Surgical robot control method, control device, surgical robot and medium

Abstract

The present invention provides a control method, a control device, a surgical robot and a medium for a surgical robot. The surgical robot includes a master operating device and a slave operating device. The control method includes: obtaining first information of the surgical robot; matching the first information with a target condition, and controlling the surgical robot to enter a forced matching state when the first information and the target condition match; when the surgical robot is controlled to enter the forced matching state, adjusting the master operating device according to the target posture of the slave operating device so that the first posture of the master operating device and the target posture are consistent; wherein the target condition includes: a first condition and a second condition; the first condition includes: replacing surgical instruments with the slave operating device; the second condition includes: moving an endoscope with the slave operating device and performing master-slave clutching with the surgical robot. The present invention solves the technical problem that the postures of the master operator and the slave operator do not match during surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control method for forced posture matching of a surgical robot, a control device for forced posture matching of a surgical robot, a surgical robot and a readable storage medium. Background Art

[0002] With the development of science and technology, the use of medical robots to assist medical staff in performing surgeries has developed rapidly. Medical robots can not only help medical staff perform a series of medical diagnoses and auxiliary treatments, but also effectively alleviate the problem of tight medical resources.

[0003] Generally, a medical robot includes a slave tool for performing an operation and a master operator for controlling the movement of the slave tool. In actual scenarios, the slave tool is configured to be able to enter the operation area, and the medical staff remotely controls the movement of the slave tool in the operation area by remotely operating the master operator to perform the medical operation.

[0004] When using a surgical robot for surgery, the posture of the main operator must always be consistent with the posture of the surgical instrument observed on the 3D screen, so that the doctor can operate the machine more intuitively. However, during the operation, it is inevitable to change surgical instruments, move the endoscope to adjust the field of view, or perform master-slave clutch operations, which will cause the posture of the main operator to deviate from the posture of the surgical instrument observed on the 3D screen. The main operator needs to be forced to move to a position consistent with the posture of the surgical instrument under the drive of the joint motor. Summary of the invention

[0005] The present invention solves the technical problem of posture mismatch between a master operator and a slave operator during surgery.

[0006] To solve the above problems, the present invention provides a control method for forced posture matching of a surgical robot, wherein the surgical robot comprises a master operating device and a slave operating device, the master operating device comprises a plurality of position joints and a plurality of posture joints, and the slave operating device comprises a surgical instrument and an endoscope; the control method comprises: acquiring first information of the surgical robot; matching the first information with a target condition, and when the first information and the target condition match, controlling the surgical robot to enter a forced matching state; when the surgical robot is controlled to enter the forced matching state, adjusting the master operating device according to the target posture of the slave operating device, so that the first posture of the master operating device and the target posture remain consistent; wherein the target condition comprises: a first condition and a second condition; the first condition comprises: replacing the surgical instrument with the slave operating device; the second condition comprises: moving the endoscope and the surgical robot with the slave operating device to perform master-slave clutch.

[0007] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the first information of the surgical robot is obtained by the acquisition module, and the obtained first information is matched with the target condition to determine whether there is a possibility that the posture of the master operator and the slave operator of the surgical robot does not match. When the first information matches the target condition, it means that there is a possibility that the posture of the master operator and the slave operator does not match at this time, and the master-slave operating system does not form an accurate posture match. The master operator needs to be forced to run to a position consistent with the posture of the surgical instrument (that is, the slave operating device) under the drive of the joint motor to achieve accurate master-slave matching. When the first information matches the target condition, the surgical robot is controlled to enter a forced matching state, and the master operating device is adjusted according to the target posture of the slave operating device, so that the first posture of the master operating device and the target posture are consistent, so as to achieve accurate matching of the postures of the master operating device and the slave operating device, so as to improve the accuracy of the posture control of the master operating device on the slave operating device. At the same time, in the forced matching process, only the master operating device needs to move, and the slave operating device remains stationary, thereby ensuring the safety of the operation.

[0008] In one example of the present invention, the first information and the target condition are matched, and when the first information and the target condition match, the surgical robot is controlled to enter a forced matching state, including: matching the first information and the first condition; when the first information and the first condition match, the surgical robot is controlled to enter a forced matching state; and / or when the first information and the first condition do not match, matching the first information and the second condition; when the first information and the second condition match, the surgical robot is controlled to enter a forced matching state.

[0009] Compared with the prior art, the technical effect achieved by adopting the technical solution is as follows: the target condition is divided into the first condition and the second condition, the first condition includes replacing the surgical instrument from the operating device; the second condition includes moving the endoscope from the operating device and the surgical robot to perform master-slave clutch. Entering the forced matching state includes executing the first forced matching operation and executing the second forced matching operation. The surgical robot needs to perform different forced matching operations (i.e., the first forced matching operation and the second forced matching operation) when different conditions are met. Therefore, it is necessary to identify the matching of the first information and the first condition and the second condition. There are the following three situations: the first information matches the first condition, the first information matches the second condition, and the first information matches the first condition and the second condition at the same time. The first information is matched with the first condition first, that is, it is determined whether the surgical instrument is replaced from the operating device first. When the first information does not match the first condition, the first information and the second condition are matched again. Of course, it is also possible to directly determine which of the above three situations the operating state of the surgical robot meets through the first information, generate a matching result, and determine which forced matching operation the surgical robot selects according to the matching result, thereby saving the overall control time.

[0010] In one example of the present invention, when the first information and the first condition match, the main operating device is adjusted according to the target posture of the slave operating device so that the first posture of the main operating device and the target posture are consistent, including: when the first information and the first condition match, locking the position joint; based on the inverse kinematics algorithm, obtaining the adjustment result of the posture joint according to the target posture; adjusting the posture joint according to the adjustment result to make the main operating device in the first posture; based on the forward kinematics algorithm, judging whether the surgical robot has completed forced matching according to the first posture and the target posture.

[0011] Compared with the prior art, the technical effect achieved by adopting this technical solution is: adding a comparison check between the first posture and the target posture to ensure the accuracy of the posture.

[0012] In one example of the present invention, based on the forward kinematics algorithm, it is judged whether the surgical robot has completed the forced matching according to the first posture and the target posture, including: when the first posture and the target posture are consistent, it is judged that the surgical robot has completed the forced matching, and the surgical robot exits the forced matching state; when the first posture and the target posture are inconsistent, repeatedly executing: based on the inverse kinematics algorithm, obtaining the adjustment result of the posture joint according to the target posture; adjusting the posture joint according to the adjustment result so that the main operating device is in the first posture; based on the forward kinematics algorithm, it is judged whether the surgical robot exits the forced matching state according to the first posture and the target posture.

[0013] Compared with the prior art, the technical effect achieved by adopting this technical solution is: adding a comparison check between the first posture and the target posture to ensure the accuracy of the posture.

[0014] In one example of the present invention, when the first information and the second condition match, the main operating device is adjusted according to the target posture of the slave operating device so that the first posture of the main operating device and the target posture are consistent, including: when the first information and the second condition match, the position joint at the current moment is locked; based on the inverse kinematics algorithm, the adjustment result of the posture joint is obtained according to the target posture; based on the adjustment result, the posture joint is adjusted to make the main operating device in the second posture; based on the forward kinematics algorithm, according to the second posture and the target posture, it is determined whether it is necessary to execute the step of matching the first information and the target condition again.

[0015] Compared with the prior art, the technical effect achieved by adopting this technical solution is: adding a comparison check between the second posture and the target posture to ensure the accuracy of the posture.

[0016] In one example of the present invention, based on a positive kinematics algorithm, it is determined whether it is necessary to match the first information and the target condition again according to the second posture and the target posture, including: when the second posture and the target posture are consistent, the step of matching the first information and the second condition is executed again; when the first information and the second condition match, the step of controlling the surgical robot to enter a forced matching state is repeated; and / or when the first information and the second condition do not match, it is determined that the surgical robot has completed the forced matching and the surgical robot exits the forced matching state.

[0017] Compared with the prior art, the technical effect achieved by adopting this technical solution is: adding a comparison check between the second posture and the target posture to ensure the accuracy of the posture. When the second posture is consistent with the target posture, the first information and the second condition are matched again to improve the control accuracy.

[0018] In one example of the present invention, based on the forward kinematics algorithm, it is determined whether it is necessary to re-execute the step of matching the first information and the target condition according to the second posture and the target posture, including: when the second posture and the target posture are inconsistent, there is no need to re-execute the step of matching the first information and the target condition, and it is necessary to repeat: based on the inverse kinematics algorithm, obtain the adjustment result of the posture joint according to the target posture; adjust the posture joint according to the adjustment result so that the main operating device is in the second posture; based on the forward kinematics algorithm, it is determined whether it is necessary to re-execute the step of matching the first information and the target condition according to the second posture and the target posture.

[0019] Compared with the prior art, the technical effect achieved by adopting this technical solution is: adding a comparison check between the second posture and the target posture to ensure the accuracy of the posture. In the case where the second posture and the target posture are inconsistent, there is no need to perform the step of matching the first information with the target condition again.

[0020] On the other hand, an embodiment of the present invention also provides a control device for forced posture matching of a surgical robot, wherein the surgical robot includes a master operating device and a slave operating device, the master operating device includes multiple position joints and multiple posture joints, and the slave operating device includes a surgical instrument and an endoscope; the control device includes: an acquisition module, the acquisition module is used to acquire first information of the surgical robot; a judgment module, the judgment module is used to match the first information with a target condition, and when the first information and the target condition match, the surgical robot is controlled to enter a forced matching state; an execution module, the execution module is used to adjust the master operating device according to the target posture of the slave operating device when the surgical robot is controlled to enter a forced matching state, so that the first posture of the master operating device and the target posture remain consistent.

[0021] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the control device for forced posture matching of the surgical robot in this embodiment is used to implement the control method for forced posture matching of the surgical robot as in any embodiment of the present invention, and therefore it has all the beneficial effects of the control method for forced posture matching of the surgical robot as in any embodiment of the present invention, which will not be repeated here.

[0022] On the other hand, an embodiment of the present invention further provides a surgical robot, comprising: a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein when the program or instruction is executed by the processor, the steps of a control method for forced posture matching of the surgical robot as in any of the above embodiments are implemented.

[0023] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the surgical robot in this embodiment runs the control method for forced posture matching of the surgical robot in any embodiment of the present invention, so it has all the beneficial effects of the control method for forced posture matching of the surgical robot in any embodiment of the present invention, which will not be repeated here.

[0024] On the other hand, an embodiment of the present invention further provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the control method for forced posture matching of a surgical robot as in any of the above embodiments are implemented.

[0025] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the readable storage medium in this embodiment is used to store the control method for forced posture matching of a surgical robot such as any embodiment of the present invention, so it has all the beneficial effects of the control method for forced posture matching of a surgical robot such as any embodiment of the present invention, which will not be repeated here.

[0026] After adopting the technical solution of the present invention, the following technical effects can be achieved:

[0027] (1) When the first information matches the target condition, it indicates that there is a possibility that the postures of the master operator and the slave operator do not match, and the master-slave operating system has not formed an accurate posture match. The master operator needs to be forced to move to a position consistent with the posture of the surgical instrument (that is, the slave operating device) under the drive of the joint motor to achieve accurate master-slave matching. When the first information matches the target condition, the surgical robot is controlled to enter a forced matching state, and the master operating device is adjusted according to the target posture of the slave operating device to keep the first posture of the master operating device consistent with the target posture, so as to achieve accurate matching of the postures of the master operating device and the slave operating device, so as to improve the accuracy of the master operating device's posture control over the slave operating device;

[0028] (2) At the same time, during the forced matching process, only the master operating device needs to move, and the slave operating device remains stationary, ensuring the safety of the operation;

[0029] (3) Added comparison and verification of the first posture, the second posture and the target posture to ensure the accuracy of the posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a flow chart of a control method for forced posture matching of a surgical robot provided in Embodiment 1 of the present invention.

[0031] Figure 2 A detailed flow chart of a control method for forced posture matching of a surgical robot provided in Embodiment 1 of the present invention.

[0032] Figure 3 This is a schematic diagram of the structure of the control arm in the surgical robot.

[0033] Figure 4 A schematic block diagram of the structure of a control device for forced posture matching of a surgical robot provided in the second embodiment of the present invention.

[0034] Figure 5 A block diagram of the composition of a surgical robot provided in the third embodiment of the present invention.

[0035] Figure 6 A schematic structural diagram of a readable storage medium provided for the fourth embodiment of the present invention.

[0036] Description of reference numerals:

[0037] 100 - a control device for forcing posture matching of a surgical robot; 101 - an acquisition module; 102 - a judgment module; 103 - an execution module; 200 - a surgical robot; 210 - a memory; 211 - a computer program; 220 - a processor; 230 - a control arm; 231 - a position joint; 232 - a posture joint; 300 - a readable storage medium; 310 - a computer executable instruction. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] [Example 1]

[0040] See also Figure 1 , which is a flow chart of a control method for forced posture matching of a surgical robot provided by a first embodiment of the present invention, wherein the surgical robot comprises a master operating device and a slave operating device, the master operating device comprises a plurality of position joints and a plurality of posture joints, and the slave operating device comprises a surgical instrument and an endoscope; Figure 2 , control methods include:

[0041] Step S100: Acquire first information of the surgical robot;

[0042] Step S200: matching the first information with the target condition, and when the first information and the target condition match, controlling the surgical robot to enter a forced matching state;

[0043] Step S300: When the surgical robot is controlled to enter a forced matching state, the master operating device is adjusted according to the target posture of the slave operating device so that the first posture of the master operating device and the target posture are consistent;

[0044] Among them, the target conditions include: a first condition and a second condition; the first condition includes: replacing the surgical instrument from the operating device; the second condition includes: moving the endoscope and the surgical robot from the operating device to perform master-slave clutch.

[0045] In a specific embodiment, the surgical robot may include a master operating device and a slave operating device, and the master operating device is specifically a master operating console, and the doctor can send a control command through the master operating console to control the movement of the slave operating device. Generally, the number of slave operating devices of the surgical robot is greater than the number of master operating devices, so there will be a situation where the operating device controlled by the master operating device is changed during the operation, and at the beginning of the operation or during the operation, the master operating device needs to establish a mapping with the slave operating device first, and then perform master-slave control. Since the master operating device is not pre-matched with the corresponding controlled slave operating device, there will be a situation where the posture (such as orientation or angle) between the master operating device and the slave operating device does not match. If the two are directly matched to each other for master-slave mapping, the control accuracy of the slave operating device will be reduced, and the human-computer interaction experience of medical staff (such as surgeons) will be degraded. Therefore, after the master operating device and the slave operating device are matched and connected and before remote operation, the posture of the master operating device needs to be matched with the posture of the slave operating device to improve the posture control accuracy of the master operating device and the slave operating device. For example, during the operation, it is inevitable to replace surgical instruments, move the endoscope to adjust the field of view, or perform master-slave clutch operations. At this time, the posture of the main operator will deviate from the posture of the surgical instrument (that is, the slave operating device) observed on the 3D screen. The main operator needs to be driven by the joint motor to force it to move to a position consistent with the posture of the surgical instrument (that is, the slave operating device).

[0046] The main operating console may include one or more control arms 230 (which may also be main operators) with multiple degrees of freedom. For example, the main operating console may include two control arms 230 (main operators), namely a left-hand control arm (left operator) and a right-hand control arm (right operator), corresponding to the left hand and the right hand, respectively, so that the doctor's left hand and right hand can operate it respectively. The control arm 230 (main operator) includes a position joint 231 and a posture joint 232: the posture joint 232 adjusts the posture of the main operating device, and controls the main operating device to reach the target posture through one or more posture joints 232; the position joint 231 adjusts the position of the main operating device, and controls the main operating device to reach the target position through one or more position joints 231.

[0047] The slave operation device may include one or more operation arms. For example, when the slave operation device includes multiple operation arms, an endoscope may be installed at the end of one of the multiple operation arms, and a surgical instrument for performing surgical operations such as shearing and suturing may be installed at the end of at least one operation arm; the endoscope may be roughly cylindrical, and the cross-sectional shape may be circular or elliptical, etc. to meet different functional requirements.

[0048] Of course, the surgical robot may also include multiple master operating devices and multiple slave operating devices, which is not limited in the embodiments of the present application.

[0049] The first information of the surgical robot is obtained by the acquisition module, and the first information obtained is matched with the target condition to determine whether there is a possibility that the posture of the master operator and the slave operator of the surgical robot does not match. When the first information matches the target condition, it means that there is a possibility that the posture of the master operator and the slave operator does not match at this time, and the master-slave operating system does not form an accurate posture match. The master operator needs to be forced to run to a position consistent with the posture of the surgical instrument (that is, the slave operating device) under the drive of the joint motor to achieve accurate master-slave matching. When the first information matches the target condition, the surgical robot is controlled to enter a forced matching state, and the master operating device is adjusted according to the target posture of the slave operating device, so that the first posture of the master operating device and the target posture are consistent, so as to achieve accurate matching of the postures of the master operating device and the slave operating device, so as to improve the accuracy of the posture control of the slave operating device by the master operating device. At the same time, in the forced matching process, only the master operating device needs to move, and the slave operating device remains motionless, which ensures the safety of the operation.

[0050] Optionally, the first information may include status information of the master operating device, status information of the slave operating device, other information of the surgical robot, etc. For example, the first information may include at least one of the following: whether the slave operating device replaces the surgical instrument, whether the slave operating device moves the endoscope, and whether the surgical robot performs master-slave clutch. When the surgical robot performs master-slave clutch, the master operating device and the slave operating device are not in a normal connection and matching state, and the master operating device and the slave operating device cannot achieve synchronization.

[0051] The target condition may include at least one of the following: replacing the surgical instrument from the operating device, moving the endoscope from the operating device, and master-slave clutching of the surgical robot.

[0052] Furthermore, step S200 includes:

[0053] Matching the first information with the first condition;

[0054] When the first information matches the first condition, controlling the surgical robot to enter a forced matching state; and / or

[0055] In the case where the first information and the first condition do not match, matching the first information with the second condition;

[0056] When the first information and the second condition match, the surgical robot is controlled to enter a forced matching state.

[0057] Specifically, the target condition is divided into a first condition and a second condition. The first condition includes replacing surgical instruments from an operating device; the second condition includes moving the endoscope and the surgical robot from the operating device to perform master-slave clutch. Entering the forced matching state includes executing a first forced matching operation and executing a second forced matching operation. The surgical robot needs to perform different forced matching operations (i.e., a first forced matching operation and a second forced matching operation) when different conditions are met. Therefore, it is necessary to identify the matching of the first information and the first condition and the second condition. There are the following three situations: the first information matches the first condition, the first information matches the second condition, and the first information matches both the first condition and the second condition.

[0058] The first information is matched with the first condition first, that is, it is determined first whether the surgical instrument is replaced from the operating device. If the first information does not match the first condition, the first information is matched with the second condition. Of course, the first information can also be used to directly determine which of the above three conditions the operating state of the surgical robot meets, generate a matching result, and determine which forced matching operation the surgical robot selects based on the matching result, thereby saving the overall control time.

[0059] For further information, see Figure 2 , when the first information matches the first condition, adjusting the master operating device according to the target posture of the slave operating device so that the first posture of the master operating device is consistent with the target posture, including:

[0060] When the first information matches the first condition, locking the position joint;

[0061] Based on the inverse kinematics algorithm, the adjustment results of the posture joints are obtained according to the target posture;

[0062] Adjusting the posture joint according to the adjustment result so that the main operating device is in a first posture;

[0063] Based on the forward kinematics algorithm, it is determined whether the surgical robot has completed the forced matching according to the first posture and the target posture.

[0064] Further, based on the positive kinematics algorithm, judging whether the surgical robot has completed the forced matching according to the first posture and the target posture includes:

[0065] When the first posture and the target posture are consistent, it is determined that the surgical robot has completed the forced matching, and the surgical robot exits the forced matching state;

[0066] If the first posture and the target posture are inconsistent, repeat the following steps:

[0067] Based on the inverse kinematics algorithm, the adjustment results of the posture joints are obtained according to the target posture;

[0068] Adjusting the posture joint according to the adjustment result so that the main operating device is in a first posture;

[0069] Based on the positive kinematics algorithm, the surgical robot is judged whether to exit the forced matching state according to the first posture and the target posture.

[0070] Specifically, when the surgical instrument is replaced by the slave operating device, there is no need to adjust the position of the slave operating device, so the position joint of the master operating table is locked, and only the posture joint is adjusted to keep the first posture and the target posture of the master operating device consistent.

[0071] The specific operation (first forced matching operation) process is: first lock the position joint, then based on the inverse kinematics algorithm, calculate the adjustment result of the posture joint in the main operating table according to the target posture of the slave operating device (that is, the first adjustment result), and then adjust the posture of the main operating device according to the calculated adjustment result (that is, the first adjustment result) to make it in the first posture, and finally add a comparison check between the first posture and the target posture to ensure the accuracy of the posture. When the first posture is consistent with the target posture, it is judged that the surgical robot has completed the forced matching, and the surgical robot exits the forced matching state, that is, the surgical robot matches successfully. At this time, the doctor can use the master operator to perform master-slave control over the surgical instruments and / or endoscope of the slave operator.

[0072] Further, when the first information and the second condition match, adjusting the master operating device according to the target posture of the slave operating device so that the first posture of the master operating device is consistent with the target posture includes:

[0073] When the first information and the second condition match, the position joint at the current moment is locked;

[0074] Based on the inverse kinematics algorithm, the adjustment results of the posture joints are obtained according to the target posture;

[0075] Adjusting the posture joint according to the adjustment result so that the main operating device is in a second posture;

[0076] Based on the positive motion algorithm, it is determined whether the step of matching the first information with the target condition needs to be performed again according to the second posture and the target posture.

[0077] Further, based on the positive motion algorithm, judging whether it is necessary to match the first information with the target condition again according to the second posture and the target posture includes:

[0078] When the second posture is consistent with the target posture, performing the step of matching the first information with the second condition again;

[0079] When the first information and the second condition match, repeatedly executing the step of controlling the surgical robot to enter a forced matching state; and / or

[0080] When the first information and the second condition do not match, it is determined that the surgical robot has completed the forced matching, and the surgical robot exits the forced matching state.

[0081] Further, based on the positive motion algorithm, judging whether it is necessary to match the first information with the target condition again according to the second posture and the target posture includes:

[0082] In the case where the second posture is inconsistent with the target posture, there is no need to perform the step of matching the first information with the target condition again, but it is necessary to repeat:

[0083] Based on the inverse kinematics algorithm, the adjustment results of the posture joints are obtained according to the target posture;

[0084] Adjusting the posture joint according to the adjustment result so that the main operating device is in a second posture;

[0085] Based on the positive motion algorithm, it is determined whether the step of matching the first information with the target condition needs to be performed again according to the second posture and the target posture.

[0086] Specifically, when the slave operating device moves the endoscope and / or surgical robot to perform master-slave clutch, the master operating device and the slave operating device are not mapped, the posture of the master operating device and the slave operating device do not match, and the master operating device cannot be adjusted according to the adjustment of the slave operating device, that is, linkage cannot be achieved, so the position joint of the master operating table is in a free motion state at this time. When the second forced matching operation begins, the position joint of the master operating table needs to be locked, and only the posture joint is adjusted to keep the second posture of the master operating device consistent with the target posture.

[0087] The specific operation (second forced matching operation) process is as follows: first, the position joint of the main operating table is in a free motion state, so the position joint is locked (that is, the position joint position at the current moment is locked), then based on the inverse kinematics algorithm, the adjustment result of the posture joint in the main operating table is calculated according to the target posture of the slave operating device (that is, the second adjustment result), and then the posture joint is adjusted to the posture of the main operating device according to the calculated adjustment result (that is, the second adjustment result) so that it is in the second posture, and finally the comparison check between the second posture and the target posture is added to ensure the accuracy of the posture. When the second posture is consistent with the target posture, it is determined whether the step of matching the first information and the target condition needs to be performed again: if the first information and the second condition match, it is necessary to repeat the step of controlling the surgical robot to enter the forced matching state (that is, repeat the second forced matching operation) until the first information and the second condition do not match before exiting the forced matching state; if the first information and the second condition do not match, it is determined that the surgical robot completes the forced matching, and the surgical robot exits the forced matching state, that is, the surgical robot matches successfully, at this time, the doctor can perform master-slave control over the surgical instruments and / or endoscope of the slave operator through the master operator.

[0088] Preferably, when the first information matches the first condition and the second condition at the same time, the first forced matching operation is performed first, and when the first posture is consistent with the target posture, the second forced matching operation is performed.

[0089] [Example 2]

[0090] See also Figure 4 The present embodiment also provides a control device 100 for forced posture matching of a surgical robot. The surgical robot includes a master operating device and a slave operating device. The master operating device includes multiple position joints and multiple posture joints, and the slave operating device includes a surgical instrument and an endoscope. The control device includes: an acquisition module 101, a judgment module 102 and an execution module 103. The acquisition module 101 is used to acquire first information of the surgical robot; the judgment module 102 is used to match the first information with a target condition, and when the first information and the target condition match, the surgical robot is controlled to enter a forced matching state; the execution module 103 is used to adjust the master operating device according to the target posture of the slave operating device when the surgical robot is controlled to enter a forced matching state, so that the first posture of the master operating device and the target posture remain consistent.

[0091] In a specific embodiment, the acquisition module 101, judgment module 102 and execution module 103 of the control device 100 for forced posture matching of the surgical robot cooperate to implement the control method for forced posture matching of the surgical robot as described in the first embodiment above, which will not be repeated here.

[0092] [Example 3]

[0093] See also Figure 5 This embodiment provides a structural schematic diagram of a surgical robot 200. The surgical robot 200 includes, for example, a processor 220 and a memory 210 electrically connected to the processor 220. The memory 210 stores a computer program 211. The processor 220 loads the computer program 211 to implement a control method for forced posture matching of the surgical robot as in the first embodiment.

[0094] [Example 4]

[0095] See also Figure 6 This embodiment also provides a readable storage medium 300, which stores computer executable instructions 310. When the computer executable instructions 310 are read and executed by the processor, the surgical robot where the readable storage medium 300 is located is controlled to implement a control method for forced posture matching of the surgical robot as in the first embodiment.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0097] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control device for forced posture matching of a surgical robot, characterized in that: The surgical robot comprises a master operating device and a slave operating device, wherein the master operating device comprises a plurality of position joints and a plurality of posture joints, and the slave operating device comprises a surgical instrument and an endoscope; the control device comprises: An acquisition module, the acquisition module is used to acquire first information of the surgical robot; a judgment module, the judgment module being used to match the first information with a target condition, and when the first information and the target condition match, controlling the surgical robot to enter a forced matching state; an execution module, wherein the execution module is used to adjust the master operating device according to the target posture of the slave operating device when controlling the surgical robot to enter the forced matching state, so that the first posture of the master operating device and the target posture are consistent; Wherein, the target conditions include: a first condition and a second condition; the first condition includes: the slave operating device replaces the surgical instrument; the second condition includes: the slave operating device moves the endoscope and the surgical robot to perform master-slave clutch; The step of matching the first information with the target condition, and controlling the surgical robot to enter a forced matching state when the first information and the target condition match, includes: Matching the first information with the first condition; When the first information matches the first condition, controlling the surgical robot to enter the forced matching state; If the first information does not match the first condition, matching the first information with the second condition; When the first information matches the second condition, the surgical robot is controlled to enter the forced matching state.

2. The control device according to claim 1, characterized in that: When the first information matches the first condition, adjusting the master operating device according to the target posture of the slave operating device so that the first posture of the master operating device is consistent with the target posture includes: When the first information matches the first condition, locking the position joint; Based on the inverse kinematics algorithm, obtaining the adjustment result of the posture joint according to the target posture; adjusting the posture joint according to the adjustment result so that the main operating device is in a first posture; Based on a positive kinematics algorithm, it is determined whether the surgical robot has completed forced matching according to the first posture and the target posture.

3. The control device according to claim 2, characterized in that: The step of judging whether the surgical robot has completed the forced matching based on the first posture and the target posture based on the positive kinematics algorithm includes: When the first posture is consistent with the target posture, it is determined that the surgical robot has completed the forced matching, and the surgical robot exits the forced matching state; When the first posture and the target posture are inconsistent, repeatedly execute: Based on the inverse kinematics algorithm, obtaining the adjustment result of the posture joint according to the target posture; adjusting the posture joint according to the adjustment result so that the main operating device is in a first posture; Based on a positive kinematics algorithm, it is determined whether the surgical robot exits the forced matching state according to the first posture and the target posture.

4. The control device according to claim 1, characterized in that: When the first information matches the second condition, adjusting the master operating device according to the target posture of the slave operating device so that the first posture of the master operating device is consistent with the target posture includes: When the first information matches the second condition, locking the position joint at the current moment; Based on the inverse kinematics algorithm, obtaining the adjustment result of the posture joint according to the target posture; adjusting the posture joint according to the adjustment result so that the main operating device is in a second posture; Based on a positive kinematics algorithm, it is determined whether the first information needs to be matched with the target condition again according to the second posture and the target posture.

5. The control device according to claim 4, characterized in that: The determining whether it is necessary to match the first information with the target condition again based on the positive motion algorithm according to the second posture and the target posture includes: When the second posture is consistent with the target posture, matching the first information with the second condition again; When the first information matches the second condition, repeatedly controlling the surgical robot to enter the forced matching state; When the first information does not match the second condition, it is determined that the surgical robot has completed the forced matching, and the surgical robot exits the forced matching state.

6. The control device according to claim 5, characterized in that: The determining whether it is necessary to match the first information with the target condition again based on the positive motion algorithm according to the second posture and the target posture includes: In the case where the second posture is inconsistent with the target posture, there is no need to match the first information with the target condition again, and the following steps need to be repeated: Based on the inverse kinematics algorithm, obtaining the adjustment result of the posture joint according to the target posture; adjusting the posture joint according to the adjustment result so that the main operating device is in a second posture; Based on a positive kinematics algorithm, it is determined whether the first information needs to be matched with the target condition again according to the second posture and the target posture.

7. A surgical robot, characterized in that: The surgical robot comprises: a processor, a memory and a control device for forcing posture matching of the surgical robot as described in any one of claims 1 to 6.

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