Robot arm drag control method, device and robot arm system

Abstract

The application relates to a mechanical arm dragging control method and device and a mechanical arm system. The method is applied to a mechanical arm control terminal; the mechanical arm control terminal is connected with a mechanical arm through a driving unit; the end of the mechanical arm is provided with an endoscope and a surgical instrument; the method comprises the following steps: acquiring kinematic parameters of the mechanical arm; obtaining a first relative position between the end of the surgical instrument and the end of the endoscope according to the kinematic parameters; wherein the end of the surgical instrument and the end of the endoscope are both ends away from the mechanical arm; determining the distance between the end of the surgical instrument and the boundary of a preset visual field of the endoscope according to the first relative position; adjusting a damping parameter of admittance control of the mechanical arm provided with the end of the surgical instrument according to the distance; the damping parameter is used for indicating the action of the driving unit controlling the end of the mechanical arm. The method can reduce the risk of the surgical instrument moving out of the visual field of the endoscope.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a robotic arm drag control method, device and robotic arm system. Background Technology

[0002] Laparoscopic surgical robots are widely used in medical surgery due to their advantages such as small incisions, less bleeding, and faster recovery. Laparoscopic surgical robots have multiple robotic arms for connecting to surgical instruments or endoscopes. The part of the robotic arm that is directly connected to the surgical instruments or endoscope is called the telecentric mechanism. This mechanism can ensure that the point where the robotic arm is connected to the target position does not shift during the operation.

[0003] Because of the limited field of view of an endoscope, in order to ensure the normal operation of surgical instruments during surgery and to avoid the risk of collision between adjacent telecentric mechanisms, the existing technology often adjusts the position of the instruments by manually dragging the telecentric mechanisms. However, the existing robotic arm dragging method can easily cause the surgical instruments to move out of the endoscope's field of view, which may lead to the risk of the surgical instruments scratching the patient's internal tissues. Summary of the Invention

[0004] Therefore, it is necessary to provide a robotic arm dragging control method, device, and robotic arm system that can avoid the danger of surgical instruments scratching the patient's internal tissues when they move out of the endoscopic field of view, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a robotic arm drag control method. The method is applied to a robotic arm control terminal; the robotic arm control terminal is connected to the robotic arm via a drive unit; the end effector of the robotic arm is equipped with an endoscope and surgical instruments.

[0006] The method includes:

[0007] Obtain the kinematic parameters of the robotic arm;

[0008] Based on kinematic parameters, the first relative position of the distal end of the surgical instrument and the distal end of the endoscope is obtained; wherein, the distal end of both the surgical instrument and the distal end of the endoscope are the ends furthest from the robotic arm;

[0009] Based on the first relative position, determine the distance between the tip of the surgical instrument and the boundary of the pre-set field of view of the endoscope;

[0010] The damping parameters of the admittance control of the robotic arm equipped with surgical instruments at its end are adjusted according to the distance; the damping parameters are used to instruct the drive unit to control the movement of the robotic arm's end effector.

[0011] In one embodiment, the step of determining the first relative position of the distal end of the surgical instrument and the distal end of the endoscope based on kinematic parameters includes:

[0012] Based on the kinematic parameters, the current pose of the surgical instrument tip and the endoscope tip are obtained by forward kinematics calculation.

[0013] The first relative position is obtained based on the current pose of the surgical instrument tip and the current pose of the endoscope tip.

[0014] In one embodiment, the preset field of view boundary of the endoscope is the boundary line of the preset field of view plane of the endoscope where the end of the surgical instrument is located; the distance is the minimum distance between the end of the surgical instrument and the boundary line.

[0015] In one embodiment, the step of determining the distance between the tip of the surgical instrument and the boundary of the preset field of view of the endoscope based on the first relative position includes:

[0016] Based on the first relative position, the vertical distance between the endoscope tip and the endoscope preset field of view plane is obtained, as well as the second relative position between the orthographic projection point of the endoscope tip on the endoscope preset field of view plane and the end of the surgical instrument.

[0017] Based on the field of view and vertical distance of the endoscope, the boundary distance from the orthographic projection point to the boundary line is obtained;

[0018] The minimum distance is obtained based on the second relative position and the boundary distance.

[0019] In one embodiment, the step of adjusting the damping parameter of the admittance control of a robotic arm equipped with surgical instruments at its endcaps, based on a distance, includes:

[0020] The damping parameter value is adjusted based on the relationship between the minimum distance and the preset safety distance; the damping parameter is used to indicate the moving speed or moving position of the end effector of the drive unit controlling the robot arm.

[0021] In one embodiment, the step of adjusting the damping parameter of the admittance control of a robotic arm equipped with surgical instruments at its endcaps, based on a distance, includes:

[0022] The value of the damping parameter is linearly adjusted based on the difference between the minimum distance and the preset safety distance, and the preset coefficient is determined based on the average speed of the end effector of the robotic arm and the maximum drag force of the end effector of the robotic arm.

[0023] Secondly, this application also provides a robotic arm drag control device. The device is applied to a robotic arm control terminal; the robotic arm control terminal is connected to the robotic arm via a drive unit; the end of the robotic arm is equipped with an endoscope and surgical instruments.

[0024] The device includes:

[0025] The parameter acquisition module is used to acquire the kinematic parameters of the robotic arm;

[0026] The position determination module is used to determine the first relative position of the end of the surgical instrument and the end of the endoscope based on kinematic parameters; wherein the end of the surgical instrument and the end of the endoscope are both the ends away from the robotic arm;

[0027] The distance determination module is used to determine the distance between the end of the surgical instrument and the preset field of view boundary of the endoscope based on the first relative position.

[0028] The force-controlled compliant drag module is used to adjust the damping parameters of the admittance control of the robotic arm equipped with surgical instruments at its end based on the distance; the damping parameters are used to instruct the drive unit to control the movement of the robotic arm's end effector.

[0029] Thirdly, this application also provides a robotic arm system. The system includes a robotic arm control terminal, a drive unit, and at least two robotic arms; the end effectors of the robotic arms are equipped with endoscopes and surgical instruments; the robotic arm control terminal is connected to each robotic arm via the drive unit.

[0030] The robotic arm control terminal includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0031] Fourthly, this application also provides a robotic arm control terminal. The robotic arm control terminal includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0032] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0033] Sixthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described method.

[0034] The aforementioned robotic arm dragging control method, device, robotic arm system, robotic arm control terminal, storage medium, and computer program product obtain the first relative position of the end of the surgical instrument and the end of the endoscope by acquiring the kinematic parameters of the robotic arm; based on the first relative position, the distance between the end of the surgical instrument and the preset field of view boundary of the endoscope is determined; and by adjusting the damping parameter of the admittance control of the robotic arm with the surgical instrument at its end based on the distance, it can ensure that when the operator drags the end of the robotic arm, if the end of the surgical instrument approaches the preset field of view boundary of the endoscope, the drive unit then controls the movement of the end of the robotic arm according to the damping parameter, thus preventing the end of the surgical instrument from moving out of the preset field of view boundary of the endoscope, thereby ensuring that the end of the surgical instrument remains within the field of view of the endoscope and improving the safety during the robotic arm dragging process. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a robotic arm dragging control method in one embodiment;

[0036] Figure 2 This is a three-dimensional structural diagram of the robotic arm in one embodiment;

[0037] Figure 3 This is a flowchart illustrating the robotic arm dragging control steps in one embodiment;

[0038] Figure 4 This is a schematic diagram of the preset field of view of the endoscope in one embodiment;

[0039] Figure 5 This is a schematic diagram of the preset field of view plane of the endoscope in one embodiment;

[0040] Figure 6 This is a flowchart illustrating the robotic arm dragging control steps in another embodiment;

[0041] Figure 7 This is a structural block diagram of a robotic arm drag control device in one embodiment;

[0042] Figure 8 This is an internal structural diagram of the robotic arm control terminal in one embodiment. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] In one embodiment, such as Figure 1 As shown, a robotic arm drag control method is provided, which is applied to a robotic arm control terminal; the robotic arm control terminal is connected to the robotic arm through a drive unit; the end of the robotic arm is provided with an endoscope and surgical instruments;

[0045] The method includes:

[0046] Step 110: Obtain the kinematic parameters of the robotic arm;

[0047] Specifically, the kinematic parameters of a robotic arm refer to parameters related to time and distance during its movement, including time parameters, distance parameters, and time-space parameters; in some examples, such as... Figure 2As shown, the laparoscopic robot may include four robotic arms, wherein at least one robotic arm has a surgical instrument at its end, and another robotic arm has an endoscope at its end. The end of each robotic arm may be equipped with a slide (e.g., a linear slide), and the surgical instrument and endoscope are mounted to the end of the robotic arm via the slide. Kinematic parameters may include the coordinate values ​​of each robotic arm and the joint angles of each robotic arm, wherein the coordinate values ​​of each robotic arm may be based on a coordinate system with a base coordinate system (e.g., point B on the robotic arm suspension plate).

[0048] Step 120: Based on kinematic parameters, obtain the first relative position of the end of the surgical instrument and the end of the endoscope; wherein, the end of the surgical instrument and the end of the endoscope are both the ends away from the robotic arm;

[0049] Specifically, surgical instruments and endoscopes are fixedly mounted at the end of the robotic arm. For example, the end of the robotic arm can be equipped with a linear slide, on which the surgical instruments and endoscopes can be fixedly mounted and then inserted into the body through a cannula. For the surgical instruments and endoscopes, the end connected to the end of the robotic arm via the slide is the end closer to the robotic arm; the end closer to the lesion is the end further away from the robotic arm, i.e., the end of the surgical instrument and the end of the endoscope. Based on kinematic parameters, the first relative position of the end of the surgical instrument and the end of the endoscope can be calculated. This first relative position can be a spatial relative position.

[0050] In some examples, such as Figure 2 As shown, the end of the surgical instrument 220 is located at point T, and the end of the endoscope 210 is located at point E, both of which are the ends away from the robotic arm. The first relative position can be obtained by using the forward kinematics method based on the kinematic parameters. The first relative position is the spatial relative position between point T and point E, for example, the relative coordinates between point T and point E.

[0051] Step 130: Determine the distance between the end of the surgical instrument 220 and the boundary of the preset field of view of the endoscope based on the first relative position;

[0052] Specifically, with the endoscope 210's distal end (e.g., the endoscope 210's lens) as its apex, an endoscopic field of view can be formed within which the target image is clearly visible. The surgical instrument 220 can move within this field of view under the control of a robotic arm, performing corresponding surgical operations on the target image (e.g., target human tissue or target lesion). The preset boundary of the endoscope's field of view can be the range within which the distal end of the surgical instrument 220 can move. To ensure that the distal end of the surgical instrument 220 does not exceed the endoscope's field of view, the distance between the distal end of the surgical instrument 220 and the preset boundary of the endoscope's field of view can be determined based on a first relative position, thereby determining whether the distal end of the surgical instrument 220 is in a safe and controllable state.

[0053] In some examples, such as Figure 2 As shown, the endoscopic field of view can be a virtual space in the shape of a pyramid, with the end-end point E of the endoscope 210 as the top, the target image as the bottom, and the maximum visible range of the endoscope 210 as the boundary. When the endoscope is in place, the surgical arm with surgical instruments at its end can be moved to perform corresponding surgical operations on the target lesion. The distance between the end of the surgical instrument and the preset field of view boundary of the endoscope can be used to determine whether there is a risk that the surgical instrument will move out of the preset field of view boundary of the endoscope.

[0054] Step 140: Adjust the damping parameters of the admittance control of the robotic arm equipped with surgical instruments at its end based on the distance; the damping parameters are used to instruct the drive unit to control the movement of the end of the robotic arm.

[0055] Specifically, when the endoscope is in position, the positional relationship between the end of the surgical instrument 220 and the preset field of view boundary of the endoscope is determined based on the distance, and the damping parameter of the admittance control of the robotic arm with the surgical instrument at the end is adjusted according to this distance. For example, when the end of the surgical instrument 220 is about to move out of the field of view of the endoscope, the value of the damping parameter can be increased, thereby reducing the risk that the end of the surgical instrument 220 may move out of the field of view of the endoscope and lose image monitoring, which may scratch human tissue.

[0056] In some examples, the admittance control of the robotic arm is a model that outputs the moving speed or position of the robotic arm's end effector based on the force applied to the end effector and the damping parameters of the admittance control. When dragging the end effector, a larger value of the damping parameter means that dragging the end effector requires more effort and is less likely to increase the dragging speed or distance, thus enabling more precise control of the moving speed or position of the end effector. Only by ensuring that the T-point of the surgical instrument 220's end effector is within the endoscope's field of view can the movement of the surgical instrument 220's end effector be controlled within the visible range of the endoscope 210, thereby reducing the risk of the surgical instrument 220's end effector accidentally scratching human tissue.

[0057] This embodiment of the application obtains the kinematic parameters of the robotic arm to determine the first relative position between the end of the surgical instrument 220 and the end of the endoscope 210. Based on the first relative position, the distance between the end of the surgical instrument 220 and the preset field of view boundary of the endoscope is determined. By adjusting the damping parameter of the admittance control of the robotic arm with the surgical instrument at the end based on the distance, it can be ensured that when the operator drags the end of the robotic arm, if the end of the surgical instrument 220 approaches the preset field of view boundary of the endoscope, the drive unit can control the movement of the end of the robotic arm according to the damping parameter, preventing the end of the surgical instrument 220 from moving out of the preset field of view boundary of the endoscope. This ensures that the end of the surgical instrument 220 is always kept within the field of view of the endoscope 210, improving the safety during the robotic arm dragging process.

[0058] In one embodiment, such as Figure 3 As shown, the step of obtaining the first relative position between the tip of the surgical instrument 220 and the tip of the endoscope 210 based on kinematic parameters includes:

[0059] Step 310: Based on the kinematic parameters, the current pose of the distal end of the surgical instrument 220 and the current pose of the distal end of the endoscope 210 are obtained using forward kinematics calculation.

[0060] Step 320: Obtain the first relative position based on the current pose of the end of the surgical instrument 220 and the current pose of the end of the endoscope 210.

[0061] Specifically, such as Figure 2 As shown, the current pose of the end of the surgical instrument 220 and the end of the endoscope 210 can be obtained by using the forward kinematics method through kinematic parameters based on a coordinate system established on the base coordinates (e.g., point B on the robotic arm suspension plate); the first relative position can be the relative position coordinates of the end of the surgical instrument 220 and the end of the endoscope 210.

[0062] In some examples, the joint angles of the robotic arm can be obtained based on known quantities such as the length of each link of the robotic arm and the relative transformation relationship between the coordinate systems of each joint of the robotic arm. Combined with forward kinematics solution, the position and orientation of the end of the robotic arm relative to the base coordinates can be obtained, thereby determining the current pose of the end of the surgical instrument 220 and the end of the endoscope 210.

[0063] In one embodiment, the preset field of view boundary of the endoscope is the boundary line of the preset field of view plane of the endoscope where the end of the surgical instrument 220 is located; the distance is the minimum distance between the end of the surgical instrument 220 and the boundary line.

[0064] Specifically, such as Figure 4As shown, the endoscope preset field of view plane 410, where the tip (T point) of the surgical instrument 220 is located, has a boundary line 412 that defines the range of movement allowed for the tip of the surgical instrument 220 on the endoscope preset field of view plane 410; the endoscope preset field of view plane 410 can be perpendicular to the axis of the endoscope 210; the distance between the tip of the surgical instrument 220 and the boundary of the endoscope preset field of view can be the minimum distance between the tip of the surgical instrument 220 and the boundary line 412. In some examples, such as... Figure 5 As shown, in the endoscopic preset field of view plane 410 where the end of the surgical instrument 220 (point T) is located, the minimum distance between the end of the surgical instrument 220 and the boundary line 412 is L.

[0065] In one embodiment, such as Figure 6 As shown, the step of determining the distance between the tip of the surgical instrument 220 and the boundary of the preset field of view of the endoscope based on the first relative position includes:

[0066] Step 610: Based on the first relative position, obtain the vertical distance between the end of the endoscope 210 and the preset field of view plane of the endoscope, and the second relative position between the orthographic projection point of the end of the endoscope 210 on the preset field of view plane of the endoscope and the end of the surgical instrument 220.

[0067] Step 620: Based on the field of view and vertical distance of endoscope 210, obtain the boundary distance from the orthographic projection point to the boundary line;

[0068] Step 630: Obtain the minimum distance based on the second relative position and the boundary distance.

[0069] Specifically, such as Figure 4 As shown, the vertical distance between the endoscope 210's tip and the endoscope's preset field of view plane is the distance between points E and O. Point O is the orthographic projection of the endoscope 210's tip onto the endoscope's preset field of view plane. The second relative position is the relative position between point O and point T. It should be noted that in optical instruments, the angle formed by the two edges of the maximum range through which the image of the target object can pass through the lens, with the lens as the vertex, is called the field of view angle. Based on the endoscope 210's field of view angle (e.g., half the visible angle β of the endoscope 210) and the vertical distance, the boundary distance from the orthographic projection point to the boundary line can be obtained, for example, the distance a from point O to point P on the boundary line. Further details can be found in the following sections. Figure 5 Based on the relative positions between points O and T, distances c and d can be obtained. The difference between distances a and c is the minimum distance L between the tip of the surgical instrument 220 and the boundary line 412. The minimum distance L can be used as the basis for judging whether the tip of the surgical instrument 220 meets the safety conditions of the field of view boundary of the endoscope 210.

[0070] In one embodiment, the step of adjusting the damping parameter of the admittance control of a robotic arm equipped with surgical instruments at its endcaps, based on a distance, includes:

[0071] The damping parameter value is adjusted based on the relationship between the minimum distance and the preset safety distance; the damping parameter is used to indicate the moving speed or moving position of the end effector of the drive unit controlling the robot arm.

[0072] Specifically, such as Figure 5 As shown, a safe distance L can be determined. safe By comparing the safe distance L safe The minimum distance L is used to determine the proximity of the surgical instrument 220's tip to the endoscope's preset field of view boundary, and then the damping parameters are adjusted based on the minimum distance L. The safe distance L is also considered. safe Determine the safe range of the endoscope 210 tip within the pre-set field of view plane of the endoscope, i.e., the area inside the frame line 510. If the minimum distance L is greater than or equal to the safe distance L... safe This indicates that the tip of the surgical instrument 220 is within the safe range; if the minimum distance L is less than the safe distance L... safe This indicates that the tip of the surgical instrument 220 has exceeded the safe range.

[0073] In some examples, if the minimum distance L is greater than or equal to the safety distance L safe Then the damping parameter will be maintained at its initial value B0; if the minimum distance L is less than the safe distance L... safe If so, the value of the damping parameter B needs to be increased.

[0074] In one embodiment, the step of adjusting the damping parameter of the admittance control of a robotic arm equipped with surgical instruments at its endcaps, based on a distance, includes:

[0075] The value of the damping parameter is linearly adjusted based on the difference between the minimum distance and the preset safety distance, and the preset coefficient is determined based on the average speed of the end effector of the robotic arm and the maximum drag force of the end effector of the robotic arm.

[0076] Specifically, the damping parameter B can be obtained using the following formula:

[0077] B = K(L) safe -L)+B0 (1)

[0078] Where K is a preset coefficient, the value of which can be determined based on the average speed of the robotic arm's end effector and the maximum drag force at the end effector; for example, it can be determined in the following way:

[0079] B max =F max / V normal

[0080] Among them, V normal F represents the average speed at which the end effector of the robotic arm is dragged. max The maximum drag force at the end effector of the robotic arm (the force that the operator feels when dragging the end effector of the robotic arm, for example, 50N); B max Substituting B into equation (1) and setting L = 0, we obtain the variable damping formula:

[0081] K = (B max -B0) / L safe

[0082] Furthermore, based on the drag force applied to the end effector of the robotic arm and the damping parameters of the admittance control, the admittance control outputs the moving speed or moving position, which is executed by the drive unit of the robotic arm (e.g., a servo motor) to complete the variable damping compliant drag control of the end effector of the robotic arm, thereby ensuring the safe operation of the surgical instrument 220.

[0083] In one specific embodiment, the kinematic parameters of the robotic arm, including the joint angles of the robotic arm, are obtained; the kinematic parameters are solved based on the forward kinematics method to obtain the spatial positional relationship between the end of the surgical instrument and the end of the endoscope; based on the spatial positional relationship between the end of the surgical instrument and the end of the endoscope, the minimum distance between the preset field of view boundary of the endoscope and the end of the surgical instrument is obtained; if the minimum distance is less than the safety distance, the damping parameter of the admittance control of the robotic arm with the surgical instrument at the end is increased; if the minimum distance is greater than or equal to the safety distance, the value of the damping parameter does not need to be adjusted; based on the damping parameter, when the end of the robotic arm is subjected to a dragging force, the servo control of the moving speed or moving position of the robotic arm is used to realize the variable damping smooth dragging of the robotic arm, thereby preventing the surgical instrument from moving out of the field of view of the endoscope.

[0084] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0085] Based on the same inventive concept, this application also provides a robotic arm dragging control device for implementing the robotic arm dragging control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the robotic arm dragging control device provided below can be found in the limitations of the robotic arm dragging control method described above, and will not be repeated here.

[0086] In one embodiment, such as Figure 7 As shown, a robotic arm drag control device is provided. The device is applied to a robotic arm control terminal; the robotic arm control terminal is connected to the robotic arm via a drive unit; the end of the robotic arm is equipped with an endoscope 210 and surgical instruments 220.

[0087] The device includes:

[0088] The parameter acquisition module 710 is used to acquire the kinematic parameters of the robotic arm;

[0089] The position determination module 720 is used to determine the first relative position of the end of the surgical instrument 220 and the end of the endoscope 210 based on kinematic parameters; wherein the end of the surgical instrument 220 and the end of the endoscope 210 are both the ends away from the robotic arm.

[0090] The distance determination module 730 is used to determine the distance between the end of the surgical instrument 220 and the preset field of view boundary of the endoscope based on the first relative position.

[0091] The force-controlled compliant drag module 740 is used to adjust the damping parameters of the admittance control of a robotic arm equipped with surgical instruments at its end based on the distance; the damping parameters are used to instruct the drive unit to control the movement of the end of the robotic arm.

[0092] In one embodiment, the location determination module 720 includes:

[0093] The pose acquisition unit is used to obtain the current pose of the end of the surgical instrument 220 and the end of the endoscope 210 based on the kinematic parameters using forward kinematics calculations.

[0094] The first position unit is used to obtain a first relative position based on the current pose of the end of the surgical instrument 220 and the current pose of the end of the endoscope 210.

[0095] In one embodiment, the distance determination module 730 includes:

[0096] The second position unit is used to obtain, based on the first relative position, the vertical distance between the end of the endoscope 210 and the preset field of view plane of the endoscope, and the second relative position between the orthographic projection point of the end of the endoscope 210 on the preset field of view plane of the endoscope and the end of the surgical instrument 220.

[0097] Boundary distance unit, used to obtain the boundary distance from the orthographic projection point to the boundary line based on the field of view and vertical distance of endoscope 210;

[0098] The minimum distance unit is used to obtain the minimum distance based on the second relative position and the boundary distance.

[0099] In one embodiment, the force-controlled compliant drag module 740 is further configured to adjust the value of the damping parameter based on the relationship between the minimum distance and the preset safety distance; the damping parameter is used to indicate the moving speed or moving position of the end of the robotic arm controlled by the drive unit.

[0100] In one embodiment, the force-controlled compliant drag module 740 is further configured to linearly adjust the value of the damping parameter based on the difference between the minimum distance and the preset safety distance, and a preset coefficient; the preset coefficient is determined based on the average speed of the end effector of the robotic arm and the maximum drag force of the end effector of the robotic arm.

[0101] Each module in the aforementioned robotic arm drag control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the operations corresponding to each module.

[0102] In one embodiment, a robotic arm system is provided. The system includes a robotic arm control terminal, a drive unit, and at least two robotic arms; the end caps of the robotic arms are provided with an endoscope 210 and surgical instruments 220; the robotic arm control terminal is connected to each robotic arm through the drive unit.

[0103] The robotic arm control terminal includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0104] In one embodiment, a robotic arm control terminal is provided. The robotic arm control terminal includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0105] In one embodiment, a robotic arm control terminal is provided. This robotic arm control terminal can be an industrial computer, and its internal structure diagram can be as follows: Figure 8As shown, the robotic arm control terminal includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a robotic arm dragging control method. The display screen of the computer device can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0106] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0107] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described above.

[0108] In one embodiment, a computer program product is provided. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described above.

[0109] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0110] 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.

[0111] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. 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 application should be determined by the appended claims.

Claims

1. A robotic arm drag control method, characterized in that, The method is applied to a robotic arm control terminal; The robotic arm control terminal is connected to the robotic arm via a drive unit; the end of the robotic arm is equipped with an endoscope and surgical instruments. The method includes: Obtain the kinematic parameters of the robotic arm; Based on the kinematic parameters, the first relative position of the end of the surgical instrument and the end of the endoscope is obtained; wherein, the end of the surgical instrument and the end of the endoscope are both the ends away from the robotic arm; Based on the first relative position, determine the distance between the end of the surgical instrument and the boundary of the preset field of view of the endoscope; The damping parameter of the admittance control of the robotic arm equipped with the surgical instrument at its end is adjusted according to the distance; the damping parameter is used to instruct the drive unit to control the movement of the end of the robotic arm; the distance is the minimum distance between the end of the surgical instrument and the preset field of view boundary of the endoscope; The step of adjusting the damping parameter of the admittance control of the robotic arm with the surgical instrument at its end based on the distance includes: The value of the damping parameter is linearly adjusted based on the difference between the minimum distance and the preset safety distance, and a preset coefficient; the preset coefficient is determined based on the average speed of the end effector of the robotic arm and the maximum drag force of the end effector of the robotic arm.

2. The method according to claim 1, characterized in that, The step of obtaining the first relative position between the tip of the surgical instrument and the tip of the endoscope based on the kinematic parameters includes: The current pose of the distal end of the surgical instrument and the current pose of the distal end of the endoscope are obtained by positive kinematics calculation based on the kinematic parameters. The first relative position is obtained based on the current pose of the end of the surgical instrument and the current pose of the end of the endoscope.

3. The method according to claim 1, characterized in that, The preset field of view boundary of the endoscope is the boundary line of the preset field of view plane of the endoscope where the end of the surgical instrument is located.

4. The method according to claim 3, characterized in that, The step of determining the distance between the tip of the surgical instrument and the preset field of view boundary of the endoscope based on the first relative position includes: Based on the first relative position, the vertical distance between the endoscope tip and the preset field of view plane of the endoscope is obtained, as well as the second relative position between the orthographic projection point of the endoscope tip on the preset field of view plane of the endoscope and the end of the surgical instrument. Based on the field of view of the endoscope and the vertical distance, the boundary distance from the orthographic projection point to the boundary line is obtained; The minimum distance is obtained based on the second relative position and the boundary distance.

5. The method according to claim 3, characterized in that, The damping parameter is used to indicate the speed or position of the end effector of the robotic arm controlled by the drive unit.

6. A robotic arm drag control device, characterized in that, The device is used in the control terminal of a robotic arm; The robotic arm control terminal is connected to the robotic arm via a drive unit; the end of the robotic arm is equipped with an endoscope and surgical instruments. The device includes: Parameter acquisition module, used to acquire the kinematic parameters of the robotic arm; The position determination module is used to determine the first relative position of the end of the surgical instrument and the end of the endoscope based on the kinematic parameters; wherein the end of the surgical instrument and the end of the endoscope are both the ends away from the robotic arm; The distance determination module is used to determine the distance between the end of the surgical instrument and the preset field of view boundary of the endoscope based on the first relative position. The force-controlled compliant drag module is used to adjust the damping parameter of the admittance control of the robotic arm with the surgical instrument at its end according to the distance; the damping parameter is used to instruct the drive unit to control the movement of the end of the robotic arm; the distance is the minimum distance between the end of the surgical instrument and the preset field of view boundary of the endoscope; The force-controlled compliant drag module is also used to linearly adjust the value of the damping parameter based on the difference between the minimum distance and the preset safety distance, and a preset coefficient; the preset coefficient is determined based on the average speed of the end of the robotic arm and the maximum drag force of the end of the robotic arm.

7. The robotic arm drag control device according to claim 6, characterized in that, The location determination module includes: The pose acquisition unit is used to obtain the current pose of the end of the surgical instrument and the end of the endoscope by using forward kinematics calculation based on kinematic parameters. The first position unit is used to obtain the first relative position based on the current pose of the end of the surgical instrument and the current pose of the end of the endoscope.

8. A robotic arm system, characterized in that, The system includes a robotic arm control terminal, a drive unit, and at least two robotic arms; the end of each robotic arm is equipped with an endoscope and surgical instruments; the robotic arm control terminal is connected to each robotic arm through the drive unit. The robotic arm control terminal includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 5.

9. A robotic arm control terminal, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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