Surgical robot and method of controlling, and control device

Abstract

This application provides a surgical robot and its control method and control device. The surgical robot has a control arm, an operating arm, and a controller. The controller is coupled to the control arm and the operating arm, and is configured to perform the following: matching acquired first information associated with the surgical robot with the first condition; when the first information matches the first condition, establishing a master-slave mapping relationship between the control arm and the instrument; controlling the movement of the control arm according to the posture of the instrument, so that the posture of the control arm's end effector and the posture of the instrument are consistent in the same reference coordinate system; wherein, the first condition includes the surgical robot being in an idle state. The surgical robot in this embodiment has high operational safety, ensuring the safety and reliability of the surgery.

Description

[0001] This application is a divisional application of application number 202111285649.9, filed on November 1, 2021, entitled "Surgical robot and control method and control device thereof", the full text of which is incorporated herein by reference. Technical Field

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

[0003] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

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

[0005] With the increasingly widespread application of minimally invasive robots, the safety and reliability of robotic surgery have received growing attention. Therefore, improving the operational safety of minimally invasive robots has become a pressing technical issue that needs to be addressed. Summary of the Invention

[0006] In view of this, the embodiments of this application aim to provide a surgical robot and its control method and control device, which helps to improve the operational safety of the surgical robot.

[0007] In a first aspect, this application provides a control method for a surgical robot, the surgical robot including a control arm and an instrument mounted on the end of the control arm, the control method including: matching acquired first information associated with the surgical robot with the first condition; when the first information matches the first condition, establishing a master-slave mapping relationship between the control arm and the instrument; controlling the movement of the control arm according to the posture of the instrument, so that the posture of the end of the control arm and the posture of the instrument are consistent in the same reference coordinate system; wherein, the first condition includes the surgical robot being in an idle state.

[0008] The surgical robot includes a main control panel and a slave control device. The slave control device includes multiple control arms. The first condition includes at least one of the following: at least one of the multiple control arms has an instrument installed at its end and the instrument is installed; the main control panel and the slave control device are in a normal connection state; no clutch control command is received from the main control panel; no endoscope control command is received; no power-off command is received from the main control panel; no power-off command is received from the slave control device; the main control panel does not report an error; the slave control device does not report an error; the doctor's head is located in a designated area of ​​the main control panel; the adjustment button corresponding to the control arm is not used; and an endoscope is installed at the end of one of the multiple control arms.

[0009] When the first information does not match the first condition, the method further includes: obtaining the operating status of the surgical robot; determining whether the operating status of the surgical robot matches the second condition; and performing a reset operation on the surgical robot when the operating status of the surgical robot matches the second condition; wherein the second condition includes the doctor's head leaving the designated area of ​​the main control panel and / or not receiving a clutch control command from the main control panel.

[0010] The main control panel includes the control arm, and the reset operation of the surgical robot includes: if the doctor's head leaves the designated area of ​​the main control panel, resetting the matching command of the instrument installed at the end of the control arm in the slave control device; and / or, if no clutch control command is received, placing the control arm in an impedance state.

[0011] The control arm includes multiple joint components and a drive mechanism for driving the multiple joint components. Setting the control arm to an impedance state includes: adjusting the output resultant torque of the drive mechanism corresponding to the multiple joint components. The output resultant torque includes the sum of a first torque and a second torque. The first torque includes a gravitational torque for balancing the load at the distal end of the joint component, and the second torque includes a joint position for restoring the joint component.

[0012] Before adjusting the output resultant torque of the drive mechanism corresponding to the multiple joint components, the method further includes: acquiring the initial joint position and the current joint position of the joint component detected by the sensor; calculating the joint position variable of the joint component based on the initial joint position and the current joint position; and determining the second torque output by the drive mechanism corresponding to the joint component based on the joint position variable.

[0013] The second torque increases as the joint position variable increases.

[0014] The relationship between the second torque and the joint position variable is given by the following formula: τ=k*Δx; where τ is the second torque, k is the stiffness coefficient, and Δx is the joint position variable.

[0015] Before adjusting the output resultant torque of the drive mechanism corresponding to the multiple joint components, the method further includes: acquiring the joint position of at least the first joint component and the joint component at the distal end of the first joint component detected by the sensor; and determining the first torque expected to be output by the drive mechanism corresponding to the first joint component by combining the joint position and the dynamic model associated with the first joint component.

[0016] The step of establishing a master-slave mapping relationship between the control arm and the instrument includes: obtaining a switching command; in response to the switching command, determining a target operating arm among the plurality of operating arms corresponding to the control arm; and establishing a master-slave mapping relationship between the control arm and the instrument installed at the end of the target operating arm.

[0017] The step of determining the target operating arm among the plurality of operating arms corresponding to the control arm includes: determining the switchable arm among the plurality of operating arms corresponding to the control arm; if the number of switchable arms is greater than or equal to 1, sequentially determining whether each switchable arm among the switchable arms is the target operating arm; or, if the number of switchable arms is greater than or equal to 1, determining a specific operating arm among the switchable arms as the target operating arm.

[0018] The control method further includes: when it is impossible to establish a master-slave mapping relationship between the control arm and the instrument at the end of the target operating arm, outputting a prompt message, the prompt message indicating that the establishment of the master-slave mapping relationship has failed.

[0019] The control method further includes: matching the control arm and the instrument at the end of the target manipulator when the control arm meets the third condition; wherein the third condition includes at least one of the following: the clutch corresponding to the control arm is not used, the position data of the instrument at the end of the target manipulator is successfully acquired, and the adjustment button corresponding to the target manipulator is not pressed.

[0020] The control method further includes, after controlling the movement of the control arm according to the posture of the device, acquiring the current posture of the control arm, the current posture being determined based on the joint position of the control arm after it has been manipulated; determining the target joint position of the target manipulator based on the current posture; and controlling the movement of the target manipulator based on the target joint position.

[0021] Secondly, this application provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and execute steps implementing the control method as described in any of the above embodiments.

[0022] Thirdly, this application provides a control device for a surgical robot, comprising: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured to be loaded by the processor and execute steps implementing the control method as described in any of the above embodiments.

[0023] Fourthly, this application provides a surgical robot, including: a control arm, an operating arm, and a controller, wherein the controller is coupled to the control arm and the operating arm and is configured to perform the steps of the control method as described in any of the above embodiments.

[0024] The surgical robot, its control method, and control device of this application have the following beneficial effects:

[0025] By performing a no-match between the first information of the surgical robot and the first condition, and establishing a master-slave mapping relationship between the control arm and the instrument when the first information matches the first condition, the surgical robot can operate under safe conditions, improve the operational safety of the surgical robot, and thus ensure the safety and reliability of the surgery. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of an embodiment of the surgical robot of this application.

[0027] Figure 2 for Figure 1 A partial schematic diagram of one embodiment of the surgical robot shown.

[0028] Figure 3 for Figure 1 A partial schematic diagram of another embodiment of the surgical robot shown.

[0029] Figure 4 This is a flowchart of an embodiment of a control method for a surgical robot.

[0030] Figure 5 A flowchart of another embodiment of a control method for a surgical robot.

[0031] Figure 6 This is a schematic diagram of another embodiment of the surgical robot of this application.

[0032] Figure 7This is a schematic diagram of the control device for a surgical robot according to an embodiment of this application. Detailed Implementation

[0033] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0034] 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 in this application are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during surgery, and "proximal" refers to the end closer to the operator during surgery. The terms "first / second," etc., used in this application refer to a component or two or more components with common characteristics.

[0035] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items. The term "each" as used in this application includes one or more.

[0036] like Figures 1 to 2 The figures shown are schematic diagrams of a surgical robot according to an embodiment of this application, and partial schematic diagrams thereof.

[0037] The surgical robot includes a main control panel 2 and a slave operating device 3 controlled by the main control panel 2. The main control panel 2 has a motion input device 21 and a display 22. The motion input device 21 has a control arm. The surgeon sends control commands to the slave operating device 3 via the control arm, causing the slave operating device 3 to perform corresponding operations according to the surgeon's control commands. The surgeon observes the surgical area through the display 22. The slave operating device 3 has an arm mechanism, which includes a robotic arm 30 and a detachable operating arm 31 mounted at the distal end of the robotic arm 30 (the operating arm 31 is housed within the trocar 4). Figure 1 Not shown in the image, but as follows: Figure 2 and Figure 3 (As shown). The robotic arm 30 includes a base and a connecting assembly connected in sequence, the connecting assembly having multiple joint components.

[0038] like Figure 2 As shown, the operating arm 31 includes a connecting rod 32, a connecting assembly 33, and an end effector 34 connected in sequence. The connecting assembly 33 has multiple joint components, and the posture of the end effector 34 can be adjusted by adjusting the joint components of the operating arm 31. The end effector 34 includes an image end effector 34A and a surgical end effector 34B. The image end effector 34A is used to acquire images within the field of view, and the display 22 is used to display these images. The surgical end effector 34B is used to perform surgical operations such as cutting and suturing. The operating arm 31 can be housed within the trocar 4. Figure 3 As shown, the trocar 4 is hollow, through which the connecting rod 32 passes. The power transmission unit 302 is connected to the end instrument 34 (and the connecting assembly 33) via the connecting rod 32. The power transmission unit 302 is detachably mounted on the power unit in the power mechanism 301. The power transmission unit 302 is used to transmit the power output from the power unit to the end instrument 34 to manipulate the end instrument 34 to move and perform related surgical operations.

[0039] Figure 1The surgical robot shown is a single-port surgical robot, where each manipulator 31 is inserted into the patient's body through the same trocar 4 mounted at the distal end of the robotic arm 30. In a single-port surgical robot, the surgeon typically only controls the manipulator 31 to complete basic surgical procedures. In this case, the manipulator 31 of the single-port surgical robot should simultaneously possess positional degrees of freedom (i.e., positioning degrees of freedom) and orientation degrees of freedom (i.e., orientation degrees of freedom) to achieve changes in position and orientation within a certain range. For example, the manipulator 31 has horizontal translational degrees of freedom x, vertical translational degrees of freedom y, rotational degrees of freedom α, pitch degrees of freedom β, and yaw degrees of freedom γ. The manipulator 31 can also achieve forward and backward translational degrees of freedom z (i.e., feed degrees of freedom) under the drive of the distal joint of the robotic arm 30, i.e., the power mechanism 301. Furthermore, in some embodiments, redundant degrees of freedom can be provided for the manipulator 31 to achieve more functions; for example, in addition to the above-mentioned six degrees of freedom, one, two, or even more additional degrees of freedom can be provided. For example, the power mechanism 301 has a guide rail and a power unit slidably disposed on the guide rail. The operating arm 31 (via the power transmission unit 302) is detachably mounted on the power unit. On the one hand, the sliding of the power unit on the guide rail provides the operating arm 31 with a forward and backward movement degree z. On the other hand, the power unit provides power to the joints of the operating arm 31 to realize the remaining 5 degrees of freedom (i.e. [x, y, α, β, γ]).

[0040] The surgical robot also includes a controller. The controller can be integrated into the main control panel 2 or the slave control device 3. Alternatively, the controller can operate independently of the main control panel 2 and the slave control device 3; for example, it can be deployed locally, or it can be deployed in the cloud. The controller can consist of more than one processor.

[0041] The surgical robot also includes an input unit. The input unit can be integrated into the main control panel 2. It can also be integrated into the slave operating device 3. Alternatively, the input unit can be independent of both the main control panel 2 and the slave operating device 3. This input unit can be, for example, a mouse, keyboard, voice input device, or touchscreen. In one embodiment, a touchscreen is used as the input unit, and the touchscreen can be, for example, mounted on the armrest of the main control panel 2.

[0042] The manipulator 31 also includes sensors that sense joint variables. These sensors include angle sensors that sense the rotational motion of the joint components and displacement sensors that sense the linear motion of the joint components, and the specific sensors can be configured according to the type of joint.

[0043] The controller is coupled to these sensors and to the input section and display 22.

[0044] This application provides a control method for a surgical robot, which can be executed by a controller. For example... Figure 4As shown, the control method 400 includes steps S410, S420, and S430, as detailed below:

[0045] S410, the first information associated with the surgical robot is matched with the first condition.

[0046] The surgical robot may include a main control panel and slave operating devices. The surgeon can send control commands through the main control panel to control the movement of the slave operating devices. For example, the structure of the surgical robot may be as follows: Figures 1 to 3 As shown.

[0047] The main control panel may include one or more control arms. For example, the main control panel may include two control arms, namely a left-hand control arm and a right-hand control arm, corresponding to the left hand and right hand respectively, so that the doctor can operate it with his left hand and right hand respectively.

[0048] The slave operating device may include one or more operating arms. For example, when the slave operating device includes multiple operating arms, an endoscope may be mounted at the end of one of the multiple operating arms, and an instrument (or surgical instrument) may be mounted at the end of at least one operating arm, which can be used to perform surgical operations such as cutting, suturing, etc.

[0049] Of course, the surgical robot may also include multiple master control panels and / or multiple slave control devices, and this application embodiment does not limit this.

[0050] Optionally, the first information may include the status information of the main control panel, the status information of the slave control device, and / or other information of the surgical robot.

[0051] For example, the first information may include at least one of the following:

[0052] Whether an instrument is installed at the end of at least one of the plurality of operating arms and whether the instrument is installed completely; the connection status between the main operating console and the slave operating device (e.g., whether it is in a normal connection state); whether the main operating console receives a clutch control command; whether the slave operating device does not receive an endoscope control command; whether the main operating console receives a shutdown command; whether the slave operating device receives a shutdown command; whether the main operating console malfunctions; whether the slave operating device malfunctions; whether the doctor's head is located in the designated area of ​​the main operating console; whether the adjustment button corresponding to the operating arm receives a control command; and whether an endoscope is installed at the end of one of the plurality of operating arms.

[0053] Optionally, the first condition may include the surgical robot being in an idle state. The surgical robot being in an idle state may mean that: the surgical robot's motion function is not enabled, and / or the surgical robot is in a non-motion state. For example, an idle state includes: not performing master-slave operation on the slave operating device through the master control panel, not controlling the movement of any operating arm through the control panel of the slave operating device, any component of the slave operating device being in a non-motion state, and / or not moving the slave operating device.

[0054] Optionally, the state machine corresponding to the surgical robot can be used to determine whether the surgical robot is in an idle state. Here, the state machine is short for Finite State Machine (FSM), which can be used to abstractly represent the surgical robot. For example, if the state machine corresponding to the surgical robot can be in an idle state, it can be determined that the surgical robot is in an idle state.

[0055] Of course, the first condition may also include other conditions, which are not limited in this embodiment. For example, the first condition may also include whether the surgical robot malfunctions, and / or whether the doctor is in the operating position or operating area.

[0056] Optionally, the first condition may include at least one of the following:

[0057] At least one of the multiple operating arms has an instrument installed at its end and the instrument is installed; the main control panel and the slave operating device are in a normal connection state; no clutch control command has been received from the main control panel; no endoscope control command has been received; no power-off command has been received from the main control panel; no power-off command has been received from the slave operating device; no error has been reported from the main control panel; no error has been reported from the slave operating device; the doctor's head is located in the designated area of ​​the main control panel; the adjustment button corresponding to the operating arm has not been used; and an endoscope is installed at the end of one of the multiple operating arms.

[0058] Instruments may be mounted at the ends of one or more of the multiple manipulator arms of the surgical robot. For example, after a hardware sensor in the manipulator arm detects the mounted instrument, it generates a corresponding signal (e.g., the signal may carry instrument type information, version information, and production date) and transmits the signal to the software system (in the surgical robot). Upon receiving the signal, the software system performs a safety check on the instrument to determine whether the instrument is properly mounted. Simultaneously, the software system can also perform authentication based on the signal to determine whether the instrument is manufactured by the same company as the surgical robot.

[0059] After the master control console and the slave control device are connected by a master-slave connection cable, the slave control device can send a signal to the master control console so that the master control console can determine that the master control console and the slave control device are in a normal connection state.

[0060] The clutch can be used to disconnect the follow-motion of the operating arm in the slave operating device from the master operating table. The surgical robot may include multiple clutches, such as a foot clutch, a left-hand clutch, and a right-hand clutch. The clutch can be integrated into the master operating table or into the slave operating device. When the clutch in the surgical robot is depressed or pressed, a corresponding signal (e.g., a clutch control command) is generated and transmitted to the software system so that the software system is aware that the clutch has been depressed or pressed.

[0061] Similar to the clutch, when the endoscope control button, power off button, or adjustment button is pressed, a corresponding signal (e.g., endoscope control command, no power off command or adjustment control command received) is generated and transmitted to the software system so that the software system knows that the endoscope control button, power off button, or adjustment button has been pressed. The adjustment button may include buttons for adjusting different degrees of freedom and / or a Remote Center of Motion (RCM) button.

[0062] When a module or device in the surgical robot malfunctions, its corresponding driver reports an error to the software system. The software system can then perform multiple reset operations on the module or device that reported the error to allow it to restart. If the error cannot be recovered through a reset, the error level can be escalated, for example, to "fatal error." The error level can be defined by the software system, such as "fatal error" including unrecoverable driver malfunctions, and "non-fatal error" including algorithm overruns, driver tracking errors, and driver current overloads. If the software system does not receive any error information, the surgical robot is considered to be in normal operating condition.

[0063] The main control panel may be equipped with a power off button for turning off the power to the main control panel and / or the slave operating device. The slave operating device may also be equipped with a power off button for turning off the power to the slave operating device.

[0064] The main control panel may include a monitor, and the designated area may refer to the area in front of the monitor. When the doctor's head is located in the designated area, the doctor is considered ready and can begin the procedure. Figure 4Method 400. The main control panel may integrate a proximity sensor or other type of sensor for detecting whether the doctor's head is located in the designated area.

[0065] Some of the multiple operating arms may be disabled. For the arms that are not disabled, if an error occurs, the corresponding driver will generate a signal to report the error to the software system.

[0066] S420, when the first information matches the first condition, a master-slave mapping relationship is established between the control arm and the device.

[0067] Optionally, when the first information does not match the first condition, the surgical robot can be reset.

[0068] For example, the operating status of the surgical robot can be acquired; it can be determined whether the operating status of the surgical robot matches a second condition; if the operating status of the surgical robot matches the second condition, a reset operation can be performed on the surgical robot. The second condition may include the surgeon's head leaving a designated area of ​​the main control panel and / or not receiving a clutch control command from the main control panel.

[0069] The doctor's head leaving a designated area of ​​the main control panel can be detected by a sensor installed in that designated area. For example, a proximity sensor can be installed in a designated area of ​​the main control panel, and when the head moves away from the proximity sensor to a distance threshold, it can be considered that the head has left the designated area.

[0070] Optionally, during the reset operation of the surgical robot, if the surgeon's head leaves the designated area of ​​the main control panel, the matching command of the instrument at the end of the operating arm installed in the slave operating device can be reset. This matching command can be used to instruct the surgical robot to execute the steps in S420 to establish a master-slave mapping relationship between the control arm and the instrument, and to execute the matching handshake process. For example, the software system can define a matching flag for the instrument; a matching flag of 0 indicates that the instrument has not been matched, and a matching flag of 1 indicates that the instrument has been matched (or is in the process of matching), at the start of the surgical robot's execution. Figure 4 When using the method described above, the matching flag of the instrument can be set to 1. When resetting the surgical robot, the matching flag of the instrument can be reset to 0.

[0071] And / or, during the reset operation of the surgical robot, if no clutch control command is received, the control arm can also be placed in an impedance state. Here, impedance state refers to the control arm being in an elastic state, where it will spring back to its original position after the external force applied to it disappears. For example, in impedance state, when an external force applied to the control arm causes a change in its current position (or the current position of some joints within the control arm) relative to its original position, a torque is generated, exhibiting a tendency to spring back. When the external force disappears, the control arm (or some joints within the control arm) automatically springs back to its original position.

[0072] In the embodiments of this application, the control arm can be set to an impedance state through the following embodiments.

[0073] Optionally, the control arm may include multiple joint assemblies and drive mechanisms for driving the multiple joint assemblies. The control arm can be placed in an impedance state by adjusting the resultant output torque of the drive mechanisms corresponding to the multiple joint assemblies. The resultant output torque may include the sum of a first torque and a second torque. The first torque may include a gravitational torque for balancing the load at the distal end of the joint assembly, and the second torque may include a torque for restoring the joint position of the joint assembly.

[0074] Optionally, the control arm may include sensors that sense joint variables. For example, these sensors may include angle sensors that sense rotational motion of the joint assembly and displacement sensors that sense linear motion of the joint assembly, with the specific sensors configured according to the type of joint.

[0075] Optionally, the initial joint position and current joint position of the joint assembly detected by the sensors (in the control arm) can be obtained; the joint position variable of the joint assembly can be calculated based on the initial joint position and the current joint position; and the second torque corresponding to the output of the drive mechanism of the joint assembly can be determined based on the joint position variable.

[0076] Optionally, the second torque may increase as the joint position variable increases. For example, the relationship between the second torque and the joint position variable can be expressed as follows:

[0077] τ=k*Δx

[0078] Where τ is the second torque, k is the stiffness coefficient, and Δx is the joint position variable.

[0079] Optionally, the joint positions of at least the first joint assembly and the joint assembly at the distal end of the first joint assembly detected by the sensors (in the control arm) can be obtained; the first torque corresponding to the desired output of the drive mechanism of the first joint assembly can be determined by combining the joint positions and the dynamic model associated with the first joint assembly.

[0080] In some embodiments, the control method 400 may further include steps S440, S450, and S460, as follows:

[0081] S440, obtain switching command.

[0082] Switching commands can be used to instruct the switching of the operating arm connected to the control arm. Switching commands can be side-kick commands, voice commands, gesture commands, etc. The side-kick command can be generated by pressing the clutch pedal.

[0083] S450, in response to the switching command, determine the target manipulator among the plurality of manipulators corresponding to the control arm.

[0084] Optionally, a switchable arm can be determined among the plurality of manipulators corresponding to the control arm, and the target manipulator can be selected from the switchable arms.

[0085] A switchable arm can refer to any of the plurality of manipulators other than the connected and disabled arms. There can be one or more switchable arms. Alternatively, there can be zero switchable arms (i.e., no switchable arms).

[0086] For example, the main console includes two control arms, and the plurality of operating arms includes four operating arms. The two control arms are currently connected to one operating arm respectively. If there are no disabled arms among the four operating arms, then the number of switchable arms is two.

[0087] S460, establish a master-slave mapping relationship between the control arm and the device installed at the end of the target operating arm.

[0088] Optionally, when the number of switchable arms is greater than or equal to 1, the switchable arm among the plurality of operating arms corresponding to the control arm can be determined in at least the following two ways, as follows:

[0089] Method 1:

[0090] Sequentially determine whether each of the switchable arms is the target manipulator.

[0091] For example, when there are multiple switchable arms, the operating arm can be selected sequentially from the switchable arms to determine if the operating arm is faulty or if its corresponding adjustment button has been pressed. If there is no fault or its corresponding adjustment button has not been pressed, the operating arm can be determined as the target operating arm; otherwise, the next operating arm in the switchable arms can be selected for determination. The order here can be the software numbering order or the hardware numbering order in the software system.

[0092] If there is only one switchable arm, it can be determined whether the arm is faulty or whether its corresponding adjustment button has been pressed. If there is no fault and its corresponding adjustment button has not been pressed, then the arm can be designated as the target arm. Otherwise, a prompt message can be output to indicate that no switchable arm is available, or that one or more instruments have malfunctioned or are not ready. This prompt message can be audio, text, or image. For example, the prompt message can be text, output through a display integrated into the main control panel.

[0093] Method 2:

[0094] The specified manipulator in the switchable arms is identified as the target manipulator.

[0095] For example, one of the switchable arms can be pre-designated as the target arm. The doctor can specify (i.e., actively select) this arm through input methods such as user interface (UI) prompts combined with touchscreen selection or voice selection.

[0096] Furthermore, a master-slave mapping relationship can be established between the control arm and the device installed at the end of the target operating arm.

[0097] Optionally, if the number of switchable arms is 0, a prompt message can be output to indicate that the master-slave mapping relationship has failed to be established or that there are no switchable operating arms.

[0098] Furthermore, in this embodiment, the control arm and the instrument at the end of the target operating arm can be matched (or shake hands) so that the doctor can perform master-slave control of the instrument at the end of the target operating arm through the control arm.

[0099] S430, control the movement of the control arm according to the posture of the instrument, so that the posture of the end of the control arm is consistent with the posture of the instrument in the same reference coordinate system.

[0100] Optionally, the posture of the instrument can be obtained first, and then the movement of the control arm can be controlled according to the posture of the instrument so that the posture of the end of the control arm is consistent with the posture of the instrument in the same reference coordinate system.

[0101] For example, the current posture of the manipulator can be obtained first, and the current actual posture of the manipulator can be converted into the target posture of the control arm through coordinate transformation. The target posture of the control arm can then be inversely solved into the target joint position of the control arm. The control arm can be adjusted to approach (or reach) the target joint position. The current position of the control arm can be obtained, and the current position of the control arm can be forward solved into the current posture of the control arm. The current posture of the control arm can be converted into the current posture of the manipulator, and the deviation between the current posture of the control arm and the current posture of the manipulator can be calculated. If the deviation is less than or equal to a deviation threshold, the posture of the end of the control arm and the posture of the device are consistent in the same reference coordinate system. Otherwise, the control arm can be adjusted further, the deviation between the adjusted posture of the control arm and the current posture of the manipulator can be recalculated, and it can be determined whether the deviation is less than or equal to the deviation threshold.

[0102] In some embodiments, the control method 400 may further include step S470, as follows:

[0103] S470, if the control arm meets the third condition, the control arm and the instrument at the end of the target operating arm are matched.

[0104] The third condition may include at least one of the following:

[0105] The clutch corresponding to the control arm was not used, the position data of the instrument at the end of the target manipulator was successfully acquired, and the adjustment button corresponding to the target manipulator was not pressed.

[0106] Optionally, the main control panel may include multiple control arms, wherein each control arm may correspond to at least one clutch.

[0107] Optionally, one or more adjustment buttons can be provided for each of the plurality of manipulators, which can be used to allow doctors to freely adjust their corresponding manipulators.

[0108] For example, an operating arm can be equipped with multiple adjustment buttons, each used to adjust different degrees of freedom. This allows the doctor to freely adjust the angle, direction, or degree of freedom corresponding to a specific adjustment button after pressing it. These adjustment buttons may also include an RCM button.

[0109] The matching method between the control arm and the device (i.e., the device installed at the end of the target operating arm) in this application embodiment is not limited. For example, the handshake process between the control arm and the device in the prior art can be referred to, which will not be described in detail in this application.

[0110] When the main control panel includes multiple control arms, each control arm can be individually matched via S470. The matching of these multiple control arms can be performed simultaneously, meaning S470 can be executed in parallel to match multiple control arms at the same time.

[0111] Furthermore, the physician can perform master-slave control of the instrument at the end of the target manipulator connected to it via a successfully matched control arm. In this embodiment, the target manipulator can be controlled via the control arm according to the following embodiments.

[0112] Optionally, the current posture of the control arm can be obtained, which is determined based on the joint position of the control arm after it has been manipulated; the target joint position of the target manipulator can be determined based on the current posture; and the movement of the target manipulator (or the device at the end of the target manipulator) can be controlled based on the target joint position.

[0113] For example, when the control arm is manipulated to move, the current posture of the control arm is obtained; the current posture of the control arm is converted into the target posture of the target manipulator through coordinate transformation; the target posture of the manipulator is inversely solved into the target joint position of the target manipulator; and the target manipulator is controlled to move so that it approaches (or reaches) the target joint position.

[0114] Furthermore, the control arm and the instrument at the end of the target operating arm can be matched if the posture of the control arm end and the posture of the instrument are consistent in the same reference coordinate system.

[0115] Of course, only some of these control arms may be successfully matched. In this case, only the successfully matched control arms can be used.

[0116] In this embodiment of the application, the first information of the surgical robot is matched with the first condition, and when the first information matches the first condition, a master-slave mapping relationship is established between the control arm and the instrument. Matching the control arm and the instrument can ensure that the surgical robot operates under safe conditions, improve the operational safety of the surgical robot, and thus ensure the safety and reliability of the surgery.

[0117] This application provides a control method for a surgical robot, which can be executed by a controller. For example... Figure 5As shown, the control method 500 includes the following steps:

[0118] S501, determine whether the surgical robot is in an idle state.

[0119] Alternatively, the determination can be made using the state machine corresponding to the surgical robot. For example, when the state machine is in an idle state, it can be determined that the surgical robot is in an idle state.

[0120] The surgical robot may include a master control panel and slave control devices. The master control panel may include one or more control arms, and the slave control devices may include one or more control arms. For ease of description, Figure 5 The following description uses the main control panel, which includes a left-hand control arm and a right-hand control arm, as an example.

[0121] If the surgical robot is idle, S502 can be executed; otherwise, S510 can be executed.

[0122] S502, determine whether the state of the surgical robot matches the first condition.

[0123] The first condition may include at least one of the following:

[0124] At least one of the multiple operating arms has an instrument installed at its end and the instrument is installed; the main control panel and the slave operating device are in a normal connection state; no clutch control command has been received from the main control panel; no endoscope control command has been received; no power-off command has been received from the main control panel; no power-off command has been received from the slave operating device; no error has been reported from the main control panel; no error has been reported from the slave operating device; the doctor's head is located in the designated area of ​​the main control panel; the adjustment button corresponding to the operating arm has not been used; and an endoscope is installed at the end of one of the multiple operating arms.

[0125] If the state of the surgical robot matches the first condition, S504 can be executed; otherwise, S503 can be executed.

[0126] S503, Perform a reset operation on the surgical robot.

[0127] Optionally, when the first information does not match the first condition, the surgical robot can be reset.

[0128] For example, the operating status of the surgical robot can be acquired; it can be determined whether the operating status of the surgical robot matches a second condition; if the operating status of the surgical robot matches the second condition, a reset operation can be performed on the surgical robot. The second condition may include the surgeon's head leaving a designated area of ​​the main control panel and / or not receiving a clutch control command from the main control panel.

[0129] For example, if the doctor's head leaves the designated area of ​​the master control panel, the matching command of the instrument at the end of the control arm in the slave control device is reset. This matching command can be used to instruct the establishment of a master-slave mapping relationship between the control arm and the instrument, and to execute a matching handshake process.

[0130] Alternatively, if no clutch control command is received during the reset operation of the surgical robot, the control arm is placed in an impedance state.

[0131] S504, establish a master-slave mapping relationship between the control arm and the device installed at the end of the target operating arm.

[0132] For example, it can receive switching instructions; obtain the number of operable control arms X and the number of switchable arms corresponding to the operable control arms Y, where X and Y are both integers; and obtain the number of the control arm connected to the operable control arm.

[0133] The switchable arm can refer to the non-faulty, non-pressed, non-connected, and non-disabled operating arm among the plurality of operating arms.

[0134] If the number of switchable arms Y is less than 0, switching is not allowed. In this case, you can exit and output the corresponding prompt message.

[0135] If the number of switchable arms Y equals 1, the operating arm is not faulty, and its corresponding adjustment button has not been pressed, then the operating arm can be identified as the target operating arm.

[0136] If the number of switchable arms Y is greater than 1, the switchable arms among the plurality of operating arms corresponding to the control arm can be determined in the following two ways, as follows:

[0137] Method 1:

[0138] Sequentially determine whether each of the switchable arms is the target manipulator.

[0139] Method 2:

[0140] The specified manipulator in the switchable arms is identified as the target manipulator.

[0141] At this point, a master-slave mapping relationship can be established between the control arm and the device installed at the end of the target operating arm.

[0142] S505, determine whether the left-hand control arm of the surgical robot meets the third condition.

[0143] The third condition may include at least one of the following: the clutch corresponding to the control arm is not used, the position data of the instrument at the end of the target manipulator is successfully acquired, and the adjustment button corresponding to the target manipulator is not pressed.

[0144] If the left-hand control arm meets the third condition, S507 can be executed; otherwise, S510 can be executed.

[0145] S506, determine whether the right control arm of the surgical robot meets the third condition.

[0146] If the right-hand control arm meets the third condition, S507 can be executed; otherwise, S510 can be executed.

[0147] S507, obtain the matching status of the control arm.

[0148] For example, the number of the instrument at the end of the target manipulator currently connected to the control arm can be obtained.

[0149] S508, Match the control arm with the instrument at the end of the target operating arm.

[0150] For example, the control arm can receive a matching request sent by the device at the end of the target manipulator arm. Then, the control arm begins to move, aligning with the device's pose; it sets the matching start flag corresponding to the device to true and begins the matching process; if the matching is successful, the control arm can send a matching success signal. If the device matching is successful, the main control console is set to the alignment success state, the matching start flag of the corresponding device is set to false, and the matching state of the target manipulator arm is changed to the matching success state; otherwise, the main control console is set to the realignment state.

[0151] S509, match successful.

[0152] At this time, the doctor can use the control arm to perform master-slave control of the instrument at the end of the operating arm.

[0153] S510, Exit.

[0154] The surgical robot described in the above embodiments can also be a multi-port surgical robot. The main difference between a multi-port surgical robot and a single-port surgical robot lies in the operating device. Figure 6This diagram illustrates a slave operating device for a multi-port surgical robot. The slave operating device in this multi-port surgical robot has a master arm 110, an adjusting arm 120, and a manipulator 130 connected sequentially. There are two or more adjusting arms 120 and manipulators 130, for example, four. The master arm 110 has a directional platform at its distal end, the adjusting arms 120 are all connected to the directional platform at their proximal ends, and the manipulators 130 are connected to the distal ends of the adjusting arms 120 at their proximal ends. The manipulators 130 are used to detachably connect to the operating arms 150 and have multiple joint components. In the multi-port surgical robot, different operating arms 150 are inserted into the patient's body through different trocars. Compared to the operating arm 31 of a single-port surgical robot, the operating arms 150 of the multi-port surgical robot generally have fewer degrees of freedom. Typically, the operating arm 150 only has a degree of attitude freedom (i.e., orientation freedom). While changes in its attitude generally affect its position, the impact is usually negligible due to its small size. The position of the manipulator 150 is often achieved with the assistance of the manipulator 130. Since the manipulator 130 and the manipulator 150 work together to achieve positional changes, they can be considered as manipulator components, which are equivalent to the manipulator 31 in a single-port surgical robot.

[0155] In one embodiment of this application, a computer-readable storage medium is provided, which stores a computer program configured to be loaded and executed by a processor to perform the following steps: matching acquired first information associated with the surgical robot with a first condition; when the first information matches the first condition, establishing a master-slave mapping relationship between the control arm and the instrument; controlling the movement of the control arm according to the posture of the instrument, so that the posture of the end effector of the control arm and the posture of the instrument are consistent in the same reference coordinate system. The computer program may also be configured to be loaded and executed by a processor. Figure 4 and Figure 5 Other steps in the various embodiments.

[0156] In one embodiment of this application, a control device 700 for a surgical robot is provided. For example... Figure 7 As shown, the control device may include: a processor 701, a communications interface 702, a memory 703, and a communications bus 704.

[0157] The processor 701, communication interface 702, and memory 703 communicate with each other through the communication bus 704.

[0158] The communication interface 702 is used to communicate with other network elements such as various sensors, motors, solenoid valves, or other clients or servers.

[0159] The processor 701 is used to execute program 705, which can specifically perform the relevant steps in the above method embodiments.

[0160] Specifically, program 705 may include program code that includes computer operation instructions.

[0161] The processor 701 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), one or more integrated circuits configured to implement the embodiments of this application, 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.

[0162] Memory 703 is used to store program 705. Memory 703 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0163] Specifically, program 705 can be used to cause processor 701 to perform the following operations: when the surgical robot is in an idle state, matching the acquired first information associated with the surgical robot with a first condition; when the first information matches the first condition, establishing a master-slave mapping relationship between the control arm and the instrument; controlling the movement of the control arm according to the posture of the instrument, so that the posture of the end of the control arm and the posture of the instrument are consistent in the same reference coordinate system. Program 705 can also be used to cause processor 701 to perform the above... Figure 4 and Figure 5 Other steps in the various embodiments.

[0164] 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.

[0165] 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 method for a surgical robot, characterized in that, The surgical robot includes a control arm and an instrument mounted at the end of the control arm. The control arm includes a link, a connecting assembly, and the instrument connected in sequence. The connecting assembly has multiple joint components. The control method includes: The first information associated with the surgical robot is matched with a first condition. The first information includes the status information of the main operating console and the status information of the slave operating devices of the surgical robot. The first condition includes that the surgical robot is in an idle state. When the first information matches the first condition, a master-slave mapping relationship is established between the control arm and the instrument. The control arm is moved according to the posture of the instrument so that the posture of the end of the control arm is consistent with the posture of the instrument in the same reference coordinate system. When the first information does not match the first condition, the operating status of the surgical robot is obtained; Determine whether the operating state of the surgical robot matches the second condition, the second condition including not receiving a control command for clutch engagement; When the operating state of the surgical robot matches the second condition, the output resultant torque of the drive mechanism corresponding to the multiple joint components in the control arm is adjusted. The output resultant torque includes the sum of a first torque and a second torque. The first torque is used to balance the gravitational torque of the load at the distal end of the joint component, and the second torque is used to restore the joint position of the joint component.

2. The control method according to claim 1, characterized in that, Before adjusting the output resultant torque of the drive mechanisms corresponding to the multiple joint components in the control arm, the method further includes: Obtain the initial joint position and current joint position of the joint assembly detected by the sensor; Calculate the joint position variables of the joint assembly based on the initial joint position and the current joint position; The second torque corresponding to the output of the drive mechanism of the joint assembly is determined based on the joint position variable.

3. The control method according to claim 2, characterized in that, The second torque increases as the joint position variable increases.

4. The control method according to claim 3, characterized in that, The relationship between the second torque and the joint position variable is as follows: ， in, This is the second torque. This is the stiffness coefficient. The joint position variable is denoted as .

5. The control method according to any one of claims 1 to 4, characterized in that, Before adjusting the output resultant torque of the drive mechanisms corresponding to the multiple joint components in the control arm, the method further includes: The joint positions of at least the first joint assembly and the joint assembly distal to the first joint assembly in the control arm are obtained from the sensor detection. The first torque expected to be output by the drive mechanism corresponding to the first joint assembly is determined by combining the joint position and the dynamic model associated with the first joint assembly.

6. A control method for a surgical robot, characterized in that, The surgical robot includes a control arm and an instrument mounted at the end of the control arm. The control arm includes a link, a connecting assembly, and the instrument connected in sequence. The connecting assembly has multiple joint components. The control method includes: The first information associated with the surgical robot is matched with a first condition. The first information includes the status information of the main operating console and the status information of the slave operating devices of the surgical robot. The first condition includes that the surgical robot is in an idle state. When the first information matches the first condition, a master-slave mapping relationship is established between the control arm and the instrument. The control arm is moved according to the posture of the instrument so that the posture of the end of the control arm is consistent with the posture of the instrument in the same reference coordinate system. When the first information does not match the first condition, the operating status of the surgical robot is obtained; Determine whether the operating state of the surgical robot matches the second condition, the second condition including not receiving a control command for clutch engagement; When the operating state of the surgical robot matches the second condition, the control arm is placed in an impedance state so that the control arm is in an elastic state. When an external force is applied to the control arm, the current position of the control arm will change relative to its original position. When the external force applied to the control arm disappears, the control arm will spring back to its original position.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program configured to be loaded by a processor and executed to implement the steps of the control method as described in any one of claims 1 to 6.

8. A control device for a surgical robot, characterized in that, include: Memory, used to store computer programs; and a processor for loading and executing the computer program; The computer program is configured to be loaded by the processor and executed to implement the steps of the control method as described in any one of claims 1 to 6.

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