Surgical robot and control device, control method therefor

Abstract

This disclosure relates to a surgical robot, including an operating device and a control device. The operating device has multiple wheels and multiple legs at its bottom. The legs are configured to be retractable and have adjustable support force. The wheels are configured to provide movement and auxiliary support. The control device is coupled to the legs, and at least some of the legs are configured as controlled legs. The control device is configured to: obtain the total mass of the operating device and the projection point of its center of mass onto a support reference plane; obtain a first positional relationship between each of the controlled legs and the projection point on the support reference plane; obtain a target support force value that each of the controlled legs is expected to generate based on the first positional relationship and the total mass; and control each of the controlled legs to extend toward the support surface and generate a support force matching the corresponding target support force value. This disclosure also relates to a control device and control method for a surgical robot. This surgical robot can enhance support stability.

Description

[0001] This application is a divisional application filed with the Chinese Patent Office on June 30, 2020, with application number 202010616822.8 and title "Surgical Robot and Control Device and Control Method Thereof", the full text of which is incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of medical devices, and in particular to a surgical robot and its control device and control method. Background Technology

[0003] Minimally invasive surgery refers to a surgical procedure 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.

[0004] With the advancement of technology, minimally invasive robotic technology has gradually matured and is widely used. Minimally invasive robots typically include a master control panel and slave control devices. The master control panel includes a handle, through which the surgeon sends control commands to the slave control devices. The slave control devices include a robotic arm and a manipulator arm located at the distal end of the robotic arm. The manipulator arm has an end effector, which moves with the handle during operation to enable remote surgical procedures.

[0005] When the operating device is used in surgical procedures, changes in the position of the robotic arm and / or manipulator can easily cause a shift in the center of gravity of the device. If the supporting force on the device is insufficient, the base in contact with the ground may wobble slightly. This wobble, transmitted through the robotic arm and / or manipulator, can become more pronounced at the end-effector, causing instrument vibration or image jitter, ultimately affecting the reliable execution of the surgery. Summary of the Invention

[0006] Therefore, it is necessary to provide a surgical robot and its control device and control method that can enhance support stability.

[0007] This disclosure provides a surgical robot, including an operating device and a control device. The operating device has a plurality of legs at its bottom, the legs being configured to be retractable and have adjustable support force. The control device is coupled to the legs, at least some of the legs being configured as controlled legs. The control device is configured to: obtain the total mass of the operating device and the projection point of its total center of mass onto a support reference plane; obtain a first positional relationship between each of the controlled legs and the projection point in the support reference plane; obtain a target support force value that each of the controlled legs is expected to generate based on the first positional relationship and the total mass; and control each of the controlled legs to extend toward the support surface and generate a support force matching the corresponding target support force value.

[0008] The slave operating device has multiple articulated arms. The proximal articulated arms are equipped with the support legs, and the distal articulated arms are used to assemble operating arms with end effectors. Each articulated arm is equipped with a position sensor coupled to the control device. The step of obtaining the total mass of the slave operating device and the projection point of its total center of mass on the support reference plane includes: obtaining the partial mass and partial center of mass of each articulated arm in the spatial position of the partial center of mass in the link coordinate system of the corresponding articulated arm; obtaining the joint position of the corresponding articulated arm in the reference coordinate system detected by each position sensor; and adjusting the joint position of each articulated arm in the reference coordinate system. The total mass of the slave operating device is obtained by summing the component masses of the arms; the spatial position of the component centroid of each joint arm in the reference coordinate system is obtained by combining the spatial position of the component centroid of each joint arm in the corresponding link coordinate system and the corresponding joint position through forward kinematics; the total centroid of the slave operating device in the reference coordinate system is obtained by combining the component mass of each joint arm and the spatial position of its component centroid in the reference coordinate system through a multibody centroid solving method; the total centroid of the slave operating device in the reference coordinate system is transformed into the projection point on the support reference plane.

[0009] Wherein, the number of distal articulated arms is one, and the distal articulated arm is used to detachably provide one or more operating arms; or, the number of distal articulated arms is two or more, and each distal articulated arm is used to detachably provide one operating arm.

[0010] Wherein, the slave operating device has an angle detection element, and the control device is coupled to the angle detection element. After obtaining the step of obtaining the total centroid of the slave operating device in the reference coordinate system, the method includes: obtaining the tilt angle of the support surface detected by the angle detection element; and updating the total centroid of the slave operating device in the reference coordinate system according to the tilt angle.

[0011] The tilt angle includes a first tilt angle between the supporting reference plane and the horizontal plane in the first orthogonal direction, and a second tilt angle between the supporting reference plane and the horizontal plane in the second orthogonal direction.

[0012] The proximal articulated arm is a base, and the distal articulated arm is a power mechanism. The power mechanism includes one or more guide rails and a power unit slidably disposed on the corresponding guide rail. The power unit is used to detachably mount and drive the operating arm. The step of obtaining the partial mass and the partial centroid of each articulated arm in the spatial position of the partial centroid in the link coordinate system of the corresponding articulated arm includes: obtaining the partial mass and the partial centroid of each articulated arm other than the power mechanism in the spatial position of the partial centroid in the corresponding link coordinate system from the database; obtaining the partial mass and the partial centroid of the power mechanism in the spatial position of the partial centroid in its link coordinate system according to the installation status information and position status information inside the power mechanism; wherein, the installation status information is related to the installation status of the operating arm on each power unit, and the position status information is related to the position status of each power unit relative to the corresponding guide rail. The installation status information includes information on whether an operating arm is provided on each power unit, and / or the type information of the operating arm provided on each power unit.

[0013] The operating arm has a storage element storing the type information of the operating arm. Each power unit is provided with an identification element coupled to the control device and the storage unit. A position sensor coupled to the control device is provided on the guide rail or the power unit. The step of obtaining the partial mass and its partial centroid spatial position in the link coordinate system of the power mechanism based on the installation state information and position state information inside the power mechanism includes: obtaining the installation state information inside the power mechanism detected by the identification element and the position state information inside the power mechanism detected by the position sensor; calling a matching parameter calculation model from a pre-constructed plurality of parameter calculation models based on the installation state information inside the power mechanism; wherein each parameter calculation model is associated with the partial mass and its partial centroid spatial position in the corresponding link coordinate system corresponding to different position states under one installation state of the power mechanism; and obtaining the partial mass and its partial centroid spatial position in the corresponding link coordinate system based on the called parameter calculation model and the position state information inside the power mechanism.

[0014] The operating device also has multiple wheels at its bottom, configured to provide movement and auxiliary support. Each wheel is equipped with a pressure sensor coupled to the control device. The steps for obtaining the total mass of the operating device and the projection point of its center of mass onto the support reference plane include: acquiring the pressure value detected by each pressure sensor; acquiring the total mass of the operating device; acquiring the fulcrum position of each wheel on the support reference plane; and constructing a torque balance equation in two orthogonal directions on the support reference plane by combining the pressure values, the total mass, and the fulcrum positions to obtain the projection point.

[0015] The step of obtaining the target support force value expected to be generated by each of the controlled feet based on the first positional relationship and the total mass includes: obtaining a first ratio value of the sum of the target support force values ​​expected to be generated by each of the controlled feet relative to the gravity of the operating device; and obtaining the target support force value expected to be generated by each of the controlled feet by combining the first ratio value, the first positional relationship and the total mass.

[0016] The operating device also includes multiple wheels at its bottom, configured to provide movement and auxiliary support. Each wheel is equipped with a pressure sensor coupled to the control device. After obtaining the target support force value expected to be generated by each controlled foot in combination with the first proportional value, the first positional relationship, and the total mass, the method further includes: acquiring the pressure value detected by each pressure sensor; detecting whether a floating wheel exists among the wheels based on whether the pressure value is less than a pressure threshold; if so, determining the controlled foot closest to the floating wheel based on the position of the floating wheel and each controlled foot on the support reference plane, and obtaining the expected incremental support force value corresponding to the controlled foot closest to the floating wheel; updating the current target support force value of the controlled foot closest to the floating wheel to the sum of the target support force value and the incremental support force value of the corresponding controlled foot at the previous moment.

[0017] The step of obtaining the expected incremental support force value corresponding to the controlled foot closest to the floating wheel includes: obtaining a second proportional value of the sum of the expected passive support forces generated by each wheel relative to the weight of the operating device, wherein the sum of the first proportional value and the second proportional value is 1; obtaining a second positional relationship between each wheel and the projection point in the support reference plane; obtaining the expected passive support force value generated by each wheel in combination with the second proportional value, the second positional relationship and the total mass; and obtaining the incremental support force value based on the passive support force value corresponding to the floating wheel and a third positional relationship between the floating wheel and the controlled foot closest to the floating wheel in the support reference plane.

[0018] The step of obtaining the target support force value expected to be generated by each of the controlled outriggers based on the first positional relationship and the total mass specifically involves: under constrained conditions, constructing a moment balance equation in two orthogonal directions in the support reference plane based on the first positional relationship and the total mass to obtain the target support force value expected to be generated by each of the controlled outriggers. The constrained conditions include that the target support force value expected to be generated by each of the controlled outriggers does not exceed the support force threshold that it can generate.

[0019] The step of obtaining the target support force value expected to be generated by each of the controlled legs based on the first positional relationship and the total mass includes: detecting whether there is a target support force value exceeding the support force threshold; if so, setting the target support force value of the controlled leg exceeding the support force threshold as the support force threshold; obtaining the target support force value of the remaining controlled legs based on the support force threshold of the controlled leg exceeding the support force threshold and in combination with the first positional relationship and the total mass; repeating the above steps until all the target support force values ​​do not exceed the support force threshold.

[0020] The controlled support leg includes a lifting part and a driving part coupled to the lifting part, and the driving part is coupled to the control device. Under the control of the control device, the driving part drives the lifting part to extend and retract and adjusts the supporting force of the lifting part.

[0021] The controlled outrigger further includes a braking unit, which is coupled to the lifting unit or the driving unit and to the control device. The braking unit is used to lock the driving unit or the lifting unit. The step of controlling each controlled outrigger to extend towards the support surface and generate a support force matching the corresponding target support force value includes: detecting whether each driving unit simultaneously reaches the corresponding target support force value; if so, stopping the operation of each driving unit and controlling the operation of each braking unit to maintain the current support position and support force value of each controlled outrigger.

[0022] The control device is configured to: acquire the position of each of the legs on the support reference plane; construct a convex polygon based on the position; and configure the leg associated with the position corresponding to the largest convex polygon as the controlled leg.

[0023] This disclosure also provides a control device for a surgical robot, the surgical robot including a slave operating device having a plurality of wheels and a plurality of legs at its bottom, the legs being configured to be retractable and have adjustable support force, the wheels being configured to provide movement and auxiliary support, the control device being coupled to the legs, at least some of the legs being configured as controlled legs, the control device being configured to: obtain the total mass of the slave operating device and the projection point of its total center of mass onto a support reference plane; obtain a first positional relationship between each of the controlled legs and the projection point in the support reference plane; obtain a target support force value that each of the controlled legs is expected to generate based on the first positional relationship and the total mass; and control each of the controlled legs to extend toward the support surface and generate a support force matching the corresponding target support force value.

[0024] This disclosure also provides a control method for a surgical robot, the surgical robot including a slave operating device, the slave operating device having a plurality of legs at its bottom, the legs being configured to be retractable and have adjustable support force, at least some of the legs being configured as controlled legs, the control method including the following steps: obtaining the total mass of the slave operating device and the projection point of its total center of mass on a support reference plane; obtaining a first positional relationship between each of the controlled legs and the projection point in the support reference plane; obtaining a target support force value that each of the controlled legs is expected to generate based on the first positional relationship and the total mass; controlling each of the controlled legs to extend toward the support surface and generate a support force matching the corresponding target support force value.

[0025] This disclosure also provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and executed to implement the steps of the control method as described in any of the above embodiments.

[0026] The surgical robot and its control device disclosed herein have the following beneficial effects:

[0027] By determining the target support force value to be generated by each controlled leg based on the total mass of the operating equipment, the projection point of the total center of mass on the support reference plane, and the positional relationship between each controlled leg and the projection point, the controlled legs can be controlled to extend towards the support surface and generate the corresponding target support force value. This enables active support for the operating equipment, thereby enhancing the support stability of the operating equipment. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of an embodiment of the surgical robot disclosed herein;

[0029] Figure 2 for Figure 1 A partial schematic diagram of the surgical robot shown;

[0030] Figure 3 for Figure 1 A partial schematic diagram of the surgical robot shown;

[0031] Figure 4 for Figure 1 A partial schematic diagram of the chassis of the surgical robot from the operating equipment shown;

[0032] Figure 5 for Figure 1 The diagram shows the joint principle of the surgical robot's operating device.

[0033] Figure 6 for Figure 1 A flowchart of an embodiment of the surgical robot control method is shown;

[0034] Figure 7 (a) to (f) are respectively Figure 1 A schematic diagram of the layout of the chassis support legs of the surgical robot in the operating device is shown in one embodiment.

[0035] Figure 8 for Figure 1 A flowchart of an embodiment of the surgical robot control method is shown;

[0036] Figure 9 for Figure 1 The diagram shows a structural schematic of an embodiment of the surgical robot's chassis within the operating device;

[0037] Figure 10 for Figure 1 A flowchart of an embodiment of the surgical robot control method is shown;

[0038] Figure 11 (a) to (d) are respectively Figure 1 The diagram shows different installation and position states of the power mechanism inside the operating device of the surgical robot.

[0039] Figures 12-17 They are respectively Figure 1 A flowchart of an embodiment of the surgical robot control method is shown;

[0040] Figure 18 for Figure 1 A schematic diagram of the control device for the surgical robot shown.

[0041] Figure 19 This disclosure includes a schematic diagram of another embodiment of the operating device in a surgical robot.

[0042] Figure 20 for Figure 19 A partial schematic diagram of the surgical robot shown;

[0043] Figure 21 for Figure 19 The flowchart shows an embodiment of the surgical robot control method. Detailed Implementation

[0044] To facilitate understanding of this disclosure, a more complete description will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the present disclosure. However, this disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure.

[0045] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used herein are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during the procedure, and "proximal" refers to the end closer to the operator during the procedure.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0047] like Figures 1 to 4 The figures shown are schematic diagrams of a surgical robot according to an embodiment of the present disclosure, and partial schematic diagrams thereof.

[0048] The surgical robot includes a main control panel 2 and a slave control device 3. The main control panel 2 has a handle 21 and a display 22. The surgeon sends control commands to the slave control device 3 via the handle 21, causing the slave control device 3 to perform corresponding operations according to the surgeon's control commands. The surgeon observes the surgical area through the display 22. The handle 21 can move and rotate freely, providing the surgeon with a large operating space. For example, the handle 21 is connected to the main control panel 2 via a cable. The slave control device 3 has multiple articulated arms 301-306. The proximal articulated arms 301 have multiple auxiliary support parts 200 and multiple legs 300 at their bottom. The distal articulated arms 306 are used to detachably mount the control arms 31. In one embodiment, the proximal articulated arms 301 are a base, and the distal articulated arms 306 are a power mechanism. In some embodiments, these auxiliary support parts 200 only provide auxiliary support and can also be configured to provide both auxiliary support and wheels for movement. In some embodiments, these outriggers 300 are configured to be telescopically adjustable and have adjustable support force. Telescopically adjustable means the support height is electrically controllable, and adjustable support force means the support force is electrically controllable. The operating arm 31 includes a connecting rod 32, a connecting assembly 33, and an end effector 34 connected in sequence. The connecting assembly 33 has multiple joint components, and the operating arm 31 adjusts the posture of the end effector 34 by adjusting the joint components. The end effector 34 includes an image end effector 34A and an operation end effector 34B. In other embodiments, the handle 21 can also be connected to the main control panel 2 via a rotating connecting rod.

[0049] The surgical robot includes a control unit configured to couple with components such as legs 300 and articulated arms 301-306 to receive, process, and send relevant commands. The articulated arms are equipped with position sensors for detecting joint angles; the coupling between the control unit and these articulated arms can be considered as coupling with at least these position sensors.

[0050] In one embodiment, the control device may be integrated into the master control panel 2 or the slave control device 3. If the control device is integrated into one or more articulated arms of the slave control device 3, the mass and center of gravity of the one or more articulated arms need to be taken into account the control device.

[0051] In one embodiment, the control device can also be set up independently of the main console 2 and the slave operating device 3, and the control device can be deployed locally or in the cloud.

[0052] In one embodiment, the control device may consist of one or more controllers, such as one, two, or more controllers.

[0053] The support pin 300 can be configured as one or more. Typically, three or more pins 300 can be configured in a non-linear arrangement. For example, three pins 300 can be configured. Alternatively, four, five, or more pins can be configured. However, when the number of pins 300 is four or more, redundancy may occur. This redundancy not only increases hardware costs but may also reduce the effective domain range described later, thus further restricting the overall range of motion of the operating device's center of mass. Therefore, at least some of the aforementioned pins 300 can be configured as controlled pins using a control device to avoid these adverse effects. Controlled pins are enabled pins; redundant pins are disabled pins, and these redundant pins can be understood as uncontrolled pins.

[0054] In some embodiments, the controlled pins can be manually configured by an operator, i.e., the operator selects at least a portion of the pins 300 as controlled pins. For example, a hardware switch or a software switch can be provided to enable at least a portion of the pins 300 as controlled pins.

[0055] In some embodiments, the controlled pins can be automatically configured by a control device, that is, at least some pins 300 can be automatically enabled as controlled pins according to a selection strategy. For example, please refer to Figure 6 The control device is configured to perform the following steps of the control method:

[0056] Step S10: Obtain the position of each support leg on the support reference plane.

[0057] Step S20: Construct convex polygons based on these locations, and configure the feet associated with the location corresponding to the largest convex polygon as controlled feet.

[0058] The execution of steps S10 and S20 enables intelligent selection of the controlled foot. In particular, by configuring the foot associated with the largest convex polygon as the controlled foot, it helps to maximize the effective domain range described later. When the projection point of the centroid of the operating device onto the support reference plane falls within the effective domain, the support for the operating device is relatively stable and will not tip over. This larger effective domain range is beneficial to the movement of the robotic arm and / or manipulator of the operating device, allowing for a greater range of changes in the centroid position of the operating device and reducing restrictions on the range of motion of the robotic arm and / or manipulator. For example, the range of the largest convex polygon can usually completely correspond to the range of the effective domain. By means of perspective, for example, the largest convex polygon can be made to completely coincide with the effective domain, thus facilitating the definition of the effective domain.

[0059] For example, such as Figure 7As shown in (a), when there are three legs 300: the three legs together form the largest convex polygon, and therefore the three legs are all configured as controlled legs 300a.

[0060] For example, such as Figure 7 (b) and Figure 7 As shown in (c), when the number of legs 300 is four: Figure 7 In (b), the three outer ring legs together form the largest convex polygon, and therefore the three outer ring legs are configured as controlled legs 300a; while Figure 7 In (c), the four legs together form the largest convex polygon, and therefore all four legs are configured as controlled legs 300a.

[0061] For example, such as Figure 7 (d) to Figure 7 As shown in (f), when the number of legs 300 is five or more: Figure 7 In (d), the four legs of the outer ring together form the largest convex polygon, and therefore the four legs of the outer ring are configured as controlled legs 300a; in Figure 7 In (e), the six legs of the outer ring together form the largest convex polygon, and therefore the six legs of the outer ring are configured as controlled legs 300a; in Figure 7 In (f), the four legs of the outer ring together form the largest convex polygon, and thus the four legs of the outer ring are configured as controlled legs 300a.

[0062] exist Figure 7 (c) Figure 7 (d) and Figure 7 In (f), the configuration of the controlled leg 300a is the same in both non-redundant and redundant cases, provided that the maximum convex polygon can be constructed. This application provides examples in conjunction with... Figure 7 (c) will be explained.

[0063] In other embodiments, whether the controlled feet are set manually or automatically, at least three feet can be arbitrarily selected as controlled feet without necessarily requiring the formation of a maximum convex polygon. The maximum convex polygon formed by the positions of these selected controlled feet corresponds exactly to the effective domain it can form. For example, with Figure 7 (f) For example, only the three pins of the inner ring can be configured as controlled pins 300b, and their effective domain is formed by the mapping of the three controlled pins 300b.

[0064] In one embodiment, see Figure 8 The control device is configured to perform the following steps:

[0065] Step S1: Obtain the projection point of the total mass of the operating equipment and its total center of mass onto the supporting reference plane.

[0066] The supporting reference plane can be understood as the plane of the base 301. For example, viewed from the reference coordinate system of the operating device 2, this supporting reference plane is a plane formed by the orthogonal X-axis and Y-axis. The projection direction of the total centroid onto the supporting reference plane is always vertical, and not the Z-axis direction of the supporting reference plane.

[0067] The projection point is a point that is mapped to point coordinates in the supporting reference plane.

[0068] Step S2: Obtain the first positional relationship between each controlled leg and the projection point in the support reference plane.

[0069] Step S3: Obtain the target support force value expected to be generated by each controlled leg based on the first positional relationship and the total mass.

[0070] This step, for example, can be used to solve for the target support force value by constructing a moment balance equation in two orthogonal directions on the support reference plane. This target support force value is typically a value not less than 0.

[0071] The moment balance equation relates to four parameters: the weight of the operating equipment, the positions of each controlled outrigger on the support reference plane, the projection point of the operating equipment on the support reference plane, and the supporting force of the fulcrum (including the controlled outriggers and / or wheels). Given any three known parameters, the remaining parameter can be solved. For example, given the weight of the operating equipment, the positions of the controlled outriggers on the support reference plane, and the projection point of the operating equipment on the support reference plane, the supporting force of the fulcrum can be solved. In this step, the fulcrum is the controlled outrigger, thus the desired active supporting force generated by each controlled outrigger can be solved.

[0072] Step S4: Control each controlled leg to extend towards the support surface and generate a support force that matches the corresponding target support force value.

[0073] The support surface is the surface that supports the surgical robot, such as the ground. Once the position of the projection point on the support reference surface is determined, by controlling each controlled leg to extend towards the support surface and generate a support force matching the corresponding target support force value, stable support can be achieved while keeping the position of the projection point on the support reference surface unchanged.

[0074] In some embodiments, in the initial state, at least some of the wheels can provide auxiliary support, and during adjustment, the controlled legs are used for active support.

[0075] As in Figure 9 In one embodiment of the chassis bottom structure shown, the chassis 301 includes four wheels 200 and four support legs 300, which can form a maximum convex polygon such as Figure 7(c) The four legs are configured as controlled legs 300a. Step S4 mainly controls the extension and retraction of the four controlled legs 300a and controls the supporting force of the four controlled legs 300a.

[0076] In some embodiments, see Figure 10 Step S1 above, which is the step of obtaining the projection point of the total mass and total center of mass of the operating equipment onto the supporting reference plane, includes:

[0077] Step S11: Obtain the component mass of each joint arm and the spatial position of the first component mass center of each joint arm in the connecting rod coordinate system of the corresponding joint arm.

[0078] The component mass and center of mass of the articulated arm can usually be obtained from the link parameters of the articulated arm, which have been taken into account from the initial design of the operating equipment.

[0079] Step S12: Obtain the joint position of each articulated arm in the reference coordinate system.

[0080] Joint positions are obtained from sensors located on each articulated arm; these sensors could be encoders of the servo motors that drive the articulated arm movements. In other words... Figure 1 and Figure 5 In the embodiment shown, all the articulated arms 301 to 306 of the operating device 3 together form 5 degrees of freedom. With the help of each sensor, a set of position information (d1, θ2, θ3, θ4, θ5) of each articulated arm except the base 301 can be collected.

[0081] This reference coordinate system can be defined as the base coordinate system of the operating device.

[0082] Step S13: Sum the partial masses of each joint arm to obtain the total mass of the operating device.

[0083] Step S14: Combine the first centroid spatial position of each joint arm with the corresponding joint position to obtain the second centroid spatial position of the corresponding joint arm in the reference coordinate system.

[0084] The spatial location of this second centroid can usually be obtained through forward kinematics.

[0085] Step S15: Combine the component masses of each joint arm and the spatial position of the second component centroid to obtain the spatial position of the total centroid in the reference coordinate system using the multibody centroid solution method.

[0086] Step S16: Transform the total centroid in the reference coordinate system into the projection point on the supporting reference surface.

[0087] Figure 1 and Figure 5The illustrated control device comprises six articulated arms (including the base). Assuming the base has a mass of m0, the remaining five articulated arms constitute the actual controllable robotic arm, with masses m0, m1, m2, and m3 respectively. i (i = 1, 2, 3, 4, 5), the link coordinate system {J} of joint arm i. i Rotation transformation matrix relative to reference coordinate system {B} and position coordinates The center of mass of joint arm i relative to the link coordinate system {J} of joint arm i i Local coordinates of} Therefore, the position coordinate p of the center of mass of joint arm i relative to the reference coordinate system {B} i for:

[0088]

[0089] Based on the multibody centroid solution method, the spatial position of the total centroid of the operating equipment in the reference coordinate system {B} is:

[0090]

[0091] In some embodiments, see Figure 11 The power mechanism 306 includes a housing 3061, one or more guide rails 3062 disposed within the housing 3061, and a power unit 3063 slidably disposed on the respective guide rail 3062. The power unit 3063 is used to detachably mount and drive the operating arm 31. Changes in the internal state of the power mechanism 306 will cause changes in the load, which in turn will cause changes in the position of the center of gravity of the operating device 3. The inventors of this disclosure wish to eliminate this adverse effect.

[0092] Therefore, step S11 above, which is the step of obtaining the component mass of each joint arm and the spatial position of the first component mass center of each joint arm in the link coordinate system of the corresponding joint arm, includes the following two steps:

[0093] Retrieve the component mass and the spatial position of the first component centroid of each non-remote articulated arm from the database. That is, obtain the mass of each articulated arm other than the power mechanism and the spatial position of its centroid in the corresponding articulated arm's own link coordinate system.

[0094] The component mass and its first centroid spatial position of the distal articulated arm are obtained based on the installation and position information inside the distal articulated arm. In other words, the mass of the power mechanism and the centroid spatial position of its center of mass in the power mechanism's own link coordinate system are obtained based on the installation and position information inside the power mechanism.

[0095] The installation status information is related to the installation status of the operating arm 31 on each power unit 3063, and the position status information is related to the position status of each power unit 3063 relative to the corresponding guide rail 3062. The installation status information includes whether an operating arm 31 is provided on each power unit 3063, and / or the type information of the operating arm 31 provided on each power unit 3063. Since changes in these position and installation statuses usually change the mass and center of gravity position of the distal articulated arm (i.e., the power mechanism) 306, the mass and center of gravity position of the distal articulated arm can be obtained in real time and accurately through the above step S112.

[0096] For example, Figure 11 (a) No operating arm is installed on any of the power units 3063; Figure 11 (b) An operating arm 31 is installed on the power unit 3063; Figure 11 (b) Each of the four power units 3063 is provided with an operating arm 31, and the four power units 3063 are in the same position relative to the corresponding guide rails 3062. Figure 11 (d) Each of the four power units 3063 is also equipped with an operating arm 31, but the position of one power unit relative to the corresponding guide rail is different from the position of the other power units relative to the corresponding guide rail. Figure 11 Assuming that the type of operating arm installed on the power unit does not affect the change of the center of gravity, this can basically reflect the different state changes inside the power mechanism. In fact, different types of operating arms installed on the power unit will affect the change of the center of gravity to varying degrees.

[0097] Continue reading Figure 1 and Figure 5 The articulated arms can be divided into proximal articulated arms (i = 0, i.e., the base), intermediate articulated arms (i = 1, 2, 3, 4), and distal articulated arms (i.e., the power mechanism). Assuming the mass of the base is m0, and the masses of the intermediate articulated arms are m... i (i = 1, 2, 3, 4), assuming that the mass of the power mechanism can be obtained by following the above steps, is m. d And the position coordinates of the power mechanism in the reference coordinate system {B} can be obtained. Based on the multibody centroid solution method, the spatial position of the total centroid of the operating equipment in the reference coordinate system {B} is:

[0098]

[0099] In some embodiments, the operating arm 31 has a storage element (not shown) storing type information of the operating arm, each power unit is provided with an identification element (not shown) coupled to the control device and the storage unit, and a position sensor (not shown) coupled to the control device is provided on the guide rail or the power unit. See also Figure 12 The steps described above for obtaining the component mass and the spatial position of the first component centroid of the distal articulated arm based on the installation status information and position status information inside the distal articulated arm include:

[0100] Step S1121: Obtain the installation status information inside the distal articular arm detected by the identification element and the position status information inside the distal articular arm detected by the position sensor.

[0101] The mass fraction of the distal articulated arm includes its own mass and the mass of the manipulator mounted on it. The mass fraction of the manipulator can also be obtained by the identification unit based on the type of manipulator detected.

[0102] Step S1122: Based on the installation status information inside the remote articulated arm, call one of the pre-built parameter calculation models that matches the previous one.

[0103] The calculation models for each parameter are respectively associated with the component mass and the spatial position of its first centroid in a different installation state and position state of the distal articulated arm.

[0104] Step S1123: Based on the parameters called, calculate the model and the positional state information inside the distal articulated arm to obtain the partial mass of the distal articulated arm and the spatial position of its first partial centroid.

[0105] In some embodiments, the operating device 3 also includes an angle detection element (not shown), which may be mounted, for example, on the chassis or articulated arm, and the control device is coupled to the angle detection element. See also Figure 13 After step S15 above, which is the step of obtaining the spatial position of the total centroid in the reference coordinate system, the following steps are included:

[0106] Step S151: Obtain the tilt angle of the support surface detected by the angle detection element.

[0107] Step S152: Update the total centroid of the operating device in the reference coordinate system based on the tilt angle.

[0108] Through the above steps S151 and S152, the total centroid spatial position of the operating equipment can be accurately obtained when the support reference plane is inclined relative to the support surface, such as the ground.

[0109] The tilt angle obtained in step S151 typically includes a first tilt angle between the supporting reference surface and the horizontal plane in the first orthogonal direction, and a second tilt angle between the supporting reference surface and the horizontal plane in the second orthogonal direction. The first and second tilt angles can determine the attitude of the supporting reference surface.

[0110] In some embodiments, the projection point of the overall center of mass of the operating device onto the supporting reference plane can also be obtained in other ways. For example, pressure sensors coupled to the control device (not shown) can be installed on each wheel of the chassis. See also Figure 14 Step S1 above, namely the step of obtaining the projection point of the total centroid of the operating device onto the supporting reference plane, includes:

[0111] Step S11': Obtain the pressure values ​​detected by each pressure sensor.

[0112] Step S12': Obtain the total mass from the operating equipment.

[0113] The total mass of the operating equipment can also be obtained by summing the partial masses of each articulated arm; or by summing the vertical components of the pressure values ​​detected by each pressure sensor.

[0114] Step S13': Obtain the fulcrum position of each controlled leg on the support reference plane.

[0115] Step S14': Combine the pressure values, total mass, and fulcrum position to construct the moment balance equations in two orthogonal directions in the support reference plane to obtain the projection point.

[0116] The torque balance equation involved in step S14' is expressed as follows:

[0117] ∑Fx=0 (4)

[0118] ∑Fy=0 (5)

[0119] ∑Mx=0 (6)

[0120] ∑My=0 (7)

[0121] In this context, we assume that the x-axis direction of the support reference plane is defined as the first orthogonal direction and the y-axis direction as the second orthogonal direction. ∑Fx is the resultant force of the support force and gravity acting on the operating equipment in the first orthogonal direction of the support reference plane; ∑Fy is the resultant force of the support force and gravity acting on the operating equipment in the second orthogonal direction of the support reference plane; ∑Mx is the resultant moment of the support force and gravity acting on the operating equipment in the first orthogonal direction of the support reference plane relative to the target position; and ∑My is the resultant moment of the support force and gravity acting on the operating equipment in the second orthogonal direction of the support reference plane relative to the target position.

[0122] In step S14', given the weight of the operating equipment, the position of the controlled outrigger on the support reference plane, and the support force (i.e., pressure value) at each support point, the projection point of the operating equipment on the support reference plane can be calculated.

[0123] In some embodiments, the operating device is supported by a combination of passive support provided by wheels 200 and active support provided by controlled outriggers 300a. See also... Figure 15 Step S3 above, namely, obtaining the target support force value expected to be generated by each controlled leg based on the first positional relationship and total mass, includes:

[0124] Step S31: Obtain the first ratio of the sum of the desired active support forces generated by each controlled leg to the gravity from the operating device, where the value of the first ratio is between 0 and 1.

[0125] This first ratio can be freely defined by the operator and can be any value between [0,1], such as 0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, or 1. This first ratio can also be set by default in the system configuration file.

[0126] Step S32: Combine the first ratio, the first positional relationship and the total mass to obtain the target support force value that each controlled leg is expected to generate.

[0127] In some embodiments, see further reference. Figure 15 After step S3 above, i.e., the step of obtaining the desired target support force value of each controlled leg based on the first positional relationship and total mass, the following is included:

[0128] Step S33: Detect whether there is a target support force value that exceeds the support force threshold.

[0129] If it exists, proceed to step S34; otherwise, proceed to step S4.

[0130] Step S34: Set the target support force value of the controlled foot that exceeds the support force threshold to the support force threshold. Based on the support force thresholds of these controlled feet that exceed the support force threshold and in combination with the first position relationship and the total mass, obtain the target support force value of the remaining controlled feet.

[0131] Repeat steps S33 and S34 until all target support force values ​​do not exceed the support force threshold.

[0132] In some embodiments, see Figure 16 After step S32 above, which is the step of obtaining the target support force value that each controlled leg is expected to generate by combining the first proportional value, the first positional relationship and the total mass, the following steps are included:

[0133] Step S321: Obtain the pressure values ​​detected by each pressure sensor.

[0134] Step S322: Detect whether there is a floating wheel in the wheel based on whether the pressure value is less than the pressure threshold.

[0135] A floating wheel is a wheel that experiences zero force or less than a pressure threshold. For example, a wheel that is suspended in the air is a floating wheel.

[0136] In step S322, if a floating wheel exists, proceed to step S323; otherwise, proceed to step S4 as described above.

[0137] Step S323: Determine the controlled support closest to the floating wheel based on the position of the floating wheel and each controlled support on the support reference plane, and obtain the expected incremental support force value corresponding to the controlled support closest to the floating wheel.

[0138] Step S324: Update the current target support force value of the controlled foot closest to the floating wheel to the sum of the target support force value obtained at the previous moment and the incremental support force value of the corresponding controlled foot.

[0139] In step S324, the target support force values ​​of the remaining controlled legs remain unchanged, meaning that updates are usually not required.

[0140] After step S324, proceed to step S4.

[0141] In some embodiments, see Figure 17 In step S323, which is the step of obtaining the desired incremental support force value corresponding to the controlled outrigger closest to the floating wheel, the following is included:

[0142] Step S3231: Obtain a second ratio of the sum of the passive support forces expected to be generated by each wheel to the weight of the operating device.

[0143] The sum of the first and second proportional values ​​mentioned above is 1.

[0144] Step S3232: Obtain the second positional relationship between each wheel and the projection point in the support reference plane.

[0145] Step S3233: Combine the second proportional value, the second positional relationship and the total mass to obtain the passive support force value that the corresponding wheel is expected to generate.

[0146] Step S3234: Obtain the incremental support force value based on the passive support force value corresponding to the floating wheel and the third positional relationship between the floating wheel and the controlled support leg closest to the floating wheel in the support reference plane.

[0147] In some embodiments, each controlled support leg in the above embodiments includes a lifting part and a drive part coupled to the lifting part, and the drive part is coupled to a control device. Under the control of the control device, the drive part drives the lifting part to extend and retract and adjusts the supporting force of the lifting part. For example, the lifting part can be implemented by a lead screw pair, a rack and pinion, a hydraulic cylinder, or a pneumatic cylinder; corresponding to the lifting part being a lead screw pair or a rack and pinion, the drive part is a motor, and the support height is adjusted by the forward and reverse rotation angle of the motor, and the support force is adjusted by the torque of the motor; corresponding to the lifting part being a hydraulic cylinder or a pneumatic cylinder, the drive part is a solenoid valve, and the support height and support force are adjusted by controlling the flow rate through the solenoid valve; as another example, the lifting part and the drive part can be implemented by a linear motor together.

[0148] Furthermore, each controlled outrigger also includes a braking unit, which is coupled to the lifting unit or the drive unit, and also coupled to the control device. The braking unit is used to lock the drive unit or the lifting unit; for example, this braking unit can be implemented using a holding brake. Step S4 above, which is the step of controlling each controlled outrigger to extend towards the support surface and generate a support force matching the corresponding target support force value, includes:

[0149] Detect whether the drive units of each controlled support leg simultaneously reach the corresponding target support force value.

[0150] If so, stop the drive mechanism of each controlled outrigger and control the brake mechanism of each controlled outrigger to maintain the current support position and support force value of each controlled outrigger.

[0151] In the above embodiments, the adjustment of the active support force of each controlled foot is typically a one-time adjustment made as needed before each use of the slave operating device. In one embodiment, before the next adjustment of the support force of the controlled feet, each controlled foot can typically be retracted away from the support surface, for example, returning to its original position. In some embodiments, the slave operating device can also be dynamically adjusted in real time during use to adapt to the dynamic changes in the overall center of gravity position of the slave operating device during use. In one embodiment, each controlled foot does not need to retract away from the support surface, for example, returning to its original position, but changes dynamically directly. In embodiments where the support force is adjusted in real time, wheels can typically provide auxiliary, i.e., passive support.

[0152] In some embodiments, such as Figure 18 As shown, the control device may include: a processor 501, a communications interface 502, a memory 503, and a communications bus 504.

[0153] The processor 501, communication interface 502, and memory 503 communicate with each other through the communication bus 504.

[0154] The communication interface 502 is used to communicate with other network elements such as various sensors, motors, solenoid valves, or other clients or servers.

[0155] The processor 501 is used to execute program 505, which can specifically perform the relevant steps in the above method embodiments.

[0156] Specifically, program 505 may include program code that includes computer operation instructions.

[0157] The processor 505 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), one or more integrated circuits configured to implement embodiments of the present invention, or a graphics processing unit (GPU). The control device includes one or more processors, which may be processors of the same type, such as one or more CPUs or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0158] Memory 503 is used to store program 505. Memory 503 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0159] Specifically, program 505 can be used to cause processor 501 to perform the following operations: obtain the projection point of the total mass of the operating device and its total center of mass on the support reference plane; obtain the first positional relationship between each controlled foot and the projection point in the support reference plane; obtain the target support force value that each controlled foot is expected to generate based on the first positional relationship and the total mass; control each controlled foot to extend towards the support surface and generate a support force that matches the corresponding target support force value.

[0160] Figure 19 and Figure 20 A schematic diagram of the structure of a slave manipulator device according to another embodiment of the surgical robot disclosed herein is shown. This slave manipulator device 3' is compared to... Figure 1 The difference between the operating device 3 shown is in its configuration, which can be summarized as follows:

[0161] The operating device 3' has multiple articulated arms 301' to 315'. For ease of understanding, it is artificially divided into a first arm body with a series configuration at the proximal end and a second arm body with two or more parallel configurations at the distal end. Both the first arm body and the second arm body are composed of multiple articulated arms. For example, the first arm body is formed by articulated arms 301' to 305' connected in series, and the multiple second arm bodies are formed by articulated arms 306' to 315' connected in series.

[0162] The articulated arm 301' at the proximal end of the first arm is equipped with multiple wheels and support legs, which can be combined with Figure 4 Referring to the reference, the proximal articulated arm 301' of the operating device can be configured as the proximal articulated arm 301 of the operating device 3, which will not be described in detail here. The distal articulated arm 315' of the second arm body is used to detachably mount the operating arm 31' with the end effector. The operating arm 31' of this configuration of the operating device 3' has a structure that is basically the same as the operating arm 31 of the operating device 3. The operating arm 31' includes a connecting rod 32', a connecting assembly 33' and an end effector 34' connected in sequence. The end effector 34' includes an image end effector 34A' and an operation end effector 34B'. The proximal articulated arm 301' of the first arm body is a base. The distal articulated arm 315' of the second arm body can also be regarded as a power mechanism. Such a power mechanism usually has a guide rail and a power unit slidably mounted on the guide rail, wherein the power unit is used to detachably mount the operating arm.

[0163] thus, Figures 1 to 18 The illustrated embodiments are well applicable Figures 19 to 20 In the surgical robot shown, the support force of the operating device 3' is adjusted to enhance its support stability.

[0164] For example, the method for obtaining the total mass of the operating device 3' and the projection point of its total center of mass on the supporting reference surface can be exactly the same as that for the operating device 3. For example, the total mass of the operating device 3' and the projection point of its total center of mass on the supporting reference surface can be obtained by using a multibody center of mass solution method or by constructing a torque balance equation based on parameters such as pressure values. Please refer to the above embodiments, which will not be repeated here.

[0165] In other embodiments, the multibody centroid solution method can also be used, with more steps, to obtain the total mass of the operating device 3' and the projection point of its total centroid onto the supporting reference plane, such as... Figure 21 These steps may include, for example:

[0166] Step S11”: Obtain the component mass of each joint arm and the spatial position of its component centroid in the link coordinate system of the corresponding joint arm.

[0167] Step S12”: Obtain the joint position of the corresponding articulated arm in the reference coordinate system detected by each position sensor.

[0168] Step S13”: Sum the partial masses of each joint arm to obtain the total mass of the operating device.

[0169] Step S14” combines the centroid of each joint arm in the corresponding link coordinate system with the centroid spatial position of the corresponding joint position to obtain the centroid spatial position of the corresponding joint arm in the reference coordinate system through forward kinematics.

[0170] Step S15” combines the partial mass of each joint arm in the corresponding second arm body and the spatial position of the partial mass center in the reference coordinate system to obtain the spatial position of the partial mass center of the corresponding second arm body in the reference coordinate system through the multi-body mass center solution method.

[0171] Step S16” combines the partial mass of each second arm body and the spatial position of its partial centroid in the reference coordinate system to obtain the spatial position of the total partial centroid of all second arm bodies in the reference coordinate system through the multi-body centroid solution method.

[0172] Step S17” combines the partial mass of each joint arm in the first arm body and the spatial position of its partial centroid in the reference coordinate system, as well as the total partial mass of all the second arms body and the spatial position of its total partial centroid in the reference coordinate system, to obtain the spatial position of the total centroid of the operating device in the reference coordinate system through the multi-body centroid solution method.

[0173] Step S18”: Transform the total centroid into the projection point of the supporting reference plane in the spatial position of the total centroid in the reference coordinate system.

[0174] The surgical robot, control device, and control method disclosed herein have the following beneficial effects:

[0175] By determining the target support force value to be generated by each controlled leg based on the total mass of the operating equipment, the projection point of the total center of mass on the support reference plane, and the positional relationship between each controlled leg and the projection point, the controlled legs can be controlled to extend towards the support surface and generate the corresponding target support force value. This enables active support for the operating equipment, thereby enhancing the support stability of the operating equipment.

[0176] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0177] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A surgical robot, characterized in that, include: The operating device has multiple wheels and multiple retractable and adjustable support legs at its base. The wheels are configured to provide movement and auxiliary support, and the support legs include controlled support legs. A control device, coupled to the outriggers, is provided on each of the wheels, which is equipped with a pressure sensor coupled to the control device and configured as follows: Obtain the total mass of the slave operating device and the projection point of the total center of mass of the slave operating device onto the supporting reference plane; Obtain the first positional relationship between each of the controlled legs and the projection point in the support reference plane; The target support force value expected to be generated by each of the controlled legs is obtained based on the first positional relationship and the total mass. Control each of the controlled legs to extend towards the support surface and generate a support force that matches the corresponding target support force value; The steps of obtaining the total mass of the slave operating device and the projection point of the total centroid of the slave operating device onto the supporting reference plane include: Obtain the pressure values ​​detected by each of the pressure sensors; Obtain the total mass of the operating device; Obtain the fulcrum position of each wheel on the supporting reference plane; The projection point is obtained by constructing the moment balance equations in two orthogonal directions in the support reference plane by combining the pressure values, the total mass, and the fulcrum position.

2. The surgical robot according to claim 1, characterized in that, The support leg includes a lifting part and a driving part coupled to the lifting part, and the driving part is coupled to the control device. Under the control of the control device, the driving part drives the lifting part to extend and retract and adjusts the supporting force of the lifting part. The support leg also includes a braking part coupled to the lifting part or the driving part. The braking part is also coupled to the lifting part or the driving part for locking the driving part or the lifting part. The step of controlling each of the controlled support legs to extend towards the supporting surface and generate a supporting force matching the corresponding target supporting force value includes: Detect whether each of the driving units simultaneously reaches the corresponding target support force value; If so, stop the operation of each of the drive units and control the operation of each of the brake units to maintain the current support position and support force value of each of the controlled outriggers.

3. The surgical robot according to claim 1, characterized in that, The step of obtaining the target support force value expected to be generated by each of the controlled outriggers based on the first positional relationship and the total mass includes: Obtain a first ratio of the sum of the target support forces expected to be generated by each of the controlled legs to the gravity of the operating device; The target support force value expected to be generated by each of the controlled legs is obtained by combining the first ratio value, the first positional relationship and the total mass.

4. The surgical robot according to claim 1, characterized in that, After obtaining the target support force value expected to be generated by each of the controlled outriggers based on the first positional relationship and the total mass, the method includes: Detect whether there is a target support force value that exceeds the support force threshold; If present, set the target support force value of the controlled foot that exceeds the support force threshold to the support force threshold. Based on the support force threshold of the controlled foot that exceeds the support force threshold and in combination with the first positional relationship and the total mass, re-obtain the target support force value of the remaining controlled feet. Repeat the above steps until all the target support force values ​​do not exceed the support force threshold.

5. The surgical robot according to claim 1, characterized in that, The control device is configured to: Obtain the position of each of the aforementioned legs on the support reference plane; Based on the location, a convex polygon is constructed, and the foot associated with the location corresponding to the largest convex polygon is configured as the controlled foot.

6. A control device for a surgical robot, characterized in that, The surgical robot includes an operating device with multiple wheels and multiple retractable and adjustable support legs at its bottom. The wheels are configured to provide movement and auxiliary support. Each wheel is equipped with a pressure sensor coupled to a control device, which is coupled to the support legs. Each support leg includes a controlled support leg. The control device is configured to: Obtain the total mass of the slave operating device and the projection point of the total center of mass of the slave operating device onto the supporting reference plane; Obtain the first positional relationship between each of the controlled legs and the projection point in the support reference plane; The target support force value expected to be generated by each of the controlled legs is obtained based on the first positional relationship and the total mass. Control each of the controlled legs to extend towards the support surface and generate a support force that matches the corresponding target support force value; The steps of obtaining the total mass of the slave operating device and the projection point of the total centroid of the slave operating device onto the supporting reference plane include: Obtain the pressure values ​​detected by each of the pressure sensors; Obtain the total mass of the operating device; Obtain the fulcrum position of each wheel on the supporting reference plane; The projection point is obtained by constructing the moment balance equations in two orthogonal directions in the support reference plane by combining the pressure values, the total mass, and the fulcrum position.

7. A control method for a surgical robot, characterized in that, The surgical robot includes an operating device and a control device. The operating device has multiple wheels and multiple retractable and adjustable support legs at its bottom. The wheels are configured to provide movement and auxiliary support. Each wheel is equipped with a pressure sensor coupled to the control device. The control device is coupled to the support legs, and the support legs include controlled support legs. The control method includes the following steps: Obtain the total mass of the slave operating device and the projection point of the total center of mass of the slave operating device onto the supporting reference plane; Obtain the first positional relationship between each of the controlled legs and the projection point in the support reference plane; The target support force value expected to be generated by each of the controlled legs is obtained based on the first positional relationship and the total mass. Control each of the controlled legs to extend towards the support surface and generate a support force that matches the corresponding target support force value; The steps of obtaining the total mass of the slave operating device and the projection point of the total centroid of the slave operating device onto the supporting reference plane include: Obtain the pressure values ​​detected by each of the pressure sensors; Obtain the total mass of the operating device; Obtain the fulcrum position of each wheel on the supporting reference plane; The projection point is obtained by constructing the moment balance equations in two orthogonal directions in the support reference plane by combining the pressure values, the total mass, and the fulcrum position.

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