effector, and after the second operating unit controls the second end effector, the first and second operating units switch to jointly control the imaging device, including:

[0111] Obtain the first joint variables of the first pose joint and the second joint variables of the second pose joint. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0112] Based on the mapping between the first end effector and the first operating unit, the first attitude joint is controlled according to the first joint variable to align the attitude of the first operating unit with that of the first end effector; based on the mapping between the second end effector and the second operating unit, the second attitude joint is controlled according to the second joint variable to align the attitude of the second operating unit with that of the second end effector. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0113] According to the operator's instructions, the first and second operating units are controlled to change the position and / or rotation attitude of the target point; this step is the same as the aforementioned implementation principle, and will not be repeated here.

[0114] Based on the mapping between the target point and the imaging device, the imaging device is controlled to follow the position of the target point, and / or the rotational attitude of the imaging device and the target point is aligned. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0115] In this embodiment, after switching between controlling the image device with both hands, the posture of the first operating unit is aligned with the posture of the first end effector, and the posture of the second operating unit is aligned with the posture of the second end effector. Thus, when the first operating unit switches back to controlling the first end effector and the second operating unit switches back to controlling the second end effector, neither the first end effector nor the second end effector needs to be aligned again, reducing the operator's waiting time and improving the operator's control experience.

[0116] In another embodiment of this application, the first operating unit further includes a first position joint and a first rotation joint, and the second operating unit further includes a second position joint and a second rotation joint. The steps, according to the operator's instructions, control the first and second operating units to change the position and / or rotation attitude of the target point, include:

[0117] According to the operator's instructions, the first position joint and the second position joint are controlled to change the position and / or rotation attitude of the target point, and the change of the first position joint does not follow the change of the first end effector. This step is the same as the aforementioned implementation principle and will not be repeated here. The change of the second position joint does not follow the change of the second end effector. This step is the same as the implementation principle of the change of the first position joint not following the change of the first end effector and will not be repeated here.

[0118] In this embodiment, the change of the first position joint does not follow the change of the first end effector, the change of the second position joint does not follow the change of the second end effector, or the change of the first rotation joint does not follow the change of the first end effector, and the change of the second rotation joint does not follow the change of the second end effector. That is, the first posture joint is adjusted according to the first end effector, which is more conducive to the operator's smooth switching control of the first end effector. The second posture joint is adjusted according to the second end effector, which is more conducive to the operator's smooth switching control of the second end effector. At the same time, the operator's motion autonomy is guaranteed, which is conducive to receiving the operator's instructions.

[0119] In another embodiment of this application, the first posture joint includes a wrist joint and a rotation joint. The steps, based on the mapping between the first end effector and the first operating part, involve controlling the first posture joint according to a first joint variable to align the posture of the first operating part with the posture of the first end effector, including:

[0120] Step 1: Determine the drive device control command based on the first joint variable. The drive device control command includes wrist joint control command and rotation joint control command. The first joint variable includes wrist joint variable and rotation joint variable.

[0121] Step 2: Control the wrist joint according to the wrist joint control command, and control the rotation joint according to the rotation joint control command, so that the posture of the first operating part is aligned with the posture of the first end effector.

[0122] In this situation, the operator can only manually manipulate the position joints to control the imaging device to follow the position of the target point.

[0123] This application embodiment controls the wrist joint and the rotation joint to align the posture of the first operating unit with the posture of the first end effector, and controls the imaging device according to the operator's command. This eliminates the need for posture alignment when switching back to control the first end effector, thereby simplifying the operation process and improving the operating experience.

[0124] Another embodiment of this application provides a control method for a surgical robot. The surgical robot includes a main control panel and a slave control device. The main control panel includes a control unit, which includes a posture joint. The slave control device includes an end effector and an imaging device. This embodiment of the application includes only one control unit, allowing for single-handed alternating control of the end effector and imaging device. The method includes:

[0125] Obtaining the joint variables of the attitude joints is the same as the implementation principle described above, and will not be repeated here.

[0126] Based on the mapping between the end effector and the operating unit, the attitude joints are controlled according to joint variables to align the attitude of the operating unit with that of the end effector. The attitude information of the operating unit can be based on the pose information of specified points within the operating unit. The number and location of these specified points can be set as needed. Optionally, the specified points are located in the distal region of the pushable part, for example, at the intersection of the rotation axes of the first rotary joint 125, the second rotary joint 126, and the third rotary joint 127. In other embodiments, the specified points may also be located in the central region of the pushable part. There may be one or more specified points. The attitude of the operating unit may include angular information of the first operating unit based on at least one coordinate axis of the coordinate system of the display device.

[0127] The operator controls the operating unit to change its position and / or rotation attitude according to the operator's instructions. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0128] Based on the mapping between the operating unit and the imaging device, the imaging device is controlled to follow the position of the operating unit, and / or the rotation attitude of the imaging device and the operating unit is aligned. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0129] Furthermore, the operating unit also includes a position joint. The step involves controlling the operating unit to change its position according to the operator's instructions, including: controlling the position joint to change its position according to the operator's instructions, and the change in position joint does not follow the change in the end effector. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0130] Furthermore, the operating unit also includes a rotating joint. The step involves controlling the operating unit to change its rotational attitude according to the operator's instructions, including: controlling the rotating joint to change its rotational attitude according to the operator's instructions, and the change in the rotating joint does not follow the change in the end effector. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0131] Furthermore, the operating unit also includes a position joint and a rotation joint. The operator controls the operating unit to change its position and rotation attitude according to the operator's instructions. This includes: controlling the position joint to change its position according to the operator's instructions, wherein the change in position joint does not follow the change in the end effector; and controlling the rotation joint to change its rotation attitude according to the operator's instructions, wherein the change in rotation joint does not follow the change in the end effector. This step is the same as the aforementioned implementation principle and will not be repeated here.

[0132] This application embodiment includes only one operating unit, allowing one hand to alternately control the end effector and the imaging device. By aligning the posture of the operating unit with the posture of the end effector, no further alignment is required when the operating unit switches back to control the end effector, reducing the operator's waiting time and improving the operator's control experience.

[0133] In another embodiment of this application, the operating unit of the surgical robot may include not only the first and second operating units, but also a greater number of operating units. The number of operating units can be flexibly configured according to the actual surgical situation, and the number of end effectors of the operating device can also be flexibly configured according to the actual surgical situation. Each end effector can have different degrees of freedom of movement. Under this control, the operating unit can freely choose which end effector to follow, freely choose which posture joints to adjust, and freely choose to operate the imaging device with one or two hands, thereby meeting the needs of personalized and complex surgeries.

[0134] This application provides a surgical robot, including a main control panel, the main control panel including an operating unit, a slave operating device, and a controller, the controller being coupled to the operating unit and the slave operating device, and configured to perform a first control method for the surgical robot.

[0135] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, this computer program implements the various processes of the first control method embodiment of the surgical robot described above, and achieves the same technical effect. To avoid repetition, it will not be described again here. The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0136] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by computer-controlled devices, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments, and the storage medium can be a memory, a disk, an optical disk, etc.

[0137] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0138] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0139] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a surgical robot, characterized in that, The surgical robot includes a main control panel and a slave control device. The main control panel includes a first control unit and a second control unit, with a target point disposed between the first and second control units. The first control unit includes a first posture joint. The slave control device includes a first end effector and an imaging device. The method includes: Get the first joint variable of the first pose joint; Based on the mapping between the first end effector and the first operating unit, the first attitude joint is controlled according to the first joint variable so that the attitude of the first operating unit is aligned with the attitude of the first end effector. According to the operator's instructions, the first and second operating units are controlled to change the position and / or rotation attitude of the target point; Based on the mapping between the target point and the image device, control the image device to follow the position of the target point, and / or control the image device to align with the rotational attitude of the target point; Specifically, when the first operation unit switches to control the image device, the posture of the first operation unit is kept aligned with the posture of the first end effector; when the first operation unit switches back to control the first end effector, the first end effector is directly controlled without needing to readjust the posture.

2. The control method according to claim 1, characterized in that, The second operating unit includes a second posture joint, the slave operating device further includes a second end effector, and the method further includes: Obtain the second joint variables of the second pose joint; Based on the mapping between the second end effector and the second operating unit, the second attitude joint is controlled according to the second joint variable so that the attitude of the second operating unit is aligned with the attitude of the second end effector.

3. The control method according to claim 1, characterized in that, The first operating unit further includes a first position joint, and the second operating unit further includes a second position joint. The step of controlling the first and second operating units to change the position and / or rotation attitude of the target point according to the operator's instructions includes: According to the operator's instructions, the first position joint and the second position joint are controlled to change the position and / or rotation attitude of the target point, and the changes of the first position joint and the second position joint do not follow the changes of the first end effector.

4. The control method according to claim 2, characterized in that, The first operating unit further includes a first position joint, and the second operating unit further includes a second position joint. The step of controlling the first and second operating units to change the position and / or rotation attitude of the target point according to the operator's instructions includes: According to the operator's instructions, the first position joint and the second position joint are controlled to change the position and / or rotation attitude of the target point, and the change of the first position joint does not follow the change of the first end effector, and the change of the second position joint does not follow the change of the second end effector.

5. The control method according to claim 1, characterized in that, The first joint variable for obtaining the first posture joint includes: Obtain the first slave pose information of the first end effector; Based on the first slave pose information and the mapping between the first operating unit and the slave operating device, the first master pose information of the first operating unit is determined; The first joint variables are determined based on the first principal pose information.

6. The control method according to claim 5, characterized in that, The surgical robot further includes a display device. The step of determining the first master pose information of the first operating unit based on the first slave pose information, the mapping between the first operating unit and the slave operating device, includes: Based on the first slave pose information and the mapping between the base coordinate system of the first end effector and the coordinate system of the imaging device, the second slave pose information of the first end effector in the coordinate system of the imaging device is determined; Based on the second slave pose information and the mapping between the coordinate system of the image device and the coordinate system of the display device, the second master pose information of the first operation unit in the coordinate system of the display device is determined; Based on the second principal pose information and the mapping between the coordinate system of the display device and the base coordinate system of the main operating console, the third principal pose information of the first operating unit in the base coordinate system of the main operating console is determined. Use the third principal pose information as the first principal pose information.

7. A control method for a surgical robot, characterized in that, The surgical robot includes a main control panel and a slave control device. The main control panel includes a control unit, which includes a posture joint. The slave control device includes an end effector and an imaging device. The method includes: Obtain the joint variables of the posture joint; Based on the mapping between the end effector and the operating unit, the attitude joint is controlled according to the joint variables so that the attitude of the operating unit is aligned with the attitude of the end effector; The operator controls the operating unit to change its position and / or rotation attitude according to the operator's instructions; Based on the mapping between the operating unit and the image device, the image device is controlled to follow the position of the operating unit, and / or the image device is controlled to align with the rotational attitude of the operating unit; Specifically, when the operation unit switches to control the image device, the posture of the operation unit is kept aligned with the posture of the end effector; when the operation unit switches back to control the end effector, the end effector is directly controlled without needing to readjust the posture.

8. The control method according to claim 7, characterized in that, The operating unit further includes a position joint, and the step of controlling the operating unit to change its position and / or rotation attitude according to the operator's instructions includes: The operator controls the position joint to change its position and / or rotation attitude according to the operator's instructions, and the changes in the position joint do not follow the changes in the end effector.

9. A surgical robot, characterized in that, include: A main control panel, the main control panel including an operation unit; From operating the equipment; and A controller, which is coupled to both the operating unit and the slave operating device, and is configured to perform the control method of the surgical robot as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program configured to be loaded and executed by a processor to implement the control method of the surgical robot as described in any one of claims 1-8.

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