Surgical robot and control method, apparatus, and surgical system therefor

Abstract

This application relates to a surgical robot and its control method, device, and surgical system. The surgical robot includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm. The puncture device is used to insert into the body opening of a patient lying on the surface of an operating table. The control method includes: acquiring posture registration information between the surgical robot and the operating table; acquiring motion information of the operating table surface in the degrees of freedom of posture in response to the motion of the operating table surface; determining a target joint value of a first joint among the multiple joints based on the motion information and posture registration information; and controlling the motion of the first joint according to the target joint value to maintain the posture of the puncture device relative to the operating table surface in the degrees of freedom of posture. This application can actively control the drive arm to adjust the posture of the puncture device when the operating table surface moves in the degrees of freedom of posture based on the posture registration information between the surgical robot and the operating table, thereby improving operational efficiency and safety.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to a surgical robot and its control method, device, and surgical system. Background Technology

[0002] 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.

[0003] With the advancement of technology, minimally invasive surgical robot technology has gradually matured and is widely used. Minimally invasive surgical robots typically include a main control panel and slave control devices. The main control panel includes a handle, through which the surgeon sends control commands to the slave control devices. The slave control devices include a drive arm and a puncture device mounted at the distal end of the drive arm. The puncture device is used to insert into the body opening of the patient lying on the operating table to provide a channel for medical instruments to pass through.

[0004] In robotic-assisted surgery, surgeons often expect the operating table to move a certain distance or rotate a certain angle to adjust the patient's position and improve or optimize the surgical site's field of vision and operating space. However, the movement of the operating table causes the patient's incision to move, and the surgical robot typically cannot actively control the puncture device to follow the incision based on the operating table's movement information. This makes adjusting the operating table and operating the surgical robot cumbersome, time-consuming, and potentially harmful to the patient, increasing the uncertainty and risks during the surgery. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a surgical robot and its control method, device, and surgical system, which can actively control the drive arm to adjust the posture of the puncture device when the surgical robot moves with a degree of freedom on the operating table based on the posture registration information between the surgical robot and the operating table, thereby improving operational efficiency and safety.

[0006] To address the aforementioned technical problems, this application provides a control method for a surgical robot. The surgical robot includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm. The puncture device is used to insert into an opening in the body of a patient lying on the surface of an operating table. The method includes:

[0007] Obtain the posture registration information between the surgical robot and the operating table;

[0008] In response to the movement of the operating table surface in the degree of posture freedom, the motion information of the operating table surface in the degree of posture freedom is acquired;

[0009] Based on the motion information and the posture registration information, a target joint value for the first joint among the plurality of joints is determined, and the movement of the first joint is controlled according to the target joint value to maintain the posture of the puncture device relative to the table surface of the operating table in the degree of posture freedom.

[0010] In one embodiment, the method further includes:

[0011] In response to the movement of the operating table surface in the degrees of freedom of posture, a target joint among the plurality of joints associated with positional degree of freedom is controlled to allow the drive arm to track the position of the body opening based on the force exerted by the body wall at the patient's body opening.

[0012] In one embodiment, the positional degrees of freedom include vertical degrees of freedom, and controlling a target joint among the plurality of joints associated with the adjustment of the positional degrees of freedom to allow the drive arm to track the position of the body opening based on a force exerted by the body wall at the body opening by the patient includes:

[0013] In response to the movement of the operating table surface in the degree of posture freedom, the second joint in the target joint is controlled to be in a zero-force state. The second joint includes a joint with a degree of vertical freedom, so as to allow the drive arm to track the movement of the body opening in the degree of vertical freedom based on the force exerted by the body wall of the patient's body opening.

[0014] In one embodiment, the positional degrees of freedom include translational degrees of freedom, and controlling a target joint among the plurality of joints associated with the adjustment of positional degrees of freedom, to allow the drive arm to track the position of the body opening based on a force exerted by the body wall at the body opening by the patient, includes:

[0015] In response to the movement of the operating table surface in the degree of posture freedom, the third joint in the target joint is controlled to be in a zero-force state. The third joint includes a joint with translational degree of freedom to allow the drive arm to track the movement of the body opening in the translational degree of freedom based on the force exerted by the body wall of the patient's body opening.

[0016] In response to the movement of the third joint, the movement of the fourth joint in the target joint is controlled to compensate for changes in the posture of the puncture device caused by the movement of the body opening in the translational degree of freedom.

[0017] In one embodiment, controlling the movement of the fourth joint in the target joint includes:

[0018] Obtain motion information of the first rotary joint in the third joint, and generate motion information of the second rotary joint in the fourth joint based on the motion information of the third joint. The motion information of the first rotary joint includes motion amount and motion direction, and the motion information of the second rotary joint includes a motion direction opposite to the motion direction of the first rotary joint and a motion amount of the same magnitude as the motion amount of the first rotary joint.

[0019] The movement of the second rotary joint is controlled based on the motion information of the second rotary joint.

[0020] In one embodiment, the relative posture of the surgical robot and the operating table is characterized by the posture angle between the base of the surgical robot and the base of the operating table on a horizontal plane. The reference coordinate system of the surgical robot is located on the base of the surgical robot, and the reference coordinate system of the operating table is located on the base of the operating table.

[0021] In one embodiment, two ranging modules are spaced apart on one side of the base of the surgical robot, and the detection direction of the ranging modules is located on a horizontal plane and perpendicular to the first or second horizontal coordinate axis of the reference coordinate system of the surgical robot; or, two ranging modules are spaced apart on one side of the base of the operating table, and the detection direction of the ranging modules is located on a horizontal plane and perpendicular to the first or second horizontal coordinate axis of the reference coordinate system of the operating table; obtaining the attitude angle includes:

[0022] The distance values ​​detected by the two ranging modules are obtained, and the distance values ​​represent the distance between the base of the surgical robot and the base of the operating table at the corresponding ranging module.

[0023] Based on the distance value, calculate the angle between the specified horizontal coordinate axis of the reference coordinate system of the surgical robot and the specified horizontal coordinate axis of the reference coordinate system of the operating table;

[0024] The attitude angle is determined based on the included angle.

[0025] In one embodiment, the method further includes:

[0026] During the process of controlling the drive arm according to the movement of the operating table surface in a preset degree of freedom, it is determined whether the surgical robot meets the first preset condition;

[0027] If the first preset condition is not met, then the control of the drive arm based on the movement of the operating table surface in the preset degrees of freedom is stopped; wherein,

[0028] The condition of meeting the first preset condition includes at least one of the following:

[0029] The puncture device is positioned relative to the body opening in a preset state;

[0030] The position of the medical device installed at the distal end of the drive arm and the surgical site is in a preset state;

[0031] The range of motion of each joint in the drive arm is within a preset range.

[0032] In one embodiment, the method further includes:

[0033] Before controlling the drive arm based on the movement of the operating table surface in a preset degree of freedom, determine whether the surgical robot and / or operating table meet the second preset condition;

[0034] If the second preset condition is met, the drive arm is controlled according to the movement of the operating table surface in a preset degree of freedom; wherein,

[0035] The condition of meeting the second preset condition includes at least one of the following:

[0036] The surgical robot docks with the patient;

[0037] The base of the surgical robot is in a motion-locked state with the base of the operating table;

[0038] The main control panel of the surgical robot is in a state where surgical operations are permitted.

[0039] The communication connection between the surgical robot and the operating table is in normal condition.

[0040] The range of motion of each joint in the drive arm is within a preset range.

[0041] In one embodiment, an imaging device is mounted at the distal end of the drive arm, and the imaging device passes through the puncture device to enter the patient's body. The method further includes:

[0042] During the process of controlling the drive arm based on the movement of the operating table surface in a preset degree of freedom, the image acquired by the imaging instrument is obtained;

[0043] In response to the detection that a target area in the image meets a third preset condition, a control command is sent to the operating table. The control command includes instructions for controlling at least one of the following: delayed adjustment, stop adjustment, and deceleration adjustment of the operating table; wherein...

[0044] The condition of meeting the third preset condition includes at least one of the following:

[0045] The target surgical site or a marker associated with the target surgical site is identified in the target area;

[0046] The target surgical site is positioned in a preset posture within the target area.

[0047] In one embodiment, the method further includes:

[0048] During the process of controlling the drive arm according to the movement of the operating table surface in a preset degree of freedom, in response to the change in orientation between the operating part of the surgical robot and the medical device mounted at the distal end of the drive arm, the orientation of the operating part and the medical device is aligned.

[0049] This application also provides a control device for a surgical robot, including:

[0050] Memory, used to load and execute computer programs;

[0051] Processor, used to load and execute the computer program;

[0052] The computer program is loaded and executed by the processor to implement the steps of the control method for the surgical robot as described above.

[0053] This application also provides a surgical robot, which includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm for insertion into a body opening of a patient lying on the table of an operating table;

[0054] The surgical robot also includes a control device for performing steps of the control method for implementing the surgical robot as described above.

[0055] This application also provides a surgical system including an operating table and a surgical robot as described above, wherein the surgical robot is communicatively connected to the operating table, and the table surface of the operating table can be adjusted in one or more degrees of freedom.

[0056] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the surgical robot control method described above.

[0057] This application discloses a surgical robot, its control method, device, surgical system, and storage medium. The surgical robot includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm. The puncture device is used to insert into an opening in the body of a patient lying on the surface of an operating table. The control method includes: acquiring posture registration information between the surgical robot and the operating table; acquiring motion information of the operating table surface in the degrees of freedom of posture in response to the motion of the operating table surface; determining a target joint value for a first joint among the multiple joints based on the motion information and posture registration information; and controlling the motion of the first joint according to the target joint value to maintain the posture of the puncture device relative to the operating table surface in the degrees of freedom of posture. This application can actively control the drive arm to adjust the posture of the puncture device when the surgical robot moves in the degrees of freedom of posture on the operating table surface based on the posture registration information between the surgical robot and the operating table, thereby improving operational efficiency and safety. Attached Figure Description

[0058] Figure 1 This is a simplified diagram of the device relationships of a surgical system according to one embodiment;

[0059] Figure 2 This is a schematic diagram of the structure of a surgical system according to one embodiment;

[0060] Figure 3 This is a flowchart illustrating a control method for a surgical robot according to one embodiment;

[0061] Figure 4 This is a simplified kinematic model diagram of a surgical system according to an embodiment;

[0062] Figure 5 This is a schematic diagram illustrating the principle of attitude positioning according to one embodiment;

[0063] Figure 6 This is an installation diagram of a ranging module according to one embodiment;

[0064] Figure 7 This is a schematic diagram of an operating table control panel according to one embodiment;

[0065] Figure 8 This is a schematic diagram of the control device for a surgical robot according to one embodiment. Detailed Implementation

[0066] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0067] 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.

[0068] 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 invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. In this invention, "each" includes one or more items.

[0069] Figure 1 This is a simplified diagram of the equipment relationships of a surgical system according to one embodiment. Figure 1 As shown, the surgical system 100 includes a surgical robot and an operating table 105. The surgical robot includes a bedside robotic arm system 101, a doctor's main control panel 103, and an imaging cart imaging system 108. It can be understood that the composition of the surgical robot is not limited to this.

[0070] The bedside robotic arm system 101 includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm. The puncture device is used to insert into the body opening of a patient 106 lying on the table surface of the operating table 105. The puncture device can provide a channel between the surgical robot and the organism (including a human / animal). Medical instruments are inserted into the body of the organism through this connection channel. The medical instruments include imaging instruments that provide a field of view and surgical instruments that provide surgical manipulation.

[0071] The doctor's main control console 103 and the bedside robotic arm system 101 communicate in real time via data transmission path 120. The surgeon's actions on the main control console 103 are performed by manipulating the medical devices in the bedside robotic arm system 101 through a master-slave mapping relationship based on a kinematic model. Simultaneously, the main control console 103 can monitor the status of the bedside robotic arm system 101, such as monitoring the motion information of each joint. When the operating table 105 performs movements of corresponding degrees of freedom, the patient 106, fixed to the surface of the operating table 105, remains relatively stationary relative to the surface. Changes in the patient's position are achieved by the operating table 105 performing movements of corresponding degrees of freedom. The motion information of each joint of the operating table 105 is recorded and stored in real time, and transmitted to the bedside robotic arm system 101 via data transmission path 150. Data transmission between the main control console 103 and the operating table 105 occurs via data transmission path 130. Images of the surgical site on patient 106 are acquired by an imaging device installed in the bedside robotic arm system 101. This imaging device is connected to the imaging cart system 108. The images acquired by the imaging device are transmitted to the imaging cart system 108 via data transmission path 110. Then, the imaging cart system 108 transmits the images acquired by the imaging device back to the doctor's main control panel 103 in real time via data transmission path 160, providing the doctor with a surgical field of view and facilitating the smooth execution of the surgery. In practice, data transmission paths 110, 120, 130, 150, and 160 can be either wired or wireless.

[0072] The control method of the surgical robot when the operating table 105 performs the corresponding degrees of freedom of movement will be described in detail below.

[0073] Figure 2 This is a schematic diagram of a surgical system according to one embodiment. Figure 2 The diagram illustrates the structure of the bedside robotic arm system 101 and the operating table 105 of the surgical robot. The bedside robotic arm system 101 includes a motion chassis 201, a robotic arm 250, and a drive arm. The motion chassis 201 can move the bedside robotic arm system 101 as a whole in any direction on a horizontal surface. The robotic arm 250 is used to position one or more drive arms as a whole. The drive arm includes an adjusting arm 260 and a manipulating arm 270.

[0074] The motion chassis 201 can adopt a wheeled movement structure, making the relative positional relationship between the bedside robotic arm system 101 and the operating table 105 more flexible. There are no constraints on designated location areas, and on-site medical personnel can independently push the system to complete the positioning and locking operations according to the actual surgical needs. This allows for close proximity to the operating table 105 while facilitating preoperative positioning of each manipulator 270 above the patient. In this embodiment, the bedside robotic arm system 101 is also equipped with a ranging component 202 for measuring external distances, such as a laser ranging component, an ultrasonic ranging component, or a visual ranging component. For example, the laser ranging component typically has ultra-high precision to facilitate accurate distance measurement.

[0075] The robotic arm 250 includes a fixed support column 203 fixedly connected to the motion chassis 201 for supporting all the motion joints, a lifting column 204 for performing the overall lifting linear motion J1 of the robotic arm 250, a large arm 205 and a small arm 206 for performing rotational motions J2 and J3 respectively, and a directional platform 207 for controlling one or more adjustment arms 260 to perform the overall rotational motion J4. The movement of these joints can quickly reach the expected preoperative positioning area, which helps to shorten the docking time between the preoperative bedside robotic arm system 101 and the patient 106.

[0076] One or more adjusting arms 260 are connected to the orientation platform 207 individually or in parallel via rotary joints J5. In some examples, the bedside robotic arm system 101 has multiple adjusting arms 260. Considering that the configurations of the multiple adjusting arms 260 are basically the same and the motion descriptions of each joint are basically the same, therefore... Figure 2 The structure is presented using only one adjusting arm 260 and one operating arm 270 as examples, along with the description of the joint motion relationships below. In some examples, the adjusting arm 260 includes a small rotating platform 208, a telescopic arm 209 that performs linear translation J6 in a horizontal direction parallel to the ground, a fixed vertical arm 210 fixedly connected to the telescopic arm 209, a movable vertical arm 211 that performs up-and-down lifting J7 in a vertical direction perpendicular to the ground, a turning head 212 that performs rotational movement J8, and a cyclone joint 213 that performs rotational movement J9.

[0077] The manipulator arm 270 includes a deflection joint 214 that rotates J10 with the cyclone joint 213, a parallelogram linkage base 215, a first link 216 and a second link 217 that perform rotational motion J11, and a holding arm 218 for performing linear motion J12 of the medical device 219 along the guide rail direction. A trocar 229 is mounted at the distal end of the manipulator arm 270. The distal fixed point 220 of the puncture device 229, which is at the same position as the body opening of the patient 106, is defined by the intersection of the axis of the cyclone joint 213 and the axis of the deflection joint 214. The intersection of these two axes with the lateral center plane of the parallelogram linkage device base 215 also converges to the distal fixed point 220 of the puncture device 229. In addition, the first link 216 and the second link 217, as two adjacent sides, together with two virtual adjacent sides parallel to them, form a parallelogram motion mechanism. This mechanism is controlled by a motor and performs the folding and opening motion of the parallelogram around the rotational motion J11 axis. The motion fixed point of the parallelogram also intersects with the distal fixed point 220 of the puncture device 229 at a point located on the central axis of the medical device 219. The end of the medical device 221 is inserted into the body of the patient 106 and performs the surgical actions of the doctor on the main control panel based on the master-slave mapping relationship.

[0078] The operating table 105 includes an operating table motion mechanism 280, which includes a wheeled chassis 227 movable on a horizontal surface, a fixed column 226, a telescopic column 225, a front-to-back tilting and rotating joint 223, a left-to-right tilting and rotating joint 224, and an uppermost table 222. The fixed column 226 is bolted to the wheeled chassis 227. The telescopic column 225 moves relative to the fixed column 226, performing a vertical lifting motion B2. Both columns also act as support mechanisms, supporting the table 222 of the operating table 105 and the patient 106. The axis of rotation B3 of the front-to-back tilting and rotating joint 223 intersects the axis of rotation B4 of the left-to-right tilting and rotating joint 224 above the telescopic column 225. The uppermost part is the table 222, which supports and fixes the patient 106. The front-to-back translational motion B1 of the table 222 is performed by a telescopic transmission mechanism located inside the table. During the movement of the operating table 222, the patient 106 needs to remain stationary relative to the operating table 222, the distal fixed point 220 of the puncture device 229 needs to remain stationary relative to the patient 106, and the end effector 221 of the medical device needs to remain stationary relative to the surgical site in order to ensure the patient's safety.

[0079] The control method of the surgical robot when the operating table 105 performs the corresponding degrees of freedom of movement will be described in detail below.

[0080] The control method for the surgical robot in this embodiment can be applied to... Figure 1and Figure 2 The surgical robot described herein can also be applied to other types of surgical robots, such as single-port surgical robots. The surgical robot includes a driven arm with multiple joints, the distal end of which is equipped with a puncture device for insertion into an opening in the body of a patient lying on the operating table. Figure 3 As shown, a control method for a surgical robot in one embodiment includes:

[0081] Step S1: Obtain the posture registration information between the surgical robot and the operating table;

[0082] Step S2: In response to the motion of the operating table surface in the degrees of freedom of posture, obtain the motion information of the operating table surface in the degrees of freedom of posture.

[0083] Step S3: Based on motion information and posture registration information, determine the target joint value of the first joint among multiple joints, and control the movement of the first joint according to the target joint value to maintain the posture of the puncture device relative to the operating table surface in the degree of posture freedom.

[0084] Using the above method, based on the posture registration information between the surgical robot and the operating table, the drive arm can be actively controlled to adjust the posture of the puncture device while the robot is moving freely on the operating table. This allows the operating table to be adjusted without disengaging the surgical robot from the patient, thus improving operational efficiency and safety.

[0085] To achieve active control of the drive arm to adjust the posture of the puncture device during its movement on the operating table, it is necessary to first obtain the posture registration information between the surgical robot and the operating table. This posture registration information refers to the transformation relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. In this embodiment, the posture registration information between the surgical robot and the operating table is obtained by establishing a coordinate system transformation relationship between their respective reference coordinate systems.

[0086] The reference coordinate system of the surgical robot is its own reference coordinate system, and the reference coordinate system of the operating table is its own reference coordinate system. In some embodiments, the reference coordinate system of the surgical robot includes its own base coordinate system. In some embodiments, the reference coordinate system of the operating table includes its own base coordinate system. Please refer to... Figure 2 and Figure 4The reference coordinate system 301 of the surgical robot can usually be established on the motion chassis 201 of the bedside robotic arm system 101, including two coordinate axes located on the horizontal plane and the origin of the coordinates located on the axis of the fixed support column 203. However, in actual implementation, the reference coordinate system 301 of the surgical robot may not be established on the motion chassis 201, as long as it has a fixed coordinate transformation relationship with the coordinate system of the motion chassis 201. Based on the rules for establishing kinematic coordinate systems, coordinate systems 302 (robotic arm end effector), 303 (adjustment arm end effector), and 304 (medical device end effector) can be established. The medical device end effector coordinate system 304 is also called the manipulator end effector coordinate system. By determining the transformation matrix relationships 310, 320, and 330 between these coordinate systems, the motion of the medical device mounted at the manipulator end effector in the surgical robot's reference coordinate system 301 can be determined. The motion of each joint in the robotic arm 250, adjustment arm 260, and manipulator arm 270 in the surgical robot's reference coordinate system 301 will be achieved by monitoring the motion of the corresponding joint coordinate systems. The master-slave mapping relationship between the doctor's main control panel and the bedside robotic arm system 101 is also completed based on the transformation relationships between these coordinate system transformation matrices. Furthermore, based on the transformation matrix relationship 370 between the telecentric fixed point coordinate system 307 and the adjustment arm end effector coordinate system 303, the position information of the telecentric fixed point of the puncture device in the surgical robot's reference coordinate system 301, as well as the posture information of the puncture device, can be determined.

[0087] Considering the central symmetry of the operating table 105 in its mechanical structure and the distribution of its various joints within the system, the operating table's reference coordinate system 305 is typically established at the center of the wheeled chassis 227, including two coordinate axes on the horizontal plane with the origin located on the central axis of the wheeled chassis 227. However, in practice, the operating table's reference coordinate system 305 may not be established at the center of the wheeled chassis 227; it only needs to have a fixed coordinate transformation relationship with the coordinate system of the wheeled chassis 227. The coordinate systems of each joint of the operating table 105 are established sequentially at each joint according to the coordinate system establishment rules. The operating table surface coordinate system 306 is established at the center of the upper surface of the table. Considering that the patient is relatively stationary relative to the table surface, the operating table surface coordinate system 306 can accurately reflect the overall movement of the patient within the operating table's reference coordinate system 305 through the coordinate system transformation relationship 350, and can monitor the movement of each joint of the operating table.

[0088] Because patients vary significantly in body size and weight, and the different types of surgery make it impossible to accurately obtain the location information of the incision before surgery, the transformation relationship 360 between the telecentric fixed point coordinate system 307 and the operating table surface coordinate system 306 cannot be directly obtained. This results in the inability to obtain the pose (position and attitude) positioning between the bedside robotic arm system 101 and the operating table 105, creating a technical obstacle to controlling the linkage between the surgical robot and the operating table when adjusting the operating table without disengaging the surgical robot from the patient. Typically, when adjusting the operating table without disengaging the surgical robot from the patient, the force exerted by the operating table on the puncture device during movement can only be used to control the drive arm to follow the movement. Motion compensation is then added to improve the accuracy of posture tracking. Since the movement of the drive arm is passive, rather than directly transmitting accurate motion commands to the joints of the surgical robot's drive arm for active control, and using the interaction force between the puncture device and the patient's body wall as the original driving force, the degree of influence from uncertain factors such as friction cannot be assessed, which also poses a risk of instability.

[0089] In this embodiment, by establishing a coordinate system transformation relationship 340 between the reference coordinate system 301 of the surgical robot and the reference coordinate system 305 of the operating table, replacing the transformation relationship 360 between the telecentric fixed point coordinate system 307 and the operating table surface coordinate system 306, the posture registration between the surgical robot and the operating table is realized, which facilitates the feasibility of controlling the linkage between the surgical robot and the operating table.

[0090] In this embodiment, the coordinate system transformation relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. In one case, the reference coordinate system of the surgical robot can be established on the motion chassis of the bedside robotic arm system and includes two horizontal coordinate axes (e.g., x-axis and y-axis) located on the horizontal plane. The reference coordinate system of the operating table is established on the wheeled chassis of the operating table and includes two horizontal coordinate axes (e.g., x-axis and y-axis) located on the horizontal plane. At the same time, the horizontal planes on which the motion chassis and the wheeled chassis are located are parallel to or coincident with each other. In this way, the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be characterized only as the relative deflection angle between the horizontal coordinate axes of the reference coordinate system of the surgical robot and the horizontal coordinate axes of the reference coordinate system of the operating table, thereby simplifying the coordinate transformation calculation.

[0091] Specifically, such as Figure 5 As shown, in this embodiment, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O) parallel to the ground. robot -X robot Yrobot The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground. bed -X bed Y bed Without considering ground unevenness, the Z-axis of the surgical robot's reference coordinate system is... robot Z-axis of the reference coordinate system of the operating table bed Parallel to each other and perpendicular to the ground, the relative pose between the surgical robot and the operating table is not fixed, making the coordinate system O... robot -X robot Y robot Z robot With O bed -X bed Y bed Z bed There exists an angle θz around the Z-axis, which is the unknown variable used for attitude positioning between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.

[0092] Please refer to Figure 2 , Figure 5 and Figure 6 In one embodiment, the ranging component 202 includes a first ranging module 403 and a second ranging module 404. The first ranging module 403 and the second ranging module 404 are spaced apart and disposed on the side 407 of the base (e.g., the motion chassis) of the surgical robot. The detection directions of the first ranging module 403 and the second ranging module 404 are located on a horizontal plane and perpendicular to the first horizontal coordinate axis (e.g., X) of the reference coordinate system of the surgical robot. robot (axis) or second horizontal coordinate axis (e.g., Y) robot axis), Figure 5 China and Israel Y robot The axis is parallel to or coincides with the major axis of the surgical robot base, and the detection directions of the first ranging module 403 and the second ranging module 404 are perpendicular to Y. robot The axis is illustrated. In another embodiment, a first ranging module 403 and a second ranging module 404 may be spaced apart on one side of the base of the operating table. The detection directions of the first ranging module 403 and the second ranging module 404 are located on a horizontal plane and perpendicular to the first horizontal coordinate axis (e.g., X) of the operating table's reference coordinate system. bed (axis) or second horizontal coordinate axis (e.g., Y) bed (Axis). Considering that the base of the operating table is usually longer than the base of the surgical robot, the first ranging module 403 and the second ranging module 404 are set on the base of the surgical robot, which can better ensure that the detection target (operating table) is within the detection range.

[0093] In the control method of this embodiment, obtaining the attitude angle θz between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes the following steps:

[0094] Obtain the distance values ​​detected by the first ranging module and the second ranging module;

[0095] Based on the distance value, the position coordinates of the first ranging module in the reference coordinate system of the surgical robot, and the position coordinates of the second ranging module in the reference coordinate system of the surgical robot, calculate the angle between the horizontal coordinate axis of the reference coordinate system of the surgical robot and the horizontal coordinate axis of the reference coordinate system of the operating table.

[0096] Determine the attitude angle based on the included angle.

[0097] In this regard, please combine Figure 5 The position coordinates of the first ranging module 403 and the second ranging module 404 in the reference coordinate system of the surgical robot can demonstrate that the first ranging module 403 and the second ranging module 404 are in the X-axis... robot The relative positions on the axis, combined with the distance values ​​detected by the first ranging module 403 and the second ranging module, allow us to obtain distances b and c. Specifically, when the line connecting the first ranging module 403 and the second ranging module 404 is parallel to the Y-axis... robot When the axis is aligned, the position coordinates of the first ranging module 403 and the second ranging module 404 in the reference coordinate system of the surgical robot can be simplified and do not need to be obtained. At this time, the distance values ​​detected by the first ranging module and the second ranging module are the distances b and c.

[0098] After obtaining distances b and c, according to the trigonometric function theorem, the angle between the horizontal coordinate axes (such as the y-axis) of coordinate systems 402 and 406 can be calculated using the following formula, which is also known as θz:

[0099]

[0100] Based on the above formula, accurate attitude positioning between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be achieved. The positioning accuracy depends on the measurement accuracy of the ranging component. This positioning is the technical foundation and prerequisite for the linkage between the surgical robot and the operating table. It should be understood that... Figure 5 The principle shown is based on a simplified configuration and calculation scheme; however, the method of calculating the attitude angle based on the ranging component is not limited to this.

[0101] After acquiring the posture registration information between the surgical robot and the operating table, in response to the movement of the operating table surface in the degree of posture freedom, the motion information of the operating table surface in the degree of posture freedom is acquired. Then, based on the motion information of the operating table surface in the degree of posture freedom and the posture registration information, the target joint amount of the first joint among the multiple joints of the drive arm can be determined. The movement of the first joint is controlled according to the target joint amount to maintain the posture of the puncture device relative to the operating table surface in the degree of posture freedom.

[0102] In this context, the degree of freedom of posture refers to the tilting motion of the operating table surface around an axis parallel to its length or around an axis perpendicular to its length. During this posture freedom movement on the operating table surface, the patient's body opening (distal fixed point) shifts position, thus requiring the puncture device to also change its posture (including position and orientation). The motion information of the operating table surface in the degree of freedom of posture includes the direction and angle of rotation. This motion information is transmitted to the surgical robot as the target motion direction and angle of the puncture device around the distal fixed point, thereby determining the target joint quantity of the first joint among the multiple joints of the drive arm. The first joint can be one or more joints. Figure 2 Taking the tilting motion B4 shown as an example, based on the motion information of the operating table surface, the unique inverse solution is obtained by inversely solving the rotational joints J10 and J11 in the manipulator 270 based on the kinematic model of the surgical robot, and then the puncture device 229 is controlled to perform the same rotational motion as the operating table surface around the telecentric fixed point 220.

[0103] During the adjustment of the operating table's posture, the table surface may also change position, including translation and lifting. Since the adjustment of the puncture device is related to the adjustment of the operating table's posture, the puncture device may also translate and lift as the position of the distal fixed point changes during the posture adjustment process. Therefore, the method of this embodiment further includes:

[0104] In response to the movement of the operating table surface in the degrees of freedom of posture, a target joint among multiple joints is controlled to adjust the position of the body opening, thereby allowing the drive arm to track the position of the body opening based on the force exerted by the body wall at the patient's body opening.

[0105] The translation and elevation caused by the puncture device when adjusting its posture are passively performed based on the force applied by the body wall at the patient's body opening.

[0106] Specifically, the positional degrees of freedom include lifting degrees of freedom, controlling a target joint among multiple joints associated with the adjustment of positional degrees of freedom, to allow the drive arm to track the position of the body opening based on the force exerted by the body wall at the patient's body opening, including:

[0107] In response to the movement of the operating table surface in the degree of postural freedom, the second joint in the target joint is controlled to be in a zero-force state. The second joint includes a joint with a degree of vertical freedom to allow the drive arm to track the movement of the body opening in the degree of vertical freedom based on the force exerted by the body wall of the patient's body opening.

[0108] Specifically, the positional degrees of freedom include translational degrees of freedom, controlling a target joint among multiple joints associated with the adjustment of positional degrees of freedom, to allow the drive arm to track the position of the body opening based on the force exerted by the body wall at the patient's body opening, including:

[0109] In response to the movement of the operating table surface in the degrees of postural freedom, the third joint in the target joint is controlled to be in a zero-force state. The third joint includes a joint with translational degrees of freedom to allow the drive arm to track the movement of the body opening in the translational degrees of freedom based on the force exerted by the body wall of the patient's body opening.

[0110] In response to the movement of the third joint, the movement of the fourth joint in the target joint is controlled to compensate for changes in the posture of the puncture device caused by the movement of the body opening in the translational degree of freedom.

[0111] In one embodiment, controlling the movement of the fourth joint in the target joint includes:

[0112] Obtain motion information of the first rotary joint in the third joint, and generate motion information of the second rotary joint in the fourth joint based on the motion information of the third joint. The motion information of the first rotary joint includes motion amount and motion direction, and the motion information of the second rotary joint includes a motion direction opposite to the motion direction of the first rotary joint and a motion amount of the same magnitude as the motion amount of the first rotary joint.

[0113] The movement of the second rotational joint is controlled based on the motion information of the second rotational joint.

[0114] In some embodiments, controlling a corresponding joint in the target joint, such as a second and / or third joint, to be in a zero-force state is, exemplary, necessary to control that corresponding joint to substantially compensate for (or balance) the gravity of its distal load and / or overcome the frictional forces of its own joint, so as to easily track the position of the body opening based on the force exerted by the body wall at the patient's body opening. Of course, this principle also applies to controlling the corresponding joint of the target joint to be in a zero-force state as described below.

[0115] In some embodiments, controlling the corresponding joint in the target joint to be in a zero-force state may include:

[0116] Obtain the joint position of at least the corresponding joint and the joint distal to it, and determine the compensation torque corresponding to the output of the corresponding joint by combining the joint position and the dynamic model associated with the corresponding joint; then, control the output of the compensation torque of the corresponding joint.

[0117] The joints of the drive arm typically include position sensors for detecting their joint position, such as encoders. The joints also typically include drive mechanisms, such as motors, to control the corresponding joints to a zero-force state, for example, by controlling the associated motor to output compensating torque.

[0118] The dynamic model required for this application is typically constructed for the corresponding joint; for example, the dynamic model constructed for different corresponding joints is usually different. Generally, the dynamic model is associated with the corresponding joint and the joint distal to it.

[0119] For example, the dynamic model for the corresponding joint can be constructed as follows:

[0120] Obtain the link parameters of the corresponding joint and its distal joint, and establish a link coordinate system based on these link parameters. A joint includes the joint itself and the link connected to it. Link parameters (i.e., DH parameters) include joint angles and / or joint displacements, link lengths, and other parameters.

[0121] Based on the link coordinate system, a first dynamic model associated with the corresponding joint is constructed. This first dynamic model is typically represented in symbolic form (i.e., a formula with unknown parameters), and is a fuzzy dynamic model (i.e., the dynamic parameters are temporarily uncertain). For example, this first dynamic model is expressed as the following formula:

[0122]

[0123] Where τ is the actual torque of the joint, and θ is the joint position. It is the speed of the joint ( (It is the first derivative of θ) It is the speed of the joint ( M(θ) is the second derivative of θ, and M(θ) is the inertia matrix. It includes Coriolis force and centrifugal force, and G(θ) is the gravitational torque of the joint.

[0124] Determine the unknown dynamic parameters in the first dynamic model. The first dynamic model typically includes at least one unknown dynamic parameter. Generally, all unknown dynamic parameters involved in formula (1) can be determined to obtain an accurate second dynamic model. In one embodiment, the contribution of some unknown dynamic parameters to the joint torque can be ignored depending on the actual situation. For example, the mass, center of mass, and friction torque of the joint can be the main focus. In some embodiments, the mass, center of mass, and friction torque of the joint may be affected by the drive mechanism that drives the joint and / or the transmission mechanism that connects the drive mechanism and the joint to achieve transmission. For example, when the structure of the drive arm is relatively regular, at least some of the dynamic parameters such as the mass, center of mass, and friction torque of the joint can be obtained directly without identification. Of course, at least some of the dynamic parameters such as the mass, center of mass, and friction torque of the joint can also be obtained by identification. For example, the mass of the joint can be obtained by weighing, and the center of mass and friction torque of the joint can be obtained by identification. For example, it is assumed that M(θ) and... The contribution to the joint torque is acceptable in one example of the invention, and therefore, formula (1) can be simplified as follows:

[0125] τ=G(θ) Formula (2)

[0126] The determined dynamic parameters are substituted into the first dynamic model to obtain the second dynamic model. This second dynamic model is a well-defined dynamic model (i.e., one with determined dynamic parameters). Furthermore, when determining the expected compensation torque of the drive mechanism corresponding to the respective joint by combining these joint positions and the dynamic models associated with those joints, the dynamic model used refers to this second dynamic model.

[0127] In some embodiments, considering the adverse effects of frictional torque, the frictional torque can be excluded from the actual torque of the joint. Specifically:

[0128] Based on the principle of dynamic equilibrium, a torque balance model for the joint can be constructed, which can be expressed by the following formula:

[0129]

[0130] Where τ is the actual torque of the joint, and θ is the joint position. Here, k1 and k2 are the gravitational torque parameters, and f is the frictional torque of the joint. Indicates the direction of velocity.

[0131] Furthermore, the frictional torque of a joint can be determined through identification methods. For example, a single joint can be controlled to move at a low, uniform speed, traversing the entire range of motion, collecting the actual torque of the joint and the corresponding joint position. This single joint refers to the joint corresponding to the given joint. During uniform motion, the frictional torque is approximately constant and is generally considered a fixed value. Therefore, based on the collected actual torque and corresponding joint position, and using methods such as least squares, the frictional torque of the joint can be identified. Understandably, the actual torque of a joint is output by the drive mechanism that drives its movement.

[0132] Furthermore, when determining the unknown dynamic parameters (e.g., the gravitational torque in formula (2)) in the first dynamic model through identification methods, each joint can be controlled to move at a low speed in a uniform manner, traversing the entire range of motion, collecting the actual torque of the corresponding joint, as well as the joint position corresponding to the corresponding joint and its distal joint, combining the actual torque of the corresponding joint, the frictional torque of the corresponding joint, and the joint position corresponding to the corresponding joint and its distal joint, and using methods such as least squares, the unknown dynamic parameters (e.g., the gravitational torque in formula (2)) of the joint can be identified. For example, in formula (2), the identified unknown dynamic parameters are mainly the gravitational torque parameters (including mass and center of mass, etc.), thus, a second dynamic model that relates the joint position of the corresponding joint and its distal joint to the compensation torque of the corresponding joint can be effectively constructed.

[0133] by Figure 2 Taking the tilting motion B4 shown as an example, a unique inverse solution is obtained by inversely solving the rotation joints J10 and J11 in the manipulator 270 based on the kinematic model of the surgical robot. This allows the puncture device to perform the same rotational motion around the distal fixed point as the operating table surface, while simultaneously adjusting each joint of the manipulator 270 to a non-motion-locked state. Specifically, by controlling joint J5 to perform a motion of the same magnitude but opposite direction to J8, motion compensation is provided for the passive change in the posture of the puncture device caused by the rotational motion of the manipulator 270. Ultimately, this ensures that the posture of the puncture device remains unchanged relative to the table surface during the linkage of posture degrees of freedom. Furthermore, joints J6, J7, and J8 of the manipulator 270 are in a zero-force drag mode (i.e., a zero-force state), allowing the manipulator 270 to drag the distal fixed point of the puncture device in the two-dimensional plane using the interaction force at the abdominal wall during the movement of the operating table surface.

[0134] It should be noted that during the execution of tilting motion B3, all joints of the robotic arm 250 are in a motion-locked state. The linkage between the adjusting arm 260 and the manipulating arm 270 is the same as that of the execution of tilting motion B4. The difference is that the rotation axes of tilting motion B3 and tilting motion B4 are perpendicular to each other. Since the table motion rotation matrices around different axes are different, the rotation matrices involving table motion in the kinematic model used when performing linkage calculations can be adjusted accordingly, so that the posture of the puncture state remains unchanged relative to the operating table during the linkage of executing tilting motion B3.

[0135] Furthermore, when not performing postureal movements, the operating table surface can also independently perform vertical movements. The control method in this embodiment further includes: in response to the vertical movement of the operating table surface, acquiring motion information of the operating table surface in the vertical direction; determining a target joint amount for driving the fifth joint of the drive arm based on the motion information of the operating table surface in the vertical direction; and controlling the movement of the fifth joint according to the target joint amount to maintain the position of the puncture device relative to the operating table surface in the vertical direction. The motion information of the operating table surface in the vertical direction includes the direction of movement and the amount of movement. Figure 2 Taking the lifting motion B2 shown as an example, the fifth joint used to drive the drive arm can be the lifting column 204 of the robotic arm 250, thereby driving the drive arm to lift as a whole without adjusting the joints with lifting degrees of freedom in the drive arm. This avoids the joints with lifting degrees of freedom in the drive arm moving to their limit positions and affecting subsequent movements. During the movement, all other joints of the robotic arm 250 except for the lifting column 204, as well as all joints of the drive arm (adjusting arm 260 and manipulating arm 270), are in a motion-locked state, so that the posture of the puncture device 229 remains stationary relative to the patient site. In some embodiments, the fifth joint used to drive the drive arm can also be the moving vertical arm 211 of the adjusting arm 260 that performs the up-and-down lifting motion J7. In some embodiments, the fifth joint used to drive the drive arm can also be a combination of the lifting column 204 and the moving vertical arm 211.

[0136] When not performing posterior-degree-of-freedom movements, the operating table surface can also independently perform translational-degree-of-freedom movements. The control method in this embodiment further includes: responding to the translational-degree-of-freedom movement of the operating table surface, controlling the sixth joint in the target joint to a zero-force state; the sixth joint includes a joint with translational degrees of freedom to allow the drive arm to track the translational-degree-of-freedom movement of the body opening based on the force applied by the body wall of the patient's body opening; responding to the movement of the sixth joint, controlling the movement of the seventh joint in the target joint to compensate for changes in the posture of the puncture device caused by tracking the translational-degree-of-freedom movement of the body opening. Controlling the movement of the seventh joint in the target joint includes: acquiring motion information of the third rotational joint in the sixth joint; generating motion information of the fourth rotational joint in the seventh joint based on the motion information of the third rotational joint in the sixth joint; the motion information of the third rotational joint in the sixth joint includes the amount and direction of motion; the motion information of the fourth rotational joint in the seventh joint includes a direction of motion opposite to the direction of motion of the third rotational joint in the sixth joint, and an amount of motion equal to the magnitude of the amount of motion of the third rotational joint in the sixth joint; controlling the movement of the fourth rotational joint in the seventh joint according to the motion information of the fourth rotational joint in the seventh joint. Figure 2 Taking the forward and backward translational motion B1 shown as an example, the joints of the robotic arm 250 and the manipulator arm 270 are in a motion-locked state, and the lifting motion J7 of the adjusting arm 260 is also in a motion-locked state, while the remaining motions J5, J6, and J8 of the adjusting arm 260 are in a zero-force drag mode. During the movement of the operating table, relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the distal fixed point 220, the table will drag the manipulator arm 270 to drive the distal fixed point 220 to perform translational motion. Based on the kinematic model, the magnitudes of the motions J5 and J8 are equal and the directions are opposite, so that the posture of the puncture device 229 remains unchanged during the movement.

[0137] By employing the above method, during the simultaneous movement of the operating table and the surgical robot, the puncture device and / or medical instrument mounted on the end of the surgical robot can remain inserted into the patient's body without needing to remove the puncture device and / or medical instrument from the end of the surgical robot before the operating table moves, or without completely disconnecting the surgical robot from the operating table and dragging the robotic arm to free up space for the operating table. This control method eliminates the cumbersome operation of repeated docking between the surgical robot and the operating table, shortens the operation time, and improves the smoothness of the entire surgical procedure. Furthermore, active control of the degree of freedom of posture reduces friction against the patient's body wall, improving safety. Moreover, during the linkage between the surgical robot and the operating table, the surgeon at the main control console can observe and monitor in real time the movement of the patient's organs and the posture of the surgical instruments and imaging devices in the viewing window through images acquired by the imaging instruments. This allows the desired posture to be reached in the shortest possible time, ensuring the safety and smoothness of the execution process.

[0138] During the linkage process, the control method of this application also includes:

[0139] Based on the motion control of the operating table surface within a preset degree of freedom, the imaging instrument acquires images during the process of driving the arm.

[0140] In response to the recognition that a target area in the image meets a third preset condition, a control command is sent to the operating table. The control command includes instructions for controlling at least one of the following: delayed adjustment, stop adjustment, and deceleration adjustment of the operating table; wherein,

[0141] The third preset condition must be met, including at least one of the following:

[0142] Identify the target surgical site or a marker associated with the target surgical site within the target area;

[0143] The target surgical site is in a preset position within the target area.

[0144] The preset degrees of freedom include at least one of translational, lifting, and posture degrees of freedom. The process of controlling the drive arm based on the motion of the operating table surface within these preset degrees of freedom is the process of the surgical robot and the operating table working together. The target area is a region pre-marked in the image display area, including areas the surgeon intends to focus on, such as the central area or any area desired for identification, or even the entire image display area. During the movement of the operating table surface, the target area remains in the image acquired by the imaging device and can be remarked under the surgeon's control. The target area can be marked before or during the linkage. Furthermore, before linkage, feature areas can be marked on the actual patient's anatomical structure, for example, using fluorescence, and then identified during linkage. When the target area in the image meets the criteria, the operating table can be controlled to delay, stop, or decelerate, allowing the surgeon to observe whether the desired surgical site has reached the desired position or posture. For delayed and deceleration adjustments, the doctor can trigger a stop adjustment command when confirming that the desired surgical site meets the requirements, or the operating table can resume its original linkage if no other command is received after a preset time.

[0145] In some embodiments, one of the third preset conditions, "identifying the target surgical site or a marker associated with the target surgical site in the target area," may include detecting that the proportion of the target surgical site falling into the target area of ​​the currently acquired image during the linkage process reaches a preset value for the target area. For example, the proportion of the target surgical site falling into the target area of ​​the currently acquired image reaches more than 70% of the target area; or the target surgical site falls completely into the target area of ​​the currently acquired image. It may also include detecting that the number of markers associated with the target surgical site falling into the target area of ​​the currently acquired image and / or the proportion of the number falling into the target area to the total number of markers reaches a preset value. For example, there are 10 markers associated with the target surgical site, of which 7 markers fall into the target area of ​​the currently acquired image; or all 10 markers fall into the target area of ​​the currently acquired image; or more than 6 markers fall into the target area of ​​the currently acquired image.

[0146] In some embodiments, one of the third preset conditions, "the target surgical site is in a preset posture within the target area," means that the target surgical site is identified within the target area of ​​the image, and the posture of the target surgical site within the target area meets the set recognition conditions, such as tilting to the left, tilting to the right, or opening, thereby providing a better surgical field of view. When the operating table moves, the target surgical site changes its posture relative to the imaging device according to the movement of the operating table, which is reflected in the image of the imaging device as a change in posture. By recognizing the image, it can be determined whether the target surgical site and its current posture meet the set recognition conditions. When the target surgical site is identified within the target area and the posture of the target surgical site in the image meets the set recognition conditions, it is considered that the target surgical site is in a preset posture within the target area.

[0147] During the linkage process, the control method of this application also includes:

[0148] During the motion control of the operating table surface in the preset degrees of freedom, the operating part of the surgical robot and the medical device mounted at the distal end of the driving arm are aligned in response to the change in orientation between them.

[0149] The change in orientation between the surgical robot's operating unit and the medical device mounted at the distal end of the drive arm can occur in two ways: either no orientation relationship was established before linkage but was established during linkage, or the orientation relationship changes as linkage progresses. For example, the operating unit includes a first operating unit and a second operating unit, and the medical device includes a first medical device and a second medical device. In the first case, if neither the first nor the second operating unit was mapped to the first or second medical device before linkage, but a mapping is established between the first operating unit and the first medical device during linkage, then an orientation relationship is established. In the second case, if the first operating unit was mapped to the first medical device before linkage, but is switched to be mapped to the second medical device during linkage, then the orientation relationship changes. In other words, a change in orientation usually stems from a change in the mapping relationship.

[0150] The process of aligning the orientation of the operating unit and the medical device can be as follows: First, obtain the first pose of the medical device mapped by the operating unit in the imaging device coordinate system. Then, convert the first pose into a second pose of the operating unit in the display coordinate system. Next, determine the target joint values ​​of the joints in the operating unit based on the second pose. Finally, drive the corresponding joints in the operating unit to move according to the target joint values, so that the pose of the operating unit matches the pose of the medical device, thus completing the orientation alignment between the operating unit and the medical device. Achieving orientation alignment of the operating unit with the pose of the associated medical device during the linkage process helps save surgical preparation time.

[0151] During the linkage process, the motion information of all joints of the surgical robot and the operating table is monitored, recorded, and stored in real time. If, after completing the linkage of one degree of freedom, a linkage instruction for another degree of freedom is received again, it is allowed to continue with the next linkage process without the need for each moving joint to return to the initial starting position midway. In addition, the doctor's main console screen displays the current linkage status between the surgical robot and the electric operating table. If an abnormality occurs, the linkage process can be terminated in a timely manner according to the programmed instructions.

[0152] To ensure the smooth progress of the linkage process between the surgical robot and the operating table, the control method of this embodiment further includes:

[0153] Before controlling the drive arm according to the movement of the operating table surface in the preset degrees of freedom, it is judged whether the surgical robot and / or the operating table meet the second preset condition;

[0154] If it meets the second preset condition, the drive arm is controlled according to the movement of the operating table surface in the preset degrees of freedom; where

[0155] Meeting the second preset condition includes at least one of the following:

[0156] The surgical robot is docked with the patient;

[0157] The base of the surgical robot and the base of the operating table are in a motion-locked state;

[0158] The main operation console of the surgical robot is in a state allowing entry into the surgical operation;

[0159] The communication connection between the surgical robot and the operating table is in a normal state;

[0160] The movable range of each joint in the drive arm is within the preset motion range.

[0161] Among them, the preset degrees of freedom include at least one of the attitude degree of freedom, the translation degree of freedom, and the height degree of freedom. The judgment process for whether it meets the second preset condition can be as follows:

[0162] Regarding whether the base of the surgical robot and the base of the operating table are in a motion-locked state. Please refer to Figure 2 , the moving chassis 201 (i.e., the base) of the surgical robot and the wheeled chassis 227 (i.e., the base) of the operating table are in a motion-locked state to ensure that no movement occurs during the surgical process and during the linkage process. Whether the base of the surgical robot and the base of the operating table are in a motion-locked state can be detected and determined by the locking sensor on the base, or after the medical auxiliary personnel perform the operation, the locking information can be input and confirmed on the operation interface on the operating table or the surgical robot;

[0163] Regarding whether the communication connection between the surgical robot and the operating table is normal: After establishing the communication connection between the surgical robot and the operating table, a communication detection program can be run on the operating table or the surgical robot. Based on the detection results, it can be determined whether the communication connection between the surgical robot and the operating table is normal, so as to monitor the working status and joint movement information of the surgical robot and the operating table.

[0164] Regarding the docking of the surgical robot with the patient: It is necessary to check the relative fixation devices between the patient and the operating table surface. The patient must be stably secured on the operating table surface to ensure that there is no significant slippage relative to the operating table surface after changes in position, which could hinder the linkage between the surgical robot and the operating table. When docking the surgical robot with the patient, medical assistants can adjust the robotic arm 250, adjusting arm 260, and manipulating arm 270 to perform the desired orientation and positioning according to the surgical procedure requirements. They can also operate the surgical instruments and imaging devices mounted on the distal end of the surgical robot's drive arm to be inserted into the patient's body. After completing the operation, confirmation of the docking information should be entered on the operating interface on the operating table or surgical robot.

[0165] Regarding whether the range of motion of each joint in the drive arm is within the preset range of motion. The preset range of motion includes the central region of the maximum range of motion of each joint in the drive arm. The preset range of motion includes at least one of angular range of motion and linear range of motion. For example, if the maximum angular range of motion is -90° to 90°, then the preset range of motion can be -45° to 45°. During the linkage process, the joints involved should be in the non-limit region of their respective range of motion. The ideal position is for the joint to be in the central region of its range of motion to avoid the undesirable phenomenon of forced termination of motion before the motion is completed because the joint has reached its limit position. Therefore, it is necessary to determine the range of motion of each joint before the linkage begins, for example, by detecting the current position and angle of the joint to determine whether the range of motion of the joint is within the preset range of motion.

[0166] Whether the main operating table of the surgical robot is in a state where it is permissible to enter into surgical operations can be determined by detecting whether the orientation between the operating part of the surgical robot and the medical device installed at the distal end of the drive arm is aligned, as well as other conditions that need to be met for operation. The main operating table of the surgical robot is then used to determine whether it is permissible to enter into surgical operations based on the detection results.

[0167] After completing preoperative equipment preparation, medical support personnel can trigger a command to enter the linkage mode on the operating table. Linkage mode refers to the surgical robot controlling the drive arm based on the motion of the operating table surface within preset degrees of freedom, ensuring that the position and orientation of the puncture device relative to the operating table surface remain constant. After triggering the command to enter linkage mode, the operating table controller sends a request to initiate linkage to the surgical robot's control system via wired or wireless means (such as infrared transmission). At this time, the surgical robot makes an accurate judgment regarding the second preset conditions based on its internally programmed instructions. If all the second preset conditions are met, entry into linkage mode is permitted. If one or more of the second preset conditions are not met, the linkage request can be sent again until all the second preset conditions are met before entry into linkage mode is permitted. If the time spent in the iterative process of judging the second preset conditions and sending the linkage request exceeds the system's internally set time, the process of requesting entry into linkage mode will be forcibly terminated and exited.

[0168] After entering the linkage mode, the surgical robot and the operating table are first registered in posture. If the registration is successful, the doctor's main control panel can display a registration success signal through a readable medium (such as a color-changing indicator light) so that the doctor can be notified in time and the doctor and medical assistants can continue to execute the next instruction. If the registration is unsuccessful, the next linkage command cannot be entered into the linkage mode. At the same time, the doctor's main control panel will display a brightly colored signal prompt message (such as red) through a readable medium until the registration is successful before the next step can be allowed.

[0169] After successful registration, linkage can begin. To ensure the safety of the linkage process between the surgical robot and the operating table, the control method of this application may further include:

[0170] During the process of controlling the drive arm to move within a preset degree of freedom based on the operating table surface, it is determined whether the surgical robot meets the first preset condition.

[0171] If the first preset condition is not met, the motion control drive arm based on the operating table surface in the preset degrees of freedom will stop; wherein,

[0172] The first preset condition is met, including at least one of the following:

[0173] The puncture device is positioned relative to the body opening in a preset manner;

[0174] The position of the medical device mounted at the distal end of the drive arm relative to the surgical site is in a preset state;

[0175] The range of motion of each joint in the drive arm is within the preset range of motion.

[0176] The control method for the surgical robot during the linkage process is as described above. During the linkage process, the motion information of all joints of the surgical robot and the operating table is monitored, recorded, and stored in real time. Furthermore, the system monitors in real time whether the surgical robot meets the first preset condition. Specifically, whether the position of the puncture device relative to the body opening is in a preset state can be determined by identifying images acquired by an imaging device mounted at the distal end of the drive arm. If the surgical area partially or completely disappears from the image, it can be determined that there is significant relative motion between the puncture device and the body opening, and the position is not in the preset state. Similarly, whether the position of the medical instrument mounted at the distal end of the drive arm relative to the surgical site is in a preset state can be determined by identifying images acquired by an imaging device mounted at the distal end of the drive arm. If the change in the relative distance or angle between the medical instrument and the surgical site exceeds a certain threshold, it can be determined that there is significant relative motion between the medical instrument and the surgical site, and the position is not in the preset state. In addition, during the linkage process, the joints involved should be in the non-limited area of ​​their respective range of motion. The ideal position is for the joint to be in the center of the range of motion, so as to avoid the undesirable phenomenon of forced termination of movement before the movement is completed because the joint has reached the limit position. Therefore, the current position and angle of the joint can be detected to determine whether the range of motion of the joint is within the preset range of motion.

[0177] In some embodiments, when the first preset condition is not met, the motion control of the operating table surface in the preset degree of freedom is stopped, and a command can usually be issued to stop the motion control of the operating table surface in the preset degree of freedom.

[0178] Before the operating table reaches the target position, its movement only executes motion commands pressed by medical assistants in the motion command area of ​​the operating table controller. If the same button is pressed multiple times consecutively while a command is being executed, the system will only execute the first button press and automatically block repeated requests. Furthermore, if other motion command keys are pressed while a command is being executed, the system will continue executing the unfinished motion command and automatically block other button presses during this process. Once the operating table reaches the target position, the executing motion command automatically ends and the system waits for the next command. To continue executing a new motion command, the button for the desired motion must be pressed again to send another motion request to the system. After the linkage ends, pressing the exit function key exits the linkage mode. After exiting linkage mode, the system automatically switches back to the regular master-slave operation mode and waits for the next command.

[0179] Figure 7This is a schematic diagram of an operating panel for an operating table according to one embodiment. The operating panel 600 includes, but is not limited to, display areas and operating areas such as a screen display area 801, a mode switching function area 802, and a motion command area 803. The screen display area 801 further includes, but is not limited to, the current state of the operating table, the range of motion of each joint, the current motion commands executed on the table, data connection, and registration success signals, allowing medical assistants to view and grasp the current motion status of the operating table at any time through the screen display information, providing accurate current information for the next button operation and effectively avoiding operational errors. The mode switching function area 802 further includes, but is not limited to, a registration button, a stop button, an exit button, and lock and unlock buttons. The registration button is used to perform full registration between the surgical robot and the operating table in all degrees of freedom of motion and wait for the next operation command to be executed. The stop button is used to interrupt the control program midway, stopping the linkage action between each joint and maintaining the motion state at the time of stop until the next operation command begins execution. The exit button is used to switch back from the linkage mode to the normal master-slave operation mode after the linkage ends. The lock and unlock buttons control the stopping and releasing of the wheeled chassis of the surgical robot and operating table before and after surgery. The motion command area 803 further includes, but is not limited to, [other features]. Figure 7 The buttons displayed on the control panel define motion commands for each degree of freedom using the operating table's reference coordinate system as the motion reference coordinate system. The number of buttons is determined based on the number of degrees of freedom that the operating table is allowed to execute in the linkage mode.

[0180] This application discloses a control method for a surgical robot. The surgical robot includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm. The puncture device is used to insert into an opening in the body of a patient lying on the surface of an operating table. The control method includes: acquiring posture registration information between the surgical robot and the operating table; acquiring motion information of the operating table surface in the degrees of freedom of posture in response to the motion of the operating table surface; determining a target joint value for a first joint among the multiple joints based on the motion information and posture registration information; and controlling the motion of the first joint according to the target joint value to maintain the posture of the puncture device relative to the operating table surface in the degrees of freedom of posture. This application can actively control the drive arm to adjust the posture of the puncture device when the surgical robot moves in the degrees of freedom of posture on the operating table surface based on the posture registration information between the surgical robot and the operating table, thereby improving operational efficiency and safety.

[0181] The control method of this application also has the following beneficial effects:

[0182] ① It can realize the linkage between the surgical robot and the operating table. During the linkage process, the tedious and repetitive docking operations such as removing puncture devices and / or surgical tools (such as surgical instruments and imaging instruments) from the patient's body, disassembling and installing surgical tools at the end of the surgical robot, and de-contacting the surgical robot with the operating table are eliminated. This reduces the workload of medical and nursing assistants, improves the intelligence level of the surgical robot system, shortens the operation time, and improves the smoothness of the operation.

[0183] ② The interaction between the surgical robot and the operating table can be achieved simply by using attitude positioning, which makes the application and implementation simple and more reliable.

[0184] This application also provides a control device for a surgical robot, such as... Figure 8 As shown, the control device includes a processor 501, a communications interface 502, a memory 503, and a communications bus 504.

[0185] The processor 501, communication interface 502, and memory 503 communicate with each other through the communication bus 504.

[0186] The communication interface 502 is used to communicate with other network elements such as various sensors, motors, solenoid valves, or other clients or servers.

[0187] The processor 501 is used to execute program 505, which can specifically perform the relevant steps in the above method embodiments.

[0188] Specifically, program 505 may include program code that includes computer operation instructions.

[0189] 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.

[0190] 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.

[0191] Specifically, program 505 can be used by processor 501 to load and execute steps to implement the control method of the surgical robot as described in the above embodiments.

[0192] This application also provides a surgical robot, which includes a drive arm with multiple joints, and a puncture device is provided at the distal end of the drive arm for insertion into a body opening of a patient lying on the table of an operating table;

[0193] The surgical robot also includes a control device for performing steps of the control method for the surgical robot as described in the above embodiments.

[0194] This application also provides a surgical system, including an operating table and a surgical robot as described in the above embodiment, wherein the surgical robot is communicatively connected to the operating table, and the table surface of the operating table can be adjusted in one or more degrees of freedom.

[0195] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the surgical robot control method described in the above embodiments.

[0196] 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.

[0197] The technical features and combinations of any technical features described in the above embodiments are universal, applicable not only to single-port surgical robots but also to multi-port surgical robots, and neither affecting nor limiting their use in robotic arms with different configurations.

[0198] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively 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 application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A control device for a surgical robot, characterized in that, The surgical robot includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm for insertion into a body opening of a patient lying on the table of an operating table. The control device includes: Memory, used to store computer programs; Processor, used to load and execute the computer program; The computer program is loaded and executed by the processor to implement the following control method: Obtain the posture registration information between the surgical robot and the operating table; In response to the movement of the operating table surface in the degree of posture freedom, the motion information of the operating table surface in the degree of posture freedom is acquired; Based on the motion information and the posture registration information, a target joint value for the first joint among the plurality of joints is determined, and the movement of the first joint is controlled according to the target joint value to maintain the posture of the puncture device relative to the table surface of the operating table in the degree of posture freedom. The surgical robot further includes a ranging component, which comprises a first ranging module and a second ranging module spaced apart on the side of the base of the surgical robot. The detection directions of the first ranging module and the second ranging module are located on a horizontal plane and perpendicular to a first or second horizontal coordinate axis of the surgical robot's reference coordinate system. The acquisition of the posture registration information between the surgical robot and the operating table includes: Obtain the first distance value detected by the first ranging module and the second distance value detected by the second ranging module; Based on the first distance value, the second distance value, the position coordinates of the first ranging module in the reference coordinate system of the surgical robot, and the position coordinates of the second ranging module in the reference coordinate system of the surgical robot, calculate the angle between the horizontal coordinate axis of the reference coordinate system of the surgical robot and the horizontal coordinate axis of the reference coordinate system of the operating table; The attitude registration information is determined based on the included angle.

2. The control device according to claim 1, characterized in that, The computer program is loaded and executed by the processor to implement the following control method: In response to the movement of the operating table surface in the degrees of freedom of posture, a target joint among the plurality of joints associated with positional degree of freedom is controlled to allow the drive arm to track the position of the body opening based on the force exerted by the body wall at the patient's body opening.

3. The control device according to claim 2, characterized in that, The positional degrees of freedom include vertical degrees of freedom, and controlling a target joint among the plurality of joints associated with the adjustment of positional degrees of freedom, to allow the drive arm to track the position of the body opening based on a force exerted by the body wall at the body opening by the patient, includes: In response to the movement of the operating table surface in the degree of posture freedom, the second joint in the target joint is controlled to be in a zero-force state. The second joint includes a joint with a degree of vertical freedom, so as to allow the drive arm to track the movement of the body opening in the degree of vertical freedom based on the force exerted by the body wall of the patient's body opening.

4. The control device according to claim 2, characterized in that, The positional degrees of freedom include translational degrees of freedom. Controlling a target joint among the plurality of joints associated with the adjustment of positional degrees of freedom, to allow the drive arm to track the position of the body opening based on forces exerted by the body wall at the patient's body opening, includes: In response to the movement of the operating table surface in the degree of posture freedom, the third joint in the target joint is controlled to be in a zero-force state. The third joint includes a joint with translational degree of freedom to allow the drive arm to track the movement of the body opening in the translational degree of freedom based on the force exerted by the body wall of the patient's body opening. In response to the movement of the third joint, the movement of the fourth joint in the target joint is controlled to compensate for changes in the posture of the puncture device caused by the movement of the body opening in the translational degree of freedom.

5. The control device according to claim 4, characterized in that, The control of the movement of the fourth joint in the target joint includes: Obtain motion information of the first rotary joint in the third joint, and generate motion information of the second rotary joint in the fourth joint based on the motion information of the third joint. The motion information of the first rotary joint includes motion amount and motion direction, and the motion information of the second rotary joint includes a motion direction opposite to the motion direction of the first rotary joint and a motion amount of the same magnitude as the motion amount of the first rotary joint. The movement of the second rotary joint is controlled based on the motion information of the second rotary joint.

6. The control device according to any one of claims 1 to 5, characterized in that, The computer program is loaded and executed by the processor to implement the following control method: During the process of controlling the drive arm according to the movement of the operating table surface in a preset degree of freedom, it is determined whether the surgical robot meets the first preset condition; If the first preset condition is not met, then the control of the drive arm based on the movement of the operating table surface in the preset degrees of freedom is stopped; wherein, The condition of meeting the first preset condition includes at least one of the following: The puncture device is positioned relative to the body opening in a preset state; The position of the medical device installed at the distal end of the drive arm and the surgical site is in a preset state; The range of motion of each joint in the drive arm is within a preset range.

7. The control device according to any one of claims 1 to 5, characterized in that, The computer program is loaded and executed by the processor to implement the following control method: Before controlling the drive arm based on the movement of the operating table surface in a preset degree of freedom, determine whether the surgical robot and / or operating table meet the second preset condition; If the second preset condition is met, the drive arm is controlled according to the movement of the operating table surface in a preset degree of freedom; wherein, The condition of meeting the second preset condition includes at least one of the following: The surgical robot docks with the patient; The base of the surgical robot is in a motion-locked state with the base of the operating table; The main control panel of the surgical robot is in a state where surgical operations are permitted. The communication connection between the surgical robot and the operating table is in normal condition; The range of motion of each joint in the drive arm is within a preset range.

8. The control device according to any one of claims 1 to 5, characterized in that, An imaging device is mounted at the distal end of the drive arm. The imaging device passes through the puncture device and enters the patient's body. The computer program is loaded and executed by the processor to implement the following control method: During the process of controlling the drive arm based on the movement of the operating table surface in a preset degree of freedom, the image acquired by the imaging instrument is obtained; In response to the detection that a target area in the image meets a third preset condition, a control command is sent to the operating table. The control command includes instructions for controlling at least one of the following: delayed adjustment, stop adjustment, and deceleration adjustment of the operating table; wherein... The condition of meeting the third preset condition includes at least one of the following: The target surgical site or a marker associated with the target surgical site is identified in the target area; The target surgical site is positioned in a preset posture within the target area.

9. The control device according to any one of claims 1 to 5, characterized in that, The surgical robot also includes an operating unit, and a medical instrument is provided at the distal end of the drive arm. The computer program is loaded and executed by the processor to implement the following control method steps: During the motion control of the drive arm based on the table surface of the operating table within a preset degree of freedom, in response to a change in the orientation between the operating part of the surgical robot and the medical device mounted at the distal end of the drive arm, the orientation of the operating part is aligned with the orientation of the medical device.

10. A surgical robot, characterized in that, The surgical robot includes a drive arm with multiple joints, and a puncture device is mounted at the distal end of the drive arm for insertion into an opening in the body of a patient lying on the table of the operating table. The surgical robot also includes the control device as described in any one of claims 1 to 9.

11. A surgical system, characterized in that, The device includes an operating table and a surgical robot as described in claim 10, wherein the surgical robot is communicatively connected to the operating table, and the table surface of the operating table is adjustable in one or more degrees of freedom.

12. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the control method of the control device of the surgical robot as described in any one of claims 1 to 9.

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