A laparoscopic surgery robot force perception feedback method and device and storage medium

Abstract

The application provides a laparoscopic surgery robot force perception feedback method and device and a storage medium, and relates to the technical field of medical equipment. The laparoscopic surgery robot force perception feedback method comprises the following steps: acquiring operation parameters of a surgical instrument and determining a difference characteristic; determining a joint torsional moment change amount of the surgical instrument according to the difference characteristic; mapping the torsional moment change amount at each joint to an instrument tip based on a Jacobian determinant; determining a force condition of the instrument tip through a torsional moment and a tip Cartesian vector mapping relationship; and issuing a force feedback instruction to an operating end according to the force condition. The method improves the sensing speed of the force condition of the instrument tip, improves the anti-interference ability in the detection process, guarantees the accuracy of the detection data, makes the feedback result accurate and timely, and enables the operator to accurately obtain the feedback sensing force, thereby avoiding the risks of excessive clamping, broken blood vessels or nerves, and internal organ injuries.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a force sensing feedback method, device, and storage medium for a laparoscopic surgical robot. Background Technology

[0002] Laparoscopic surgical robots assist surgeons in performing complex surgical procedures, offering high precision and minimally invasive techniques. Mainstream laparoscopic surgical robot systems can be divided into three main parts: the surgical operating end (master end), the imaging carriage system, and the surgical execution end (slave end). Compared to traditional surgery, laparoscopic surgical robot-assisted surgery inserts surgical instruments into the body through perforations, effectively reducing the trauma area. However, because the surgical instruments inserted into the patient's body do not directly contact the operator, the surgeon cannot feel the forces acting on the instrument ends, such as clamping or tensile forces. This poses certain risks. Force feedback sensing technology is used to collect the force information at the instrument ends. Currently, most force feedback sensing technologies rely on virtual determination and feedback to the device, resulting in insufficient precision in force feedback. Summary of the Invention

[0003] The problem addressed by this invention is how to improve the accuracy and sensitivity of force detection at the end effector of a laparoscopic surgical robot.

[0004] To address the aforementioned problems, this invention provides a force sensing feedback method, device, and storage medium for laparoscopic surgical robots.

[0005] In a first aspect, the present invention provides a force sensing feedback method for a laparoscopic surgical robot, comprising:

[0006] Obtain the operating parameters of the surgical instruments and determine the characteristics of the differences;

[0007] The change in torsional torque at the joint of the surgical instrument is determined based on the difference characteristics.

[0008] The torsional torque variation at each joint is mapped to the end of the device based on the Jacobian determinant.

[0009] The force condition at the end of the instrument is determined by mapping the torsional torque to the Cartesian vector at the end.

[0010] Based on the described force conditions, a force feedback command is issued to the operating terminal.

[0011] Optionally, acquiring the operating parameters of the surgical instrument and determining the difference feature includes: acquiring the operating parameters of the surgical instrument in the current pose; subtracting the operating parameters from the preset parameters in the relaxed pose to obtain the difference feature, wherein the difference feature is used to maintain the current pose when the external force of the surgical instrument changes.

[0012] Optionally, the operating parameters include a torque signal; determining the change in torsional torque at the joint of the surgical instrument based on the difference feature includes: filtering the difference feature corresponding to the torque signal to obtain a torque signal increment; and determining the change in torsional torque at the joint of the surgical instrument based on the linear relationship between the torque signal increment and the torsional torque.

[0013] Optionally, the operating parameters include motor current; determining the change in torsional torque at the joint of the surgical instrument based on the difference characteristics includes: performing a linear operation on the difference characteristics of the motor current to obtain the change in output torque of the joint motor; inputting the change in output torque into a preset instrument joint torque transmission model to obtain the change in torsional torque at the joint of the surgical instrument; and determining the change in torsional torque at the joint of the surgical instrument based on the linear relationship between the torque signal increment and the torsional torque.

[0014] Optionally, mapping the torsional torque variation at each joint to the end of the device based on the Jacobian determinant includes: inputting the torsional torque variation at each joint into the Jacobian determinant for mapping to obtain a target mapped torque to the end of the device, wherein the Jacobian determinant is used to associate the infinitesimal element of the torsional torque variation with the target mapped torque.

[0015] Optionally, determining the force condition of the instrument end via the mapping relationship between torsional torque and end-effector Cartesian vector includes: determining the Cartesian torque vectors mapped to the instrument end for different joints according to the mapping relationship between torsional torque and end-effector Cartesian vector; and synthesizing multiple Cartesian torque vectors to obtain the force condition of the instrument end.

[0016] Optionally, the mapping relationship between the torsional torque and the end Cartesian vector specifically includes:

[0017] T = JJ7T.F;

[0018] Wherein, τ is the change in torsional torque; J is the Jacobian matrix; F is the Cartesian torque vector; and T is the output torque.

[0019] The beneficial effects of this invention are as follows: by detecting the current operating parameters of the surgical instrument and determining the difference characteristics of the parameters generated to resist the force on the instrument end, the change in torsional torque at the joint of the surgical instrument is determined by the linear relationship between the difference characteristics and the change in torsional torque at the joint of the surgical instrument, and the change in torsional torque at each joint of the surgical instrument is mapped to the instrument end by the Jacobian determinant and the torsional torque-end Cartesian vector mapping relationship, and the multiple mapping results are synthesized to obtain a composite vector in the visual coordinate system, wherein the composite vector is the actual force situation in the visual coordinate system, and the force situation obtained by the analysis is fed back to the operating end to realize feedback control for the perceived force. By detecting parameter changes that occur when surgical instruments maintain their original position, the torque generated at each joint is analyzed. Based on the Jacobian determinant, the torque at multiple joints is uniformly mapped to the instrument end, and a Cartesian composite vector reflecting the force is obtained. This improves the speed of force perception at the instrument end, enhances the anti-interference ability during the detection process, ensures the accuracy of the detection data, and makes the feedback results accurate and timely. This allows operators to accurately obtain the feedback perception, thereby avoiding risks such as excessive clamping, tearing blood vessels or nerves, or puncturing internal organs.

[0020] In a second aspect, the present invention provides a force sensing feedback device for a laparoscopic surgical robot, comprising:

[0021] The detection unit is used to acquire the operating parameters of the surgical instruments and determine the difference characteristics. ；

[0022] A calculation unit is used to determine the change in torsional torque at the joint of the surgical instrument based on the difference characteristics;

[0023] A mapping unit is used to map the torsional torque variation at each joint to the end of the instrument based on the Jacobian matrix.

[0024] A synthesis unit is used to determine the force condition at the end of the instrument by means of a torsional torque and a Cartesian vector mapping relationship at the end.

[0025] A force feedback unit is used to issue force feedback commands to the operating terminal based on the actual force conditions.

[0026] Thirdly, the present invention provides a force sensing feedback device for a laparoscopic surgical robot, comprising a memory and a processor: the memory is used to store a computer program; the processor is used to implement the force sensing feedback method for a laparoscopic surgical robot as described in any one of the first aspects when the computer program is executed.

[0027] The force sensing feedback device and the force sensing feedback method for laparoscopic surgical robots described in this invention have the same advantages over the prior art, and will not be repeated here.

[0028] Fourthly, the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, which is read and executed by a processor to implement the force sensing feedback method for laparoscopic surgical robots as described in any one of the first aspects.

[0029] The computer-readable storage medium described in this invention has the same advantages over the prior art as the force sensing feedback method of the laparoscopic surgical robot, and will not be repeated here. Attached Figure Description

[0030] Figure 1 This is a flowchart illustrating the force sensing feedback method for laparoscopic surgical robots according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the torque signal conversion process described in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of a single torque mapping based on the Jacobian determinant as described in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the force sensing feedback device for the laparoscopic surgical robot according to an embodiment of the present invention. Detailed Implementation

[0034] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0035] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0036] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0037] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0038] like Figure 1 As shown, this embodiment of the invention provides a force sensing feedback method for a laparoscopic surgical robot, comprising:

[0039] Step S1: Obtain the operating parameters of the surgical instruments and determine the difference characteristics;

[0040] Step S2: Determine the change in torsional torque at the joint of the surgical instrument based on the difference characteristics;

[0041] Step S3: Map the torsional torque changes at each joint to the end of the device based on the Jacobian determinant;

[0042] Step S4: Determine the force at the end of the instrument by mapping the torsional torque to the Cartesian vector at the end.

[0043] Step S5: Issue a force feedback command to the operating terminal based on the force conditions.

[0044] Specifically, in this embodiment, step S1: obtaining the operating parameters of the surgical instrument and determining the difference features includes obtaining the joint torque signal of the surgical instrument in its current pose state and comparing it with a preset joint torque signal to obtain the difference between the two. The difference is the additional torque generated by the surgical instrument in the current pose to maintain the current pose.

[0045] Step S2: Determining the change in torsional torque at the joint of the surgical instrument based on the difference feature includes: filtering the difference feature of the acquired joint torque signal to obtain the torque difference feature at the joint position, which is the additional torque. Specifically, when the surgical instrument maintains its original posture, the joint torque value remains constant. When an external force is applied to the end of the instrument, the instrument motor dynamically adjusts its output torque to maintain the instrument's posture. The change in the joint torque relative to the state without external force is the change in joint torque caused by the external force.

[0046] Step S3: Mapping the torsional torque changes at each joint to the end of the instrument based on the Jacobian determinant includes: after obtaining the joint torque changes at each joint of the surgical instrument, projecting the joint torque changes at all joints to the end of the surgical instrument through the Jacobian determinant, whereby the Jacobian determinant is used to represent the transformation relationship between the two.

[0047] Step S4: Determining the force condition at the end of the instrument by mapping the torsional torque to the Cartesian vector of the end of the instrument includes: when mapping the change in joint torque to the end of the surgical instrument based on the Jacobian determinant, the spatial vectors of each projected torque obtained according to the mapping relationship between the torsional torque and the Cartesian vector of the end of the instrument are combined to obtain a three-dimensional vector in the spatial range at the end of the instrument. This vector represents the actual force condition at the end of the instrument.

[0048] Step S5: Issuing a force feedback command to the operating end based on the force condition includes: after determining the three-dimensional vector of the instrument end, issuing a feedback command to the control end based on the three-dimensional vector. The feedback command is used to display the force direction and magnitude in the screen space coordinate system and / or apply a repulsive force with the same direction and magnitude at the operating position of the control end.

[0049] This embodiment only demonstrates the process of acquiring, analyzing, and mapping the tensile force in a single arm of a surgical instrument. It should be understood that, taking the force analysis in a single direction as an example, the clamping force at the end is analyzed by repeating the tensile force analysis in different directions. The current clamping force of the instrument can be obtained by observing the changes in the joint torque of the instrument's left and right yaw joints. The tensile and clamping forces of each claw at the end of the surgical instrument will not be elaborated upon; they can be performed according to the above-described acquisition, analysis, mapping, and synthesis methods.

[0050] In this embodiment, the current operating parameters of the surgical instrument are detected, and the difference characteristics of the parameters generated to resist the force on the instrument end are determined. The change in torsional torque at the joint of the surgical instrument is determined by the linear relationship between the difference characteristics and the change in torsional torque at the joint of the surgical instrument. The change in torsional torque at each joint of the surgical instrument is mapped to the instrument end by the Jacobian determinant and the torsional torque-end Cartesian vector mapping relationship. The multiple mapping results are synthesized to obtain a composite vector in the visual coordinate system. The composite vector is used as the actual force situation in the visual coordinate system. The force situation obtained by the analysis is fed back to the operating end to realize feedback control for the perceived force. By detecting parameter changes that occur when surgical instruments maintain their original position, the torque generated at each joint is analyzed. Based on the Jacobian determinant, the torque at multiple joints is uniformly mapped to the instrument end, and a Cartesian composite vector reflecting the force is obtained. This improves the speed of force perception at the instrument end, enhances the anti-interference ability during the detection process, ensures the accuracy of the detection data, and makes the feedback results accurate and timely. This allows operators to accurately obtain the feedback perception, thereby avoiding risks such as excessive clamping, tearing blood vessels or nerves, or puncturing internal organs.

[0051] In an optional embodiment, acquiring the operating parameters of the surgical instrument and determining the difference feature includes: acquiring the operating parameters of the surgical instrument in the current pose; subtracting the operating parameters from the preset parameters in a relaxed pose to obtain the difference feature, wherein the difference feature is used to maintain the current pose when the external force on the surgical instrument changes.

[0052] Specifically, in this embodiment, a torque sensor is installed at the motor drive shaft of the surgical instrument. The torque signal output by the torque sensor is filtered and then input into the control computer. Based on the torque signal of the surgical instrument in a preset unstressed state, the change in the parameter state of the surgical instrument is determined, thereby monitoring the change in torque signal in real time during the operation and determining the change in the joint torque of the surgical instrument according to the difference in the change of torque signal.

[0053] In this optional embodiment, by detecting the operating parameters of the surgical instrument at the current moment and determining the difference characteristics of the parameters generated to resist the force on the end of the instrument, the force on the end of the surgical instrument is determined based on the difference. This avoids the situation of incomplete visual images and inaccurate perception caused by the limitation in the traditional visual detection process, and improves the ability to perceive different forces on the surgical instrument under various environments.

[0054] In an optional embodiment, the operating parameters include a torque signal; determining the change in torsional torque at the joint of the surgical instrument based on the difference feature includes: filtering the difference feature corresponding to the torque signal to obtain a torque signal increment; and determining the change in torsional torque at the joint of the surgical instrument based on the linear relationship between the torque signal increment and the torsional torque.

[0055] Specifically, such as Figure 2 As shown, in this embodiment, the acquired torque signal is processed by a filter, and the torque signal increment is obtained by a calculation unit. Furthermore, based on the linear relationship between the torque signal and the joint torque, the change in torsional torque corresponding to the torque signal increment is obtained. When the surgical instrument maintains its original posture, the joint torque value of the instrument remains constant. When the surgical robot is working, the instrument motor is in position control mode. When the instrument end is subjected to an external force, the instrument motor will dynamically adjust the output torque to maintain the instrument posture. At this time, the change in the joint torque of the instrument relative to the state without external force is the change in joint torque caused by the external force.

[0056] In this optional embodiment, by detecting the parameter changes generated by the surgical instrument in its current position while maintaining its original position, the torque signal changes generated at each joint are obtained. Based on this difference, the force condition at the end of the surgical instrument is determined. This avoids the situation where the visual image is incomplete and the perception effect is inaccurate due to the limitation in the traditional visual inspection process, thereby improving the anti-interference ability of the surgical instrument in the detection process and ensuring the accuracy of the detection data.

[0057] In an optional embodiment, the operating parameters include motor current; determining the change in torsional torque at the joint of the surgical instrument based on the difference characteristics includes: performing a linear operation on the difference characteristics of the motor current to obtain the change in output torque of the joint motor; inputting the change in output torque into a preset instrument joint torque transmission model to obtain the change in torsional torque at the joint of the surgical instrument; and determining the change in torsional torque at the joint of the surgical instrument based on the linear relationship between the torque signal increment and the torsional torque.

[0058] Specifically, during the surgery, the motor current of the surgical instrument joint is collected. When force is applied to the end of the instrument, the motor current changes to maintain the instrument's position. There is a linear mapping relationship between the motor current and the output torque. The change in motor output torque can be calculated from the current change. The change in motor output torque is converted into a change in torsional torque through the linear relationship between the torque signal increment and the torsional torque. The linear relationship between the torque signal increment and the torsional torque is as follows:

[0059] T—K·I;

[0060] Where: T is torque; I is current; K is proportional coefficient, which is only related to the motor's own properties.

[0061] In this optional embodiment, by detecting the changes in current parameters generated while maintaining the original posture of the surgical instrument, the torque changes of the motors at each joint are analyzed. Based on the linear relationship between motor torque and joint torque, the torque changes at the joint position are determined. The current detection method in this embodiment is simple in cost and easy to implement. At the same time, the end force detection obtained by analyzing the joint torque change based on the current parameter change has high accuracy and rapid response.

[0062] In an optional embodiment, mapping the torsional torque variation at each joint to the end of the device based on the Jacobian determinant includes: inputting the torsional torque variation at each joint into the Jacobian determinant for mapping to obtain a target mapped torque to the end of the device, wherein the Jacobian determinant is used to associate the infinitesimal element of the torsional torque variation with the target mapped torque.

[0063] Furthermore, determining the force condition at the end of the instrument by mapping the torsional torque to the Cartesian vector of the end of the instrument includes: determining the Cartesian torque vectors mapped to the end of the instrument for different joints according to the mapping relationship between the torsional torque and the Cartesian vector of the end of the instrument; and obtaining the force condition at the end of the instrument by synthesizing multiple Cartesian torque vectors.

[0064] Specifically, such as Figure 3 As shown, in this embodiment, the application scenario of the Jacobian matrix is ​​to reveal the relationship between infinitesimal elements when performing coordinate basis transformation. The change in joint torque at the original coordinate position is expressed as a vector relationship of the coordinate system. Based on the linear mapping relationship constructed by the Jacobian matrix, the original vector relationship is processed into a new vector relationship. The internal primitives between the two correspond one-to-one based on the Jacobian matrix. Then, the torque variable mapped to the end of the surgical instrument is decomposed based on the mapping relationship between torsional torque and end Cartesian vector to obtain the Cartesian torque projected at each joint. As illustrated in the figure, the lateral torsional torque at one joint and the longitudinal torsional torque at another joint are projected to the end of the surgical instrument through the mapping relationship of the Jacobian matrix. Based on the linear mapping relationship, the torsional torque is decomposed into Cartesian torques respectively. Then, the two Cartesian torques are combined to obtain the force situation at the end of the instrument. The Cartesian torque is a 6×1 dimensional vector. The first three elements describe the force in three directions, and the last three elements describe the torque in three directions.

[0065] Specifically, the mapping relationship between the torsional torque and the end Cartesian vector includes:

[0066] τ=J T ·F;

[0067] Wherein, τ is the change in torsional torque; J is the Jacobian matrix; F is the Cartesian torque vector; and T is the output torque.

[0068] Based on the obtained torsional torque change, Jacobian matrix, and output torque, the unknown Cartesian torque vector is determined. Based on the coordinate system and origin set in the visual image, the torque vectors projected at different joints are synthesized into a three-dimensional vector in the spatial coordinate system. The magnitude of this vector represents the force at the end of the surgical instrument, and the vector direction corresponds to the force direction. The magnitude and direction of this vector are fed back to the control end, and feedback commands are issued.

[0069] In this embodiment, the torque at multiple joints is uniformly mapped to the end of the instrument based on the Jacobian determinant. After synthesis, a Cartesian composite vector that reflects the force situation is obtained, which improves the perception speed of the force at the end of the instrument. The multi-joint comprehensive synthesis method also reduces the possibility of errors caused by data deviation, improves the anti-interference ability in the detection process, ensures the accuracy of the detection data, and makes the feedback results accurate and timely, so that the operator can accurately obtain the feedback perception.

[0070] For example, alternative solutions of the present invention further include: setting two 3D force sensors and / or 3D force sensors made of strain gauges on the inner side of the deflection joint at the end of the surgical instrument; the force sensors can directly collect the force conditions at the end of the procedure; measuring the normal strain and shear strain in each direction of the instrument head using strain gauges to obtain the plane strain state of the instrument head; and calculating the force state of the instrument head perpendicular to the clamping direction based on the material constitutive model and dimensions of the instrument head and the material mechanics equations. The instrument clamping force can be obtained by directly collecting the strain value in this direction using strain gauges and combining it with the constitutive model of the instrument head material. This solution obtains the deformation of the instrument end by setting a deformation sensing device and inputting it into the material model equations to obtain the force state of the surgical instrument end, which is beneficial for obtaining the clamping force of the surgical instrument end quickly and easily, improving the sensitivity to the clamped tissue, and making the surgical control end more intuitive.

[0071] For example, alternative solutions to the present invention also include:

[0072] Based on image recognition, the system dynamically captures objects held by instruments within the laparoscopic field of view. By training a model through a neural network, it can distinguish the types of objects held, such as nerves, muscles, and blood vessels.

[0073] Based on image semantic segmentation technology, the deformation of the clamped object is identified, and the constitutive models of different objects preset in the computer are controlled.

[0074] By combining the image recognition results with the corresponding constitutive model, and inputting the identified type variables into the constitutive model, the stress situation of the corresponding tissue under the current type variables is obtained.

[0075] This solution employs two deep training models to identify the type of tissue and the type variable of the tissue in the current image. By using a constitutive model that matches the tissue type and inputting the acquired type variable, the current force on the end of the surgical instrument is determined. This approach can effectively analyze the clamping situation in different application environments and obtain the force results, improving recognition accuracy while reducing hardware costs.

[0076] Secondly, combining Figure 4 As shown, an embodiment of the present invention provides a force sensing feedback device for a laparoscopic surgical robot, comprising:

[0077] The detection unit is used to acquire the operating parameters of the surgical instruments and determine the difference characteristics. ；

[0078] A calculation unit is used to determine the change in torsional torque at the joint of the surgical instrument based on the difference characteristics;

[0079] A mapping unit is used to map the torsional torque variation at each joint to the end of the instrument based on the Jacobian matrix.

[0080] A synthesis unit is used to determine the force condition at the end of the instrument by means of a torsional torque and a Cartesian vector mapping relationship at the end.

[0081] A force feedback unit is used to issue force feedback commands to the operating terminal based on the actual force conditions.

[0082] Thirdly, embodiments of the present invention also provide a force sensing feedback device for a laparoscopic surgical robot, comprising a memory and a processor: the memory is used to store a computer program; the processor is used to implement the force sensing feedback method for a laparoscopic surgical robot as described in any one of the first aspects when the computer program is executed.

[0083] The force sensing feedback device and the force sensing feedback method for laparoscopic surgical robots described in this invention have the same advantages over the prior art, and will not be repeated here.

[0084] Fourthly, embodiments of the present invention also provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, which is read and executed by a processor to implement the force sensing feedback method for laparoscopic surgical robots as described in any one of the first aspects.

[0085] The computer-readable storage medium described in this invention has the same advantages over the prior art as the force sensing feedback method of the laparoscopic surgical robot, and will not be repeated here.

[0086] The present invention will now describe electronic devices that can serve as servers or clients of the present invention, which are examples of hardware devices that can be applied to various aspects of the present invention. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0087] Electronic devices include a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0088] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0089] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A force sensing feedback device for a laparoscopic surgical robot, characterized in that, The method comprises the following steps: detecting a running parameter of a surgical instrument and determining a difference feature comprising: obtaining the running parameter of the surgical instrument in a current pose; obtaining the running parameter of the surgical instrument in a preset relaxed pose; obtaining the difference feature by subtracting the running parameter in the preset relaxed pose from the running parameter in the current pose, the difference feature being used to maintain the current pose when an external force of the surgical instrument changes; calculating a change amount of a torsional moment at a joint of the surgical instrument according to the difference feature; mapping the change amount of the torsional moment at each joint to an instrument tip based on a Jacobian matrix; synthesizing a force condition of the instrument tip by a torsional moment and end Cartesian vector mapping relationship comprising: determining a Cartesian moment vector of the instrument tip mapped by different joints respectively according to the torsional moment and end Cartesian vector mapping relationship; synthesizing a plurality of the Cartesian moment vectors to obtain the force condition of the instrument tip; 2. The force feedback device for a surgical robotic system of claim 1, wherein, issuing a force feedback instruction to an operating end according to an actual force condition by a force feedback unit. The running parameter comprises a moment signal; the change amount of the torsional moment at the joint of the surgical instrument is determined according to the difference feature comprising: filtering the difference feature corresponding to the moment signal to obtain a moment signal increment; 3. The force feedback device for a surgical robotic system of claim 1, wherein, determining the change amount of the torsional moment at the joint of the surgical instrument based on a linear relationship between the moment signal increment and the torsional moment. The running parameter comprises a motor current; the change amount of the torsional moment at the joint of the surgical instrument is determined according to the difference feature comprising: performing linear operation on the difference feature of the motor current to obtain a change amount of an output torque of a joint motor; inputting the change amount of the output torque into a preset instrument joint torsion transmission model to obtain the change amount of the torsional moment at the joint of the surgical instrument; 4. The force feedback device for a surgical robotic system of claim 1, wherein, determining the change amount of the torsional moment at the joint of the surgical instrument based on a linear relationship between the moment signal increment and the torsional moment. The change amount of the torsional moment at each joint is mapped to the instrument tip based on the Jacobian determinant comprising:

5. The force feedback device for a surgical robotic system of claim 4, wherein, inputting the change amount of the torsional moment at each joint into the Jacobian determinant for mapping to obtain a target mapping moment mapped to the instrument tip, wherein the Jacobian determinant is used to associate the torsional moment change element and the target mapping moment. The torsional moment and end Cartesian vector mapping relationship specifically comprises: ； wherein, is the torsional moment variation; J is the Jacobian matrix; F is the Cartesian moment vector.

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