An intelligent positioning method and system for a laparoscopic surgery robot based on optical positioning

Abstract

The present application relates to the technical field of robot intelligent positioning, and provides a laparoscopic surgery robot intelligent positioning method based on optical positioning, comprising the following steps: S1: arranging a bedside mechanical arm surgery system; S2: identifying a plurality of puncture points through an optical positioning system, and obtaining the puncture point positions of the plurality of puncture points in a corresponding optical positioning coordinate system of the optical positioning system; S3: for a mechanical arm that needs to be positioned, taking the position when the instrument arm deflection joint axis is perpendicular to the line connecting the lesion point and the puncture point position as the target pose, and calculating the position information of each joint when the current mechanical arm needs to reach the target pose through a mechanical arm inverse solution algorithm; and S4: planning a collision-free motion path when the current mechanical arm is positioned to the target position according to the position information of each joint when the target pose is reached. The present application solves the problem that there is no preoperative patient puncture point identification and no algorithm for recommending mechanical arm positioning based on the identified puncture points.

Description

Technical Field

[0001] The present invention relates to the technical field of robot intelligent positioning, and in particular to an intelligent positioning method and system for a laparoscopic surgical robot based on optical positioning. Background Art

[0002] Compared to traditional surgery, minimally invasive surgery offers advantages such as smaller incisions, fewer postoperative complications, and faster recovery, making it highly favored by patients. However, with the widespread use of traditional laparoscopic surgery, its limitations have gradually become apparent. For example, nephrectomy surgery, requiring extensive laparoscopic sutures to be performed within the body, is extremely difficult and requires the surgeon to possess both extensive experience in open surgery and proficiency in traditional laparoscopic techniques. Due to the unique physiological and anatomical structures of some human organs and the limitations of traditional laparoscopic techniques, achieving widespread minimally invasive and refined surgical procedures requires the emergence of a new surgical platform.

[0003] The application of a laparoscopic surgical robotic system addresses the clinical need for minimally invasive and refined surgical procedures. It primarily consists of three subsystems: a physician console, a bedside robotic arm surgical system, and a 3D imaging system. During surgery, the imaging system accurately reflects the surgical field of view on the console. The surgeon operates from the console, and the control system precisely transmits the surgeon's movements outside the patient's body to the robotic arm, which then translates them into movements of the surgical instruments inside the patient's body. This allows the procedure to be completed through several access ports without requiring a thoracotomy or laparotomy.

[0004] Compared with traditional laparoscopic surgery, laparoscopic surgical robots have many advantages: (1) Advanced imaging technology. The application of high-definition 3D cameras and imaging equipment enables the surgical field of view to achieve a true three-dimensional effect. (2) Flexible, precise and stable operation. The system can automatically filter out physiological vibrations and eliminate the adverse effects of the surgeon's hand tremors on the operation. (3) Compared with traditional open surgery, it has less trauma and faster recovery. It reduces the occurrence of surgical sequelae and complications, thereby reducing patient pain and making "day surgery" possible. (4) It saves manpower and makes the doctor's surgical process more comfortable. Doctors no longer need to crowd around the operating table, which can reduce doctor fatigue and allow them to concentrate.

[0005] However, the laparoscopic surgical robot system still has the following problems:

[0006] (1) During the operation, the influence of passive positioning before the operation on the subsequent surgical operation may lead to the inconvenience of the operation (for example, collision between robotic arms, insufficient operating space) and even interruption and failure.

[0007] (2) Since the laparoscopic surgical robot has relatively more joints in its arms, it takes a long time to position the robot manually.

[0008] (3) Currently, the drilling points planned by doctors on patients cannot be detected by the surgical robot system. Summary of the Invention

[0009] In response to the above problems, the purpose of the present invention is to provide an intelligent positioning method and system for a laparoscopic surgical robot based on optical positioning, so as to solve the problem that there is currently no algorithm for identifying the patient's perforation points before surgery and recommending the robot arm positioning based on the identified perforation points.

[0010] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0011] An intelligent positioning method for a laparoscopic surgical robot based on optical positioning comprises the following steps:

[0012] S1: Arrange a bedside robotic arm surgical system for a laparoscopic surgical robot, wherein the bedside robotic arm surgical system comprises a trolley and a plurality of robotic arms connected by adjustment arms and instrument arms;

[0013] S2: identifying a plurality of punching points for laparoscopic surgery by an optical positioning system, and obtaining positions of the punching points in an optical positioning coordinate system corresponding to the optical positioning system;

[0014] S3: For each of the robotic arms that need to be positioned, the position where the axis of the yaw joint of the instrument arm in the current robotic arm is perpendicular to the line connecting the lesion point and the drilling point where the robotic arm needs to enter is used as the target posture, and the position information of each joint required for the current robotic arm to reach the target posture is calculated using the robotic arm inverse solution algorithm;

[0015] S4: Planning a collision-free motion path for the current robotic arm to be positioned to the target position based on the position information of each joint when the target position is reached.

[0016] Furthermore, in step S1, the bedside robotic arm surgical system of the laparoscopic surgical robot is arranged. The bedside robotic arm surgical system is composed of a trolley and a plurality of robotic arms formed by connecting adjustment arms and instrument arms, specifically:

[0017] The adjusting arm is connected to the trolley, and the instrument arm is connected to the adjusting arm;

[0018] The trolley is composed of a large column lifting joint, a boom rotating joint, a boom telescopic joint and a rotary crane rotating joint in sequence; the adjustment arm is composed of a sub-rotary crane rotating joint, an adjustment arm telescopic joint, an adjustment arm lifting joint and an adjustment arm rotating joint; the instrument arm is composed of an instrument arm yaw joint, an instrument arm pitch joint and an instrument arm telescopic joint.

[0019] The optical positioning system is fixed under the hanging plate of the trolley and moves along with the rotating joint of the slewing crane. It is used to photograph the position of the object to be identified under the hanging plate and the punching points, and obtain depth information of the punching points.

[0020] Furthermore, in step S2, before identifying the plurality of punching points of the laparoscopic surgery by the optical positioning system and obtaining the positions of the punching points of the plurality of punching points in the optical positioning coordinate system corresponding to the optical positioning system, the method further includes:

[0021] The punching point for laparoscopic surgery is determined and marked, and the object to be identified is moved into the identifiable range of the optical positioning system.

[0022] Furthermore, in step S3, for each of the robotic arms that needs to be positioned, the position when the axis of the instrument arm yaw joint in the current robotic arm is perpendicular to the line connecting the lesion point and the punching point position of the current robotic arm is used as the target posture, and the position information of each joint when the current robotic arm needs to reach the target posture is calculated by the robotic arm inverse solution algorithm, specifically:

[0023] The target position of the end of the instrument arm relative to the optical positioning system is X d The current actual position of the end of the instrument arm relative to the optical positioning system is X e ;

[0024] The operating space error between the target posture of the instrument arm end and the current actual posture is:

[0025] e=X d -X e

[0026] Calculate the derivative of the operating space error calculation formula:

[0027]

[0028] According to differential kinematics, the derivative of the operating space error calculation formula is modified as follows:

[0029]

[0030] Among them, J A is the Jacobian matrix of the robotic arm containing the position information of each joint, q is the position information of each joint of the robotic arm, is the speed of each joint of the robotic arm;

[0031] The differential kinematics formula of the derivative of the operating space error calculation formula is derived:

[0032]

[0033]

[0034] make Where K is a user-defined diagonal matrix, then

[0035]

[0036] Formula Integrate to obtain the position information of each joint of the robotic arm of the surgical robot.

[0037] The diagonal matrix K is specifically:

[0038]

[0039] Where n is the number of joints of the robotic arm, k1, k2...k n It is a custom eigenvalue. The larger the eigenvalue, the faster the inverse solution converges.

[0040] Furthermore, in step S4, the RRT algorithm is used as a path planning algorithm to plan a collision-free motion path when the current robotic arm is positioned to the target position according to the position information of each joint when the target position is reached as needed, specifically:

[0041] S41: For each joint in the robotic arm, create a tree T as a motion path of the current joint of the robotic arm without a collision path, and use the starting point xstart of the current joint motion as the initial node of the tree T;

[0042] S42: randomly sampling a point xrand from the space that can be captured by the optical positioning system, and then finding the node xnearest closest to the point xrand in the tree T;

[0043] S43: Perform an extension operation from the node xnearest along a straight line to the point xrand to obtain a new node xnew;

[0044] S44: Check whether there are any obstacles on the path from the node xnearest to the node xnew. If there are no obstacles, add the node xnew to the tree T and connect an edge between the node xnearest and the node xnew. If the node xnew is close to the target position of the current joint, return to the tree T.

[0045] S45: Repeat steps S42-S44 until a predetermined maximum number of iterations K or other preset stopping conditions are reached.

[0046] An optical positioning-based laparoscopic surgical robot intelligent positioning system for executing the above-mentioned optical positioning-based laparoscopic surgical robot intelligent positioning method comprises:

[0047] A robotic arm arrangement module is used to arrange the bedside robotic arm surgical system of the laparoscopic surgical robot, wherein the bedside robotic arm surgical system is composed of a trolley and a plurality of robotic arms formed by connecting adjustment arms and instrument arms;

[0048] A punch point recognition module is used to identify a plurality of punch points for laparoscopic surgery through an optical positioning system, and obtain the punch point positions of the plurality of punch points in an optical positioning coordinate system corresponding to the optical positioning system;

[0049] a target position calculation module for calculating, for each of the robotic arms that need to be positioned, the position where the axis of the yaw joint of the instrument arm in the current robotic arm is perpendicular to the line connecting the lesion point and the punching point position that the robotic arm currently needs to enter as the target position, and calculating, through the robotic arm inverse solution algorithm, the position information of each joint required for the current robotic arm to reach the target position;

[0050] The motion path planning module is used to plan a collision-free motion path when the current robotic arm is positioned to the target position based on the position information of each joint when the target position is reached.

[0051] A computer device includes a memory and one or more processors, wherein the memory stores computer code, and when the computer code is executed by the one or more processors, the one or more processors execute the above method.

[0052] A computer-readable storage medium stores computer code. When the computer code is executed, the above method is performed.

[0053] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0054] By providing an intelligent positioning method for laparoscopic surgical robots based on optical positioning, an optical positioning system is added to the laparoscopic surgical robot system. Using optical positioning and image algorithms, the robot identifies the drilling points and body position of the object to be identified, as planned by the doctor based on the location of the lesion. An optimization algorithm based on the drilling points and body position constraints is used to plan the robot arm's positioning posture. A real-time collision detection algorithm is used to plan a "zero collision" path (collision between the robot arms and between the robot arm and the object to be identified). The robot arm automatically moves to this posture. The resulting robot arm positioning posture ensures a large operating space for the robot arm during surgery. The entire recognition, planning, and positioning algorithm runs in a short time, significantly reducing preoperative preparation time and improving surgical success rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is an overall flow chart of the intelligent positioning method of the laparoscopic surgical robot based on optical positioning of the present invention;

[0056] Figure 2 This is a schematic diagram of the surgical robot model of the present invention;

[0057] Figure 3 This is a line diagram of the surgical robot of the present invention;

[0058] Figure 4 This is a schematic diagram of laparoscopic surgery drilling according to the present invention;

[0059] Figure 5 This is a schematic diagram of the positioning effect of laparoscopic surgery of the present invention;

[0060] Figure 6 Schematic diagram of the inverse solution algorithm of the robotic arm of the present invention;

[0061] Figure 7 This is the overall structural diagram of the laparoscopic surgical robot intelligent positioning system based on optical positioning of the present invention. DETAILED DESCRIPTION

[0062] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0063] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is further understood that the terms "comprise" and "comprising" and the like, when used in the specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0064] First embodiment

[0065] As shown in Figure 1 , the embodiment provides an intelligent positioning method for endoscopic surgery robot based on optical positioning, comprising the following steps:

[0066] S1: arranging a bedside mechanical arm surgery system of the endoscopic surgery robot, which is composed of a trolley and a plurality of mechanical arms connected by adjustment arms and instrument arms.

[0067] As shown in Figure 2 and Figure 3 , the adjustment arm is connected with the trolley, and the instrument arm is connected with the adjustment arm.

[0068] The trolley is sequentially composed of a large column lifting joint, a boom rotating joint, a boom telescopic joint, and a rotary boom rotating joint. The adjustment arm is composed of a sub-rotary boom rotating joint, an adjustment arm telescopic joint, an adjustment arm lifting joint, and an adjustment arm rotating joint. The instrument arm is composed of an instrument arm yaw joint, an instrument arm pitch joint, and an instrument arm telescopic joint.

[0069] Figure 2 and Figure 3 , the circle is the remote fixed point of the instrument arm, and the arrow direction is the instrument arm yaw joint axis. During the surgery, the trolley and the adjustment arm remain stationary, and the instrument arm moves.

[0070] The optical positioning system is fixed below the lifting tray of the trolley, moves with the rotary boom rotating joint, and is used to shoot the body position of the object to be identified and the punch point below the lifting tray, and obtain the depth information of the punch point. The relative position of the optical positioning system and each adjustment arm is fixed and known.

[0071] In Figure 2 , Op is the origin of the optical positioning system coordinate system, Base is the origin of the sub-rotary boom rotating joint coordinate system, RCM is the origin of the remote fixed point coordinate system, and Tip is the origin of the mechanical arm end coordinate system.

[0072] The positioning by the optical positioning system can obtain coordinates Top_r1, Top_r2 and Top_r3 of the puncture point relative to the coordinate system of the optical positioning system. In the positioning process, only the sub-rotary suspension rotary joint and the instrument arm telescopic joint are moved, which is referred to as the active arm. Therefore, the angle of the sub-rotary suspension rotary joint is defined as cta1, the angle of the adjustment arm telescopic joint is defined as cta2, the joint angle of the adjustment arm lifting joint is defined as cta3, the joint angle of the adjustment arm rotary joint is defined as cta4, the joint angle of the instrument arm yaw joint is defined as cta5, the joint angle of the instrument arm pitch joint is defined as cta6, and the joint angle of the instrument arm telescopic joint is defined as cta7.

[0073] S2: A plurality of puncture points in a laparoscopic surgery are identified by an optical positioning system, and the puncture point positions of the plurality of puncture points in the optical positioning coordinate system corresponding to the optical positioning system are obtained.

[0074] Before the plurality of puncture points are identified, a doctor needs to determine and mark the puncture points (for example, set X) on the belly of the object to be identified, and move the object to be identified to the identifiable range of the optical positioning system below the hanging plate after the puncture points are determined. The optical positioning system identifies the puncture points and obtains coordinates Top_r1, Top_r2 and Top_r3. A general laparoscopic surgery puncture is schematically shown as Figure 4 , wherein r1 and r2 are surgical instrument holes, r3 is an endoscope hole, and r4 is a lesion site.

[0075] S3: For each of the mechanical arms that need to be positioned, the positioning when the instrument arm yaw joint axis of the current mechanical arm is perpendicular to the line connecting the lesion point and the puncture point position of the puncture point to be entered by the current mechanical arm is taken as the target pose, and the position information of each joint when the current mechanical arm needs to reach the target pose is calculated by a mechanical arm inverse solution algorithm.

[0076] As shown in Figure 5 , in the embodiment, two mechanical arms entering the surgical instrument holes are positioned, and the instrument arm yaw joint axes of the two mechanical arms are respectively perpendicular to r1r4 and r2r4. Based on the positioning, only the instrument arm yaw joint and the instrument arm telescopic joint need to be adjusted to move the instrument end to the lesion site at the beginning of the surgery, and the instrument arm pitch joint can be positioned at zero. In this way, at the beginning of the surgery, the pitch joint is at the position with the maximum stroke, so as to ensure the maximum movement space during the entire surgery.

[0077] Here, we take a robotic arm as an example and perform the inverse solution algorithm to calculate the position of each joint when the target robotic arm reaches the recommended posture. The function is [cta_target] = Func_Active_Arm(Top_rn), where cta_target = [cta1, cta2, cta3, cta4, cta5, cta6, cta6], and n = 1, 2, 3.

[0078] like Figure 6 As shown in the figure, the inverse solution algorithm of the robotic arm is as follows:

[0079] The target position of the end of the instrument arm relative to the optical positioning system is X d The current actual position of the end of the instrument arm relative to the optical positioning system is X e ;

[0080] The operating space error between the target posture of the instrument arm end and the current actual posture is:

[0081] e=X d -X e

[0082] Calculate the derivative of the operating space error calculation formula:

[0083]

[0084] According to differential kinematics, the derivative of the operating space error calculation formula is modified as follows:

[0085]

[0086] Among them, J A is the Jacobian matrix of the robotic arm containing the position information of each joint, q is the position information of each joint of the robotic arm, is the speed of each joint of the robotic arm;

[0087] The differential kinematics formula of the derivative of the operating space error calculation formula is derived:

[0088]

[0089]

[0090] make Where K is a user-defined diagonal matrix, then

[0091]

[0092] Formula Integrate to obtain the position information q of each joint of the mechanical arm of the surgical robot. Then cta_target=q.

[0093] The diagonal matrix K is specifically:

[0094]

[0095] Where n is the number of joints of the mechanical arm, k1, k2...k n The eigenvalue is self-defined, and the larger the eigenvalue, the faster the convergence speed of the inverse solution.

[0096] S4: Plan a collision-free motion path for the current mechanical arm to reach the target position according to the position information of each joint when reaching the target pose.

[0097] Specifically, in the embodiment, the RRT algorithm is used as the path planning algorithm to plan a collision-free motion path for the current mechanical arm to reach the target position according to the position information of each joint when reaching the target pose, which is specifically:

[0098] S41: For each joint in the mechanical arm, create a tree T as a collision-free path motion path for the current joint of the mechanical arm, and set the starting point xstart of the current joint motion as the initial node of the tree T;

[0099] S42: Randomly sample a point xrand from the space that can be photographed by the optical positioning system, and then find the node xnearest closest to the point xrand in the tree T;

[0100] S43: Perform an expansion operation from the node xnearest in the direction of the straight line to the point xrand to obtain a new node xnew;

[0101] S44: Check whether there is an obstacle on the path from the node xnearest to the node xnew, if there is no obstacle, add the node xnew to the tree T, and connect an edge between the node xnearest and the node xnew, if the node xnew approaches the target position of the current joint, return the tree T;

[0102] S45: Repeat steps S42-S44 until a predetermined maximum iteration number K or other preset stopping condition is reached.

[0103] The RRT algorithm can use the following pseudo code:

[0104] #Define the function of the RRT algorithm, input the starting point xstart, the target point xfinish and the number of iterations K

[0105] def Build_RRT(xstart,xfinish,K):

[0106] #Create an RRT tree with the starting point as the initial node of the tree

[0107] T.start(xstart)

[0108] #Iterate K times to build RRT tree

[0109] for k in range(1,K+1):

[0110] #Get a point from the random sample

[0111] xrand = Random_Sample()

[0112] #Find the node in the tree closest to xrand

[0113] xnearest=Nearest_Vertex(T,xrand)

[0114] # Expand new nodes from xnearest to xrand

[0115] xnew=Steer(xnearest,xrand)

[0116] # Check if there are any obstacles on the path

[0117] ifObstacle_Free(xnearest,xnew):

[0118] #If there are no obstacles on the path, add the new node to the tree

[0119] T.add_vertex(xnew)

[0120] T.add_edge(xnearest,xnew)

[0121] #If the new node is in the target area, the algorithm ends and returns to the RRT tree

[0122] if xnew is in Goal_Region:

[0123] return T

[0124] #End the current iteration

[0125] #After completing K iterations, return the final RRT tree

[0126] return T

[0127] Here, xstart is the starting point (here, the current position of the robot arm), xfinish is the end point (the robot arm's target position cta_target), and K is the maximum number of iterations. The algorithm starts from the starting point and randomly samples a point xrand each time. It then finds the node xnearest closest to xrand and moves a certain distance in the direction from xnearest to xrand to obtain a new node xnew. If the path from xnearest to xnew does not intersect with an obstacle, xnew is added to the tree and an edge is connected between xnearest and xnew. If xnew is within the target region xfinish, the tree T is returned. Tree T is the collision-free motion path of the robot arm.

[0128] Second embodiment

[0129] like Figure 7 As shown, this embodiment provides an optical positioning-based laparoscopic surgical robot intelligent positioning system for executing the optical positioning-based laparoscopic surgical robot intelligent positioning method as in the first embodiment, comprising:

[0130] A robotic arm arrangement module 1 is used to arrange a bedside robotic arm surgical system of a laparoscopic surgical robot, wherein the bedside robotic arm surgical system is composed of a trolley and a plurality of robotic arms formed by connecting adjustment arms and instrument arms;

[0131] Punch point identification module 2, used to identify several punch points of laparoscopic surgery through the optical positioning system, and obtain the punch point positions of the several punch points in the optical positioning coordinate system corresponding to the optical positioning system;

[0132] The target position calculation module 3 is used to calculate the position information of each joint required for the current robotic arm to reach the target posture when the axis of the yaw joint of the instrument arm in the current robotic arm is perpendicular to the line connecting the lesion point and the punching point position of the current robotic arm, for each robotic arm that needs to be positioned, and calculate the position information of each joint required for the current robotic arm to reach the target posture through the robotic arm inverse solution algorithm;

[0133] The motion path planning module 4 is used to plan a collision-free motion path when the current robotic arm is positioned to the target position based on the position information of each joint when the target position is reached.

[0134] A computer-readable storage medium stores computer code. When the computer code is executed, the above-described method is performed. A person skilled in the art will appreciate that all or part of the steps in the various methods of the above-described embodiments can be performed by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0135] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0136] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0137] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent positioning system for laparoscopic surgical robots based on optical positioning, characterized in that: include: A robotic arm arrangement module is used to arrange the bedside robotic arm surgical system of the laparoscopic surgical robot, wherein the bedside robotic arm surgical system is composed of a trolley and a plurality of robotic arms formed by connecting adjustment arms and instrument arms; A punch point recognition module is used to identify a plurality of punch points for laparoscopic surgery through an optical positioning system, and obtain the punch point positions of the plurality of punch points in an optical positioning coordinate system corresponding to the optical positioning system; a target position calculation module for calculating, for each of the robotic arms that need to be positioned, the position where the axis of the yaw joint of the instrument arm in the current robotic arm is perpendicular to the line connecting the lesion point and the punching point position that the robotic arm currently needs to enter as the target position, and calculating, through the robotic arm inverse solution algorithm, the position information of each joint required for the current robotic arm to reach the target position; A motion path planning module, configured to plan a collision-free motion path for the current robotic arm to be positioned to the target position based on the position information of each joint when the target position is reached; In the motion path planning module, the RRT algorithm is used as the path planning algorithm to plan a collision-free motion path when the current robotic arm is positioned to the target position according to the position information of each joint when the target position is reached as needed, specifically: S41: For each joint in the robotic arm, create a tree T as a motion path of the current joint of the robotic arm without a collision path, and use the starting point xstart of the current joint motion as the initial node of the tree T; S42: randomly sampling a point xrand from the space that can be captured by the optical positioning system, and then finding the node xnearest closest to the point xrand in the tree T; S43: Perform an expansion operation from the node xnearest along the straight line to the point xrand to obtain a new node xnew; S44: Check whether there are any obstacles on the path from the node xnearest to the node xnew. If there are no obstacles, add the node xnew to the tree T and connect an edge between the node xnearest and the node xnew. If the node xnew is close to the target position of the current joint, return to the tree T. S45: Repeat steps S42-S44 until a predetermined maximum number of iterations K or other preset stopping conditions are reached.

2. The intelligent positioning system for laparoscopic surgical robots based on optical positioning according to claim 1, characterized in that: In the robotic arm arrangement module, the bedside robotic arm surgical system of the laparoscopic surgical robot is arranged. The bedside robotic arm surgical system consists of a trolley and a plurality of robotic arms formed by connecting adjustment arms and instrument arms. Specifically: The adjusting arm is connected to the trolley, and the instrument arm is connected to the adjusting arm; The trolley is composed of a large column lifting joint, a boom rotating joint, a boom telescopic joint and a rotary crane rotating joint in sequence; the adjustment arm is composed of a sub-rotary crane rotating joint, an adjustment arm telescopic joint, an adjustment arm lifting joint and an adjustment arm rotating joint; the instrument arm is composed of an instrument arm yaw joint, an instrument arm pitch joint and an instrument arm telescopic joint.

3. The optical positioning-based intelligent positioning system for laparoscopic surgical robots according to claim 2, characterized in that: The optical positioning system is fixed under the hanging plate of the trolley and moves along with the rotating joint of the slewing crane. It is used to photograph the position of the object to be identified under the hanging plate and the punching points, and obtain depth information of the punching points.

4. The optical positioning-based intelligent positioning system for laparoscopic surgical robots according to claim 2, characterized in that: In the punch point recognition module, before identifying the plurality of punch points of the laparoscopic surgery by the optical positioning system and obtaining the punch point positions of the plurality of punch points in the optical positioning coordinate system corresponding to the optical positioning system, the module further includes: The punching point for laparoscopic surgery is determined and marked, and the object to be identified is moved into the identifiable range of the optical positioning system.

5. The intelligent positioning system for laparoscopic surgical robots based on optical positioning according to claim 1, characterized in that: In the target position calculation module, for each of the robotic arms that need to be positioned, the position when the axis of the instrument arm yaw joint in the current robotic arm is perpendicular to the line connecting the lesion point and the punching point position of the current robotic arm is used as the target posture, and the position information of each joint when the current robotic arm needs to reach the target posture is calculated by the robotic arm inverse solution algorithm, specifically: The target position of the end of the instrument arm relative to the optical positioning system is recorded as , the current actual position of the end of the instrument arm relative to the optical positioning system is ; The operating space error between the target posture of the end of the instrument arm and the current actual posture is: Calculate the derivative of the operating space error calculation formula: According to differential kinematics, the derivative of the operating space error calculation formula is modified as follows: in, is the Jacobian matrix of the robotic arm containing the position information of each joint, is the position information of each joint of the robotic arm, is the speed of each joint of the robotic arm; The differential kinematics formula of the derivative of the operating space error calculation formula is derived: make , where K is a user-defined diagonal matrix, then Formula Integrate to obtain the position information of each joint of the robotic arm of the surgical robot.

6. The optical positioning-based intelligent positioning system for laparoscopic surgical robots according to claim 5, characterized in that: The diagonal matrix K is specifically: Where n is the number of joints of the robotic arm, k1, k2...k n It is a custom eigenvalue. The larger the eigenvalue, the faster the inverse solution converges.

7. A computer device comprising a memory and one or more processors, wherein the memory stores computer code, and when the computer code is executed by the one or more processors, the one or more processors execute the method executed by the intelligent positioning system as claimed in any one of claims 1 to 6.

8. A computer-readable storage medium storing computer code, wherein when the computer code is executed, the method performed by the intelligent positioning system according to any one of claims 1 to 6 is executed.

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