Surgical robotic operation guidance method, apparatus, device, and medium

Abstract

Embodiments of the present application disclose a surgical robot operation guiding method, device, equipment and medium, wherein the method comprises: acquiring a current joint angle value of each slave arm joint, and determining an over-limit joint in the slave arm joint according to the current joint angle value; pausing the motion of the over-limit joint, and determining a key master hand joint associated with the over-limit joint according to a joint type of the over-limit joint; applying a motion resistance to the key master hand joint to guide a master hand operator to control the over-limit joint to restore a motion state under the motion resistance. The technical scheme of the embodiments of the present application solves the technical problem that the surgical operation is interrupted due to the slave arm joint reaching the mechanical limit, and by applying the resistance to the master hand associated with the over-limit joint, the master hand operator is guided to restore the motion state of the over-limit joint, thereby improving the safety and continuity of the surgical operation.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of mechanical control, and particularly relate to a surgical robot operation guiding method, device, equipment and medium. BACKGROUND

[0002] Surgical robots are mostly used in minimally invasive surgery technology, such as laparoscopic surgery systems. The surgical instruments of the laparoscopic surgery system usually have a wrist structure, which greatly improves the flexibility of surgical operation, enabling doctors to complete more delicate surgical operations.

[0003] However, since there are mechanical limits for each joint of the mechanical arm and the surgical instrument, when the slave arm follows the master operation hand during the master-slave operation process, when the joint of the slave arm reaches the limit, the slave arm cannot move again following the master operation hand, which will cause the master-slave control of the surgical system to be disconnected, thereby affecting the continuity of the surgery and bringing risks to the surgery. SUMMARY

[0004] Embodiments of the present application provide a surgical robot operation guiding method, device, equipment and medium, which can guide the master hand operator to restore the motion state of the over-limit joint by applying resistance to the master hand associated with the over-limit joint, thereby improving the safety and continuity of the surgery.

[0005] In a first aspect, embodiments of the present application provide a surgical robot operation guiding method, which comprises:

[0006] obtaining a current joint angle value of each slave arm joint, and determining an over-limit joint in the slave arm joint according to the current joint angle value;

[0007] pausing the motion of the over-limit joint, and determining a key master hand joint associated with the over-limit joint according to the joint type of the over-limit joint;

[0008] applying motion resistance to the key master hand joint to guide the master hand operator to control the over-limit joint to restore the motion state under the motion resistance.

[0009] In a second aspect, embodiments of the present application also provide a surgical robot operation guiding device, which comprises:

[0010] an over-limit joint determination module configured to obtain a current joint angle value of each slave arm joint, and determine an over-limit joint in the slave arm joint according to the current joint angle value;

[0011] a key master hand joint determination module configured to pause the motion of the over-limit joint, and determine a key master hand joint associated with the over-limit joint according to the joint type of the over-limit joint;

[0012] A motion resistance applying module is configured to apply a motion resistance to the key master joint to guide the master operator to control the out-of-limit joint to restore the motion state under the motion resistance.

[0013] In a third aspect, an embodiment of the present application further provides a computer device, which comprises:

[0014] one or more processors;

[0015] a memory configured to store one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot operation guiding method provided by any of the embodiments of the present application.

[0017] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the surgical robot operation guiding method provided by any of the embodiments of the present application.

[0018] In the embodiment of the present application, the current joint angle value of each slave arm joint is acquired, and the out-of-limit joint in the slave arm joint is determined according to the current joint angle value; the motion of the out-of-limit joint is paused, and the key master joint associated with the out-of-limit joint is determined according to the joint type of the out-of-limit joint; and the motion resistance is applied to the key master joint to guide the master operator to control the out-of-limit joint to restore the motion state under the motion resistance. The technical solution of the embodiment of the present application solves the technical problem that the surgical operation is interrupted due to the mechanical limit of the slave arm joint, and the safety and continuity of the surgical operation are improved by applying the resistance to the master joint associated with the out-of-limit joint to guide the master operator to restore the motion state of the out-of-limit joint. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a flowchart of a surgical robot operation guiding method provided by an embodiment of the present application;

[0020] Figure 2 is a flowchart of a surgical robot operation guiding method provided by an embodiment of the present application;

[0021] Figure 3 is a flowchart of a surgical robot operation guiding method provided by an embodiment of the present application;

[0022] Figure 4 is a structural schematic diagram of a surgical robot operation guiding device provided by an embodiment of the present application;

[0023] Figure 5 is a structural schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0024] The application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely illustrative of the application and not in limitation thereof. It should also be noted that, for the purpose of clarity, only those structures of the drawings that are pertinent to understanding the application are shown.

[0025] Figure 1 A flowchart of a surgical robot operation guiding method provided for an embodiment of the application, the embodiment can be applied to a scene of surgical robot operation guiding. The method can be executed by a surgical robot operation guiding device, which can be realized by software and / or hardware and integrated in a computer device with application development function.

[0026] As shown in Figure 1 the surgical robot operation guiding method of the embodiment includes the following steps:

[0027] S110, acquiring a current joint angle value of each slave arm joint, and determining an over-limit joint in the slave arm joint according to the current joint angle value.

[0028] The slave arm joint can be an active joint on the slave arm, which performs following movement under the movement of the master hand.

[0029] Specifically, the pose and position of the slave arm instrument end effector are acquired in real time during the operation, and the current angle value of the slave arm joint is calculated according to the pose and position of the slave arm instrument end effector. The slave arm joint whose current joint angle exceeds a preset limit threshold is determined as the over-limit joint, and the preset limit threshold defines the upper limit of the movement angle value in the positive direction and the negative direction, for example, P degrees in the positive direction and N degrees in the negative direction. The preset angle threshold can be set according to actual needs, and is set through a program, which is not limited in the embodiment.

[0030] S120, suspending the movement of the over-limit joint, and determining a key master hand joint associated with the over-limit joint according to the joint type of the over-limit joint.

[0031] It can be understood that if the over-limit joint continues to move in the direction exceeding the limit, there may be a risk of operation. Therefore, the following movement of the over-limit joint under the movement of the master operator is suspended first.

[0032] The master hand joint drives the movement of the slave arm joint, and different master hand joints have different control degrees on each slave arm joint. The key master hand joint can be a joint that controls the over-limit joint, or can be a joint with the largest control degree among the joints that control the over-limit joint. The determination method of the key master hand joint is related to the joint type of the over-limit joint.

[0033] Specifically, the joint type of the over-limit joint can be divided into an instrument joint and a robot joint, the instrument joint is a joint on an arm instrument, and the robot joint is a joint on a robot arm. For different types of joints, the method for determining the key master joint associated with the over-limit joint is also different.

[0034] For the robot joint, the key master joint can be a master joint whose joint movement causes the over-limit robot joint to move; for the instrument joint, the key master joint can be a master joint whose movement causes the over-limit joint to move, and the master joint whose influence on the over-limit joint exceeds a threshold or the master joint whose influence exceeds the threshold and has the largest influence.

[0035] S130, exert a movement resistance on the key master joint to guide the master operator to control the over-limit joint to restore the movement state under the movement resistance.

[0036] Specifically, by exerting a movement resistance on the key master joint, the master operator is guided to move in the direction of the movement resistance, so that the over-limit joint returns to the preset limit threshold range, and for the joint returning to the preset limit threshold range, the follow-up movement is restored.

[0037] The technical scheme of the embodiment, by acquiring the current joint angle value of each slave arm joint, and determining the over-limit joint in the slave arm joint according to the current joint angle value; pause the movement of the over-limit joint, and determine the key master joint associated with the over-limit joint according to the joint type of the over-limit joint; exert a movement resistance on the key master joint to guide the master operator to control the over-limit joint to restore the movement state under the movement resistance. The technical scheme of the embodiment of the application solves the technical problem that the slave arm joint reaches the mechanical limit and causes the interruption of the operation, and by exerting resistance on the master associated with the over-limit joint, the master operator is guided to make the over-limit joint restore the movement state, thereby improving the safety and continuity of the operation.

[0038] Figure 2 A flowchart of a surgical robot operation guiding method is provided in the embodiment of the application, the surgical robot operation guiding method in the embodiment and the above-mentioned embodiments belong to the same inventive concept, the method can be executed by a surgical robot operation guiding device, the device can be realized by software and / or hardware, and integrated in a computer device with application development function.

[0039] As shown in the figure, the surgical robot operation guiding method includes the following steps: Figure 2

[0040] S210, acquiring the current joint angle value of each slave arm joint, and determining the over-limit joint in the slave arm joint according to the current joint angle value.​

[0041] S220, suspending the movement of the over-limit joint.

[0042] S230, when the over-limit joint is a tool joint, calculating an influence coefficient of each master manipulator posture joint on the over-limit joint.

[0043] The influence coefficient can represent the influence of the master manipulator posture joint on the following movement of the over-limit joint.

[0044] Optionally, the calculating of the influence coefficient of each master manipulator posture joint on the over-limit joint can be:

[0045] The influence coefficient matrix of the master manipulator posture joint on the tool joint is obtained by the following formula:

[0046] Coe=(J s ) -1 *J m ;

[0047] Wherein, Coe is the influence coefficient matrix, (J s -1 is the inverse matrix of the Jacobian matrix of the tool joint, J m is the Jacobian matrix of the master manipulator posture joint.

[0048] According to the influence coefficient matrix, the influence coefficient of each master manipulator posture joint on the over-limit joint is determined.

[0049] Specifically, the basis for realizing master-slave control in surgery, i.e. the following movement of the slave arm to the master manipulator, is that the posture of the master manipulator end coordinate system relative to the master manipulator end display coordinate system is equal to the posture of the slave arm tool end coordinate system relative to the slave arm camera coordinate system, and at the same time, the displacement of the master manipulator end coordinate system under the master manipulator end display coordinate system is in a multiple relationship with the displacement of the slave arm tool end coordinate system under the slave arm camera coordinate system, i.e.

[0050]

[0051]

[0052] Wherein, is the posture of the master manipulator end coordinate system relative to the master manipulator end display coordinate system, is the posture of the slave arm tool end coordinate system relative to the slave arm camera coordinate system, is the displacement of the master manipulator end coordinate system under the master manipulator end display coordinate system, is the displacement of the slave arm tool end coordinate system under the slave arm camera coordinate system, and k is a natural number.

[0053] ​The angular velocity and linear velocity relationship of the corresponding master operating hand and slave arm can be obtained as follows:

[0054]

[0055]

[0056] wherein, is the angular velocity of the master operating hand, is the angular velocity of the slave arm, is the linear velocity of the master hand, is the linear velocity of the slave arm.

[0057] The robot Jacobian formula can be obtained as follows:

[0058]

[0059]

[0060] wherein, represents the joint space velocity of the slave arm instrument joint, and represents the space velocity of the master operating hand posture joint, J s represents the instrument joint Jacobian matrix, J m represents the master operating hand posture joint Jacobian matrix, v s , w s represent the linear velocity and angular velocity of the slave arm instrument joint, respectively, v m , w m represent the linear velocity and angular velocity of the master operating hand posture joint, respectively.

[0061] Further, the following can be obtained:

[0062]

[0063] The influence coefficient matrix of the master operating hand posture joint on the instrument joint can be obtained as follows:

[0064] Coe=(J s ) -1 *J m .

[0065] S240, determining whether the absolute value of each influence coefficient exceeds a preset influence coefficient threshold, and determining the master operating hand posture joint whose influence coefficient exceeds the preset influence coefficient threshold as a key master hand joint.

[0066] Specifically, the master operating hand joint includes a master operating hand posture joint and a master operating hand position joint. The master operating hand posture joint movement will cause the slave arm instrument joint to follow the movement, and the master operating hand position joint movement will cause the slave arm mechanical arm end to follow the movement.

[0067] When the over-limit joint is a mechanical joint, the master hand posture joint whose influence coefficient exceeds the preset influence coefficient threshold is determined as the key master hand joint. The influence coefficient can represent the influence of each master hand posture joint on the over-limit joint. The influence coefficient can be positive or negative, and thus, the absolute value of the influence coefficient is determined to represent the influence. The preset influence coefficient threshold can be 0.5 or another value, which is not limited in the embodiment.

[0068] In S250, the current joint angle value of the key master hand joint is set as the target angle value of the driving motor of the key master hand joint.

[0069] The driving motor can be a servo motor.

[0070] Specifically, the servo motor can drive force in two directions. However, as long as the key master hand joint is driven by the servo motor on one side, the target is to enable the key master hand joint to return to the current joint angle value recorded before the master operator controls the key master hand joint to move in the direction of exceeding the joint limit threshold, so as to prompt the master operator not to move in the direction of exceeding the joint limit threshold.

[0071] In S260, the direction of applying the movement resistance is determined according to the positive or negative of the influence coefficient corresponding to the key master hand joint, and the direction of applying the movement resistance is set as the target force direction of the driving motor of the key master hand joint.

[0072] The positive or negative of the influence coefficient can represent whether the key master hand joint moves in the positive direction or the negative direction, and whether the over-limit joint moves in the positive direction or the negative direction. Therefore, when the influence coefficient is positive, the direction of applying the movement resistance is negative, and when the influence coefficient is negative, the direction of applying the movement resistance is positive.

[0073] In S270, the control parameters of the driving motor position loop are determined according to the movement information and the pose information of the over-limit joint, so as to control the key master hand joint to return to the target angle value under the operation of the master operator.

[0074] The movement information and the pose information of the over-limit joint can be obtained by the inverse kinematics of the robot. The control parameters kp, ki and kd of the driving motor position loop are determined according to the movement information and the pose information.

[0075] Optionally, if the operator continues to move against the direction of the resistance, the master-slave posture difference is obtained, and when the master-slave posture difference is greater than the preset posture difference threshold, a constraint force is applied to each master hand posture joint, so that the master hand returns to the position matched with the mechanical end of the slave arm.

[0076] If the operator continues to move the master manipulator against the resistance, the pose difference between the master manipulator and the slave manipulator end will become larger, and when the pose difference between the master manipulator and the slave manipulator end is greater than a preset pose difference threshold, the preset pose difference threshold can be set according to actual needs, an automatic constraint force is applied to each master manipulator pose joint to make the master manipulator return to a position matched with the slave manipulator end, at this time, the master-slave matching relationship is met, and the following movement can be continued.

[0077] The technical scheme of the embodiment obtains the current joint angle value of each slave arm joint, and determines an over-limit position joint in the slave arm joint according to the current joint angle value; the movement of the over-limit position joint is paused, and a key master hand joint associated with the over-limit position joint is determined according to the joint type of the over-limit position joint; and a movement resistance is applied to the key master hand joint to guide the master hand operator to control the over-limit position joint to restore the movement state under the movement resistance. The technical scheme of the embodiment solves the technical problem that the surgery is interrupted due to the mechanical limit of the slave arm joint, and by applying the resistance to the master hand associated with the over-limit position joint, the master hand operator is guided to restore the movement state of the over-limit position joint, thereby improving the safety and continuity of the surgery.

[0078] Figure 3 A flowchart of a surgical robot operation guiding method is provided in the embodiment, the surgical robot operation guiding method in the embodiment and the surgical robot operation guiding method in the above-mentioned embodiment belong to the same inventive concept, the method can be executed by a surgical robot operation guiding device, and the device can be realized in the form of software and / or hardware and integrated in a computer device with application development function.

[0079] As shown in Figure 3 The surgical robot operation guiding method includes the following steps:

[0080] S310, the current joint angle value of each slave arm joint is obtained, and an over-limit position joint in the slave arm joint is determined according to the current joint angle value.

[0081] S320, the movement of the over-limit position joint is paused.

[0082] S330, when the over-limit position joint is a mechanical arm joint, all master hand position joints on the master manipulator are determined as key master hand joints.

[0083] The movement of the master hand position joint controls the following movement of the mechanical arm joint.

[0084] S340, the speed direction of the instrument end in the mechanical arm elbow joint coordinate system is calculated, and the direction of the movement resistance in the mechanical arm elbow joint coordinate system is determined according to the speed direction.

[0085] Specifically, the DH coordinate system of the elbow joint of the mechanical arm to the end of the instrument is established, and the forward solution of the active arm is solved, so that the velocity direction of the end of the instrument in the elbow joint coordinate system of the mechanical arm is obtained

[0086]

[0087] wherein P(q1, q2, q3, q4, q5, q6, q7) is the displacement part of the forward solution matrix; q1, q2, q3, q4, q5, q6, q7 are the joints of the slave arm, assuming that there are 7 joints of the slave arm, and t represents time.

[0088] The direction of the motion resistance in the elbow joint coordinate system of the mechanical arm is opposite to the velocity direction, so that the direction of the motion resistance in the elbow joint coordinate system of the mechanical arm is obtained:

[0089]

[0090] S350, calculate the difference between the current joint angle value of the over-limit joint and the preset joint limit threshold value, and substitute the difference into the preset fitting function to determine the size of the motion resistance.

[0091] According to the current joint angle of the reaching limit joint and the joint limit threshold value difference , the difference is substituted into the preset fitting function to determine the size H of the motion resistance:

[0092]

[0093] wherein, indicates the fitting function, and the fitting function can be a multiple relationship. The size H of the motion resistance is determined by the fitting function, the greater, that is, the greater the angle value exceeding the joint limit threshold value, the greater the force value of the motion resistance.

[0094] Therefore, when the master operator continues to move in the direction of making the over-limit joint more exceed the joint limit threshold value, the size H of the motion resistance felt by the master operator will also be greater.

[0095] S360, determine the motion resistance in the elbow joint coordinate system of the mechanical arm according to the direction and size of the motion resistance, and convert the motion resistance in the elbow joint coordinate system of the mechanical arm into the motion resistance in the master operating hand end display coordinate system.

[0096] Determine the motion resistance in the elbow joint coordinate system of the mechanical arm according to the direction and size of the motion resistance:

[0097]

[0098] Convert the resistance in the elbow joint coordinate system of the manipulator arm to the resistance in the slave camera coordinate system c F is the resistance in the master handle end display coordinate system m F, we have:

[0099]

[0100] S370, according to the motion resistance in the master handle end display coordinate system, determine the output torque of the driving motor of each key master handle joint, the motion resistance in the master handle end display coordinate system is the resultant force of the motion resistance applied on each key master handle joint.

[0101] If the master operator moves in the direction of the motion resistance in the master handle end display coordinate system to the direction that makes the over-limit position back to the joint limit threshold interval, then the over-limit joint returns to the joint limit threshold interval, and the following motion of the master handle is restored; if the operator continues to move in the direction of exceeding the joint limit threshold interval against the direction of the motion resistance, then the motion resistance m F will become larger and larger.

[0102] Optionally, determining the output torque of the driving motor of each key master handle joint comprises:

[0103] The output torque of the driving motor of each key master handle joint is calculated by the following formula:

[0104] m Tor = J' * F; m

[0105] Wherein, m Tor represents the output torque of the driving motor of each key master handle joint, J' represents the transpose matrix of the Jacobian matrix of the key master handle joint, m F is the motion resistance in the master handle end display coordinate system.

[0106] Optionally, the command current of the driving motor of each key master handle joint is calculated by the following formula m I:

[0107] m I = TorCoe * Tor, m Tor,

[0108] Wherein TorCoe is the coefficient of the command current and the output torque of the driving motor, and is the inherent parameter of the driving motor, which is related to the model of the motor;

[0109] ​The technical scheme of the embodiment obtains the current joint angle value of each slave arm joint, determines the over-limit joint in the slave arm joint according to the current joint angle value, suspends the movement of the over-limit joint, determines the key master hand joint associated with the over-limit joint according to the joint type of the over-limit joint, applies movement resistance to the key master hand joint, and guides the master hand operator to control the over-limit joint to restore the movement state under the movement resistance. The technical scheme of the embodiment solves the technical problem that the surgery is interrupted due to the reaching of the mechanical limit of the slave arm joint, applies resistance to the master hand associated with the over-limit joint, guides the master hand operator to restore the movement state of the over-limit joint, and improves the safety and continuity of the surgery.

[0110] Figure 4 A structural schematic diagram of a surgical robot operation guiding device provided by the embodiment is provided, and the embodiment can be applied to the scene of the surgical robot operation guiding device. The device can be realized by software and / or hardware, and integrated in a computer device with application development function.

[0111] As shown in Figure 4 The surgical robot operation guiding device includes an over-limit joint determination module 410, a key master hand joint determination module 420, and a movement resistance application module 430.

[0112] The over-limit joint determination module 410 is configured to obtain the current joint angle value of each slave arm joint, and determine the over-limit joint in the slave arm joint according to the current joint angle value.

[0113] The key master hand joint determination module 420 is configured to suspend the movement of the over-limit joint, and determine the key master hand joint associated with the over-limit joint according to the joint type of the over-limit joint.

[0114] The movement resistance application module 430 is configured to apply movement resistance to the key master hand joint, and guide the master hand operator to control the over-limit joint to restore the movement state under the movement resistance.

[0115] The technical scheme of the embodiment solves the technical problem of surgery interruption caused by the slave arm joint reaching the mechanical limit, by acquiring a current joint angle value of each slave arm joint, and determining an over-limit joint in the slave arm joint according to the current joint angle value; suspending the motion of the over-limit joint, and determining a key master hand joint associated with the over-limit joint according to the joint type of the over-limit joint; applying a motion resistance to the key master hand joint to guide the master hand operator to control the over-limit joint to restore the motion state under the motion resistance. The technical scheme of the embodiment of the application applies resistance to the master hand associated with the over-limit joint to guide the master hand operator to restore the motion state of the over-limit joint, thereby improving the safety and continuity of surgery.

[0116] Optionally, the key master hand joint determination module 420 comprises:

[0117] An influence coefficient calculation unit, configured to calculate an influence coefficient of each master hand posture joint on the over-limit joint when the over-limit joint is a tool joint.

[0118] A first key master hand joint determination unit, configured to determine whether the absolute value of each influence coefficient exceeds a preset influence coefficient threshold, and determine the master hand posture joint whose influence coefficient exceeds the preset influence coefficient threshold as the key master hand joint.

[0119] Optionally, the influence coefficient calculation unit is specifically configured to:

[0120] The influence coefficient matrix of the master hand posture joint on the tool joint is obtained by the following formula:

[0121] Coe=(J s ) -1 *J m ;

[0122] Wherein, Coe is the influence coefficient matrix, (J s -1 is the inverse matrix of the Jacobian matrix of the tool joint, J m is the Jacobian matrix of the master hand posture joint;

[0123] According to the influence coefficient matrix, the influence coefficient of each master hand posture joint on the over-limit joint is determined.

[0124] Optionally, the motion resistance applying module 430 comprises:

[0125] A target angle value determination unit, configured to take the current joint angle value of the key master hand joint as the target angle value of the driving motor of the key master hand joint, wherein the driving motor is a servo motor.

[0126] ​The target force direction determination unit is configured to determine a direction of the motion resistance according to the positive or negative of the influence coefficient corresponding to the key master joint, and take the direction of the motion resistance as the target force direction of the key master joint driving motor.

[0127] The control parameter determination unit is configured to determine a control parameter of a driving motor position loop according to the motion information and the pose information of the over-limit joint, so as to control the key master joint to return to the target angle value under the operation of the master operator.

[0128] Optionally, the key master joint determination module 420 further comprises:

[0129] The second key master joint determination unit is configured to determine all master operator position joints on the master operator hand as the key master joints when the over-limit joint is a mechanical arm joint.

[0130] Optionally, the motion resistance application module 430 further comprises:

[0131] The motion resistance direction determination unit is configured to calculate a velocity direction of the instrument end in the mechanical arm elbow joint coordinate system, and determine a direction of the motion resistance in the mechanical arm elbow joint coordinate system according to the velocity direction.

[0132] The motion resistance size determination unit is configured to calculate a difference between a current joint angle value of the over-limit joint and a preset joint limit threshold value, and determine the size of the motion resistance by substituting the difference into a preset fitting function.

[0133] The motion resistance determination unit is configured to determine the motion resistance in the mechanical arm elbow joint coordinate system according to the direction and the size of the motion resistance, and convert the motion resistance in the mechanical arm elbow joint coordinate system into the motion resistance in the master operator hand end display coordinate system.

[0134] The output torque determination unit is configured to determine an output torque of the driving motor of each key master joint according to the motion resistance in the master operator hand end display coordinate system, the motion resistance in the master operator hand end display coordinate system being the resultant force of the motion resistance applied on each key master joint.

[0135] Optionally, the output torque determination unit is further configured to:

[0136] The output torque of the driving motor of each key master joint is calculated by the following formula:

[0137] m Tor = J' * F; m

[0138] wherein, m ​Tor represents the output torque of each key master hand joint driving motor, J' represents the transpose matrix of the Jacobian matrix of the key master hand joint, m F is the motion resistance under the master operating hand end display coordinate system.

[0139] The surgical robot operation guiding device provided by the embodiments of the present application can execute the surgical robot operation guiding method provided by any of the embodiments of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0140] Figure 5 A structural schematic diagram of a computer device provided by the embodiments of the present application is provided. Figure 5 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present application is shown. Figure 5 The displayed computer device 12 is only an example, and should not bring any limitation to the function and use range of the embodiments of the present application. The computer device 12 can be any terminal device with computing capability, and can be configured in a surgical robot operation guiding device.

[0141] As shown in Figure 5 The computer device 12 is shown in the form of a general-purpose computing device. The components of the computer device 12 can include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

[0142] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics bus (e.g., AGP or Accelerated Graphics Port bus), and a processor or local bus using any of a variety of bus architectures. By way of example, these architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0143] The computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is located either internally or externally to the computer device 12, including both volatile and nonvolatile media, removable and non-removable media.

[0144] The system memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be provided for reading from and writing to non-removable, non-volatile magnetic media (e.g., a hard disk drive). Figure 5not shown, is typically referred to as a "hard disk drive"). While Figure 5 As shown in FIG. 1, the computer device 12 in some embodiments can also include a storage device 26, which can include, without limitation, a disk drive, a floppy disk drive with associated removable storage media (e.g., floppy disks of various formats), a hard drive, or optical storage. The storage device 26 can also include other

[0145] Program / utility 40 having a set (at least one) of program modules 42 can be stored in system memory 28 by way of example, without limitation, including an operating system, one or more application programs, other program modules, and program data, each of which

[0146] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard or a pointing device, displays 24, etc.; one or more devices that enable a user to interact with computer device 12; and / or one or more devices that enable computer device 12 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 22. Similarly, such Figure 5 Other hardware and / or software modules that can be used in conjunction with the computer device 12 can include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0147] The processing unit 16 performs various function applications and data processing by running programs stored in the system memory 28, such as implementing the surgical robot operation guidance method provided by the embodiments, which includes:

[0148] Obtaining a current joint angle value of each slave arm joint, and determining an out-of-limit joint in the slave arm joint according to the current joint angle value;

[0149] suspend the motion of the over-travel joint, and determine a key master joint associated with the over-travel joint according to a joint type of the over-travel joint;

[0150] apply a motion resistance to the key master joint to guide a master operator to control the over-travel joint to restore the motion state under the motion resistance.

[0151] The embodiment provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement a surgical robot operation guiding method provided by any embodiment of the application, and the method comprises the following steps:

[0152] obtain a current joint angle value of each slave arm joint, and determine an over-travel joint in the slave arm joint according to the current joint angle value;

[0153] suspend the motion of the over-travel joint, and determine a key master joint associated with the over-travel joint according to a joint type of the over-travel joint;

[0154] apply a motion resistance to the key master joint to guide a master operator to control the over-travel joint to restore the motion state under the motion resistance.

[0155] The computer storage medium of the embodiment of the application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, but is not limited to, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0156] A computer readable signal medium can include a propagated data signal with computer executable prograrn code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that can be

[0157] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0158] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0159] Those of ordinary skill in the art will appreciate that the modules, steps, and operations of the application described above can be implemented using general computing devices, and that they can be centralized in a single computing device or distributed among multiple computing devices, optionally in a networked environment, and that they can be implemented using computer executable program code stored on a storage device and executed by a computing device, or they can be implemented as individual integrated circuit modules, or multiple ones of the modules or steps can be implemented as a single integrated circuit module, and so on. Thus, the present application is not limited to any particular combination or hierarchy of hardware and software.

[0160] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made thereto without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A surgical robot operation guidance method characterized by, The method comprises the following steps: acquiring a current joint angle value of each slave arm joint, and determining an out-of-limit joint in the slave arm joint according to the current joint angle value; suspending the movement of the out-of-limit joint, and determining a key master hand joint associated with the out-of-limit joint according to a joint type of the out-of-limit joint; applying a movement resistance to the key master hand joint to guide a master hand operator to control the out-of-limit joint to restore a movement state under the movement resistance; determining the key master hand joint associated with the out-of-limit joint according to the joint type of the out-of-limit joint, comprising: when the out-of-limit joint is a mechanical arm joint, determining all master hand position joints on the master hand as the key master hand joint; applying the movement resistance to the key master hand joint to guide the master hand operator to control the out-of-limit joint to restore the movement state under the movement resistance, comprising: calculating a velocity direction of the end of the instrument under the mechanical arm elbow joint coordinate system, and determining a direction of the movement resistance under the mechanical arm elbow joint coordinate system according to the velocity direction. ​ ； wherein, is a matrix of influence coefficients, is an inverse of a Jacobian matrix of the instrument joints, is a Jacobian matrix of the master hand pose joints; ​ 2. The method of claim 1, wherein, ​ ​ ​ ​ 3. A surgical robot operation guidance method characterized by, ​ ​ ​ ​ ​ ​ ​ ​ a difference between the current joint angle value of the over-limit joint and a preset joint limit threshold value is calculated, and the difference is substituted into a preset fitting function to determine the size of the motion resistance; a motion resistance in a mechanical arm elbow joint coordinate system is determined according to the direction and size of the motion resistance, and the motion resistance in the mechanical arm elbow joint coordinate system is converted into a motion resistance in a master operating hand end display coordinate system; an output torque of a driving motor of each key master hand joint is determined according to the motion resistance in the master operating hand end display coordinate system, and the motion resistance in the master operating hand end display coordinate system is a resultant force of the motion resistance applied to each key master hand joint.

4. The method of claim 3, wherein, determining the output torque of the driving motor of each key master hand joint comprises: the output torque of the driving motor of each key master hand joint is calculated by the following formula: ； wherein, represents the output torque of each key master hand joint driving motor, represents the transpose matrix of the Jacobian matrix of the key master hand joint, is the motion resistance in the master hand end display coordinate system.

5. A computer device, comprising: the computer device comprises: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot operation guiding method as claimed in any one of claims 1-4.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the surgical robot operation guiding method as claimed in any one of claims 1-4.

7. A surgical robot operation guide control device characterized by comprising: comprises: an over-limit joint determination module configured to acquire a current joint angle value of each slave arm joint and determine an over-limit joint in the slave arm joint according to the current joint angle value; a key master hand joint determination module configured to suspend the motion of the over-limit joint and determine a key master hand joint associated with the over-limit joint according to a joint type of the over-limit joint; a motion resistance application module configured to apply a motion resistance to the key master hand joint to guide a master hand operator to control the over-limit joint to restore a motion state under the motion resistance; the device further comprises the computer readable storage medium as claimed in claim 6.

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