Surgical robot control method, apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application disclose a surgical robot control method and device, electronic equipment and storage medium. The method comprises: determining a theoretical joint current of a surgical robot in a working state, and acquiring an actual joint current corresponding to the theoretical joint current detected by a motor driving component in the surgical robot; wherein the theoretical joint current is used to reflect the joint current corresponding to the joint of the surgical robot when the surgical robot is not subjected to external force; based on the actual joint current and the theoretical joint current, target force information corresponding to the end of the mechanical arm of the surgical robot is determined; based on the target force information, a target processing mode of the surgical robot is determined, and the surgical robot is controlled to work according to the target processing mode. The technical solution of the embodiments of the present application can determine the target force information without adding new equipment, which is conducive to reducing the cost of controlling the surgical robot, and has higher implementability and safety.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robotics technology, and in particular to a surgical robot control method, device, electronic device, and storage medium. Background Art

[0002] With the rapid development of the medical industry, surgical robots are widely used. During surgery, doctors need to know the contact force between the end of the surgical robot's robotic arm and the external environment in real time. This allows them to understand any obstructions encountered by the surgical robot during the operation, assisting them in understanding the robot's operating status and controlling its movement.

[0003] In the prior art, the contact force between the end of a surgical robot's robotic arm and the external environment is determined by using a force sensor to collect the force at the end of the robotic arm; the collected force is then used to control the operation of the surgical robot. However, during the implementation of the present invention, it was discovered that the prior art has at least the following technical problems: Because surgical robots have a limited operating space and are medical consumables, installing a force sensor at the end of each robotic arm is impractical and poses a significant safety hazard; in addition, it is costly. Summary of the Invention

[0004] Embodiments of the present invention provide a surgical robot control method, device, electronic device, and storage medium to reduce the cost of controlling a surgical robot and improve feasibility and safety.

[0005] According to one aspect of the present invention, a surgical robot control method is provided, comprising:

[0006] Determining a theoretical joint current of the surgical robot in a working state, and obtaining an actual joint current detected by a motor drive component of the surgical robot and corresponding to the theoretical joint current; wherein the theoretical joint current is used to reflect the joint current corresponding to the joint of the surgical robot when the surgical robot is not subjected to an external force;

[0007] determining target force information corresponding to the end of the robotic arm of the surgical robot based on the actual joint current and the theoretical joint current;

[0008] Based on the target force information, a target processing mode of the surgical robot is determined, and the surgical robot is controlled to work according to the target processing mode.

[0009] According to another aspect of the present invention, there is provided a surgical robot control device, the device comprising:

[0010] The current determination module is configured to determine a theoretical joint current of the surgical robot in a working state, and acquire an actual joint current corresponding to the theoretical joint current detected by a motor driving component in the surgical robot, wherein the theoretical joint current is used to reflect a joint current corresponding to a joint of the surgical robot in a case where the surgical robot is not subjected to external force.

[0011] The target force information determination module is configured to determine target force information corresponding to an end of a mechanical arm of the surgical robot based on the actual joint current and the theoretical joint current.

[0012] The processing mode determination module is configured to determine a target processing mode of the surgical robot based on the target force information, and control the surgical robot to work in the target processing mode.

[0013] According to another aspect of the present application, an electronic device is provided, which comprises:

[0014] at least one processor; and

[0015] a memory connected with the at least one processor in communication; wherein

[0016] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the surgical robot control method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to execute the surgical robot control method according to any one of the embodiments of the present application when executed by the processor.

[0018] The technical scheme of the embodiment of the present application determines the theoretical joint current of the surgical robot in the working state, acquires the actual joint current corresponding to the theoretical joint current detected by the motor driving component in the surgical robot, wherein the theoretical joint current is used to reflect the joint current corresponding to the joint of the surgical robot in the case that the surgical robot is not subjected to external force; based on the actual joint current and the theoretical joint current, the target force information corresponding to the end of the mechanical arm of the surgical robot is determined, so that the target force information can be determined without installing a force sensor at the end of the mechanical arm, based on the target force information, the target processing mode of the surgical robot is determined, and the surgical robot is controlled to work according to the target processing mode. In the technical scheme, since the actual joint current is detected by the motor driving component originally contained in the surgical robot, the actual joint current does not need to be determined by adding a new device, the target force information is determined based on the actual joint current and the theoretical current, so that the target force information does not need to be determined by adding a new device, which is beneficial to reduce the cost of controlling the surgical robot, and the implementability and safety are higher.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a flow chart of a surgical robot control method according to an embodiment of the present application;

[0022] Figure 2 is a flow chart of another surgical robot control method according to an embodiment of the present application;

[0023] Figure 3 is a structural schematic diagram of a surgical robot control device according to an embodiment of the present application;

[0024] Figure 4 is a structural schematic diagram of an electronic device for implementing the surgical robot control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application, and obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts should fall into the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "comprise" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0027] Figure 1 is a flowchart of a surgical robot control method according to an embodiment of the present application. The embodiment can be applicable to a case where the target force information of the end of the mechanical arm of the surgical robot is determined by determining the actual joint current and the theoretical joint current of the joint, so as to control the surgical robot to work based on the target force information. The method can be executed by a surgical robot control device, which can be realized in the form of hardware and / or software.

[0028] As shown in Figure 1 , the method of the embodiment can specifically include:

[0029] S110, determining the theoretical joint current of the surgical robot in the working state, and acquiring the actual joint current corresponding to the theoretical joint current detected by the motor driving component in the surgical robot.

[0030] The theoretical joint current is used to reflect the joint current corresponding to the joint of the surgical robot in the case where the surgical robot is not subjected to external force.

[0031] In the embodiment, the surgical robot can be regarded as being in the working state during the surgical operation process. In order to more accurately control the surgical robot and ensure the safety of the surgical operation, the control mode of the surgical robot can be determined by determining the actual joint current and the theoretical joint current of the surgical robot in the working state.

[0032] Specifically, when the surgical robot is in a working state, the actual joint current and the theoretical joint current can be determined periodically according to a preset control period, or the actual joint current and the theoretical joint current can be determined at preset operation nodes of the surgical robot. For example, the preset operation nodes can include nodes corresponding to at least one of a cutting operation, a stripping operation, a clamping operation, a squeezing operation, a traction operation, a suturing operation, and a knotting operation.

[0033] In a specific implementation, a dynamic model corresponding to a structural feature of the surgical robot can be constructed in advance, and the theoretical joint current of each joint of the surgical robot in a working state can be determined through the dynamic model. For example, the dynamic model includes a model constructed based on Lagrange equations or a model constructed based on Newton-Euler equations.

[0034] In actual application, the surgical robot includes a motor driving component for detecting a working current of each joint in a working process of the surgical robot. In this embodiment, the working current corresponding to the theoretical joint current detected by the motor driving component can be determined as the actual joint current.

[0035] S120, based on the actual joint current and the theoretical joint current, determining target force information corresponding to an end of the mechanical arm of the surgical robot.

[0036] In this embodiment, a conversion relationship among the actual joint current, the theoretical joint current, and the target force information of the end of the mechanical arm can be determined in advance, and the target force information can be determined through the conversion relationship when the actual joint current and the theoretical joint current are determined.

[0037] The target force information includes a force and / or a torque received by the end of the mechanical arm of the surgical robot.

[0038] Specifically, based on the actual joint current and the theoretical joint current, the target force information corresponding to the end of the mechanical arm of the surgical robot is determined, including: constructing a force Jacobian matrix corresponding to a structural feature of the surgical robot; determining a joint torque difference of the surgical robot based on a current difference between the actual joint current and the theoretical joint current and a motor torque constant of the surgical robot determined in advance; determining the target force information corresponding to the end of the mechanical arm of the surgical robot based on the force Jacobian matrix and the joint torque difference.

[0039] Optionally, the surgical robot can be a laparoscopic surgical robot.

[0040] In this embodiment, a current difference between the actual joint current and the theoretical joint current can be determined. When the current difference is equal to 0, it indicates that the end of the mechanical arm is not affected by an external force. When the current difference is not equal to 0, it indicates that the end of the mechanical arm is affected by an external force.

[0041] In a specific implementation, the force Jacobian matrix J(a) of the surgical robot can be established according to the structural characteristics of the surgical robot, where a is the joint angle vector of the robot arm. The joint torque difference is equal to the product of the motor torque constant and the current difference. Based on the force Jacobian matrix and the joint torque difference, the formula corresponding to the target force information corresponding to the end of the mechanical arm of the surgical robot is as follows:

[0042] F=J(a) -T ·Δt

[0043] Wherein, F represents the target force information, J(a) -T is the inverse transpose of the force Jacobian matrix, and Δt represents the joint torque difference.

[0044] The embodiment provides a way of determining target force information based on current difference, which can effectively determine the force condition of the end of the mechanical arm.

[0045] In S130, a target processing mode of the surgical robot is determined based on the target force information, and the surgical robot is controlled to work according to the target processing mode.

[0046] Wherein, the target processing mode can include a fault processing mode and a normal processing mode.

[0047] In the embodiment, before determining the target processing mode of the surgical robot based on the target force information, the working image of the surgical robot in the working state is acquired, the current working type corresponding to the working image is identified, the current force threshold corresponding to the current working type is determined based on the corresponding relationship between the working type and the force threshold, and the target processing mode of the surgical robot is determined based on the target force information, including determining the target processing mode of the surgical robot based on the force value corresponding to the target force information and the current force threshold.

[0048] It should be noted that the force requirements of the end of the mechanical arm of the surgical robot are different for different working types, and in order to accurately determine the target processing mode of the surgical robot, the current working type of the surgical robot can be determined.

[0049] In a specific implementation, the working image of the surgical robot in the working state can be acquired by an image acquisition device, and the current working type corresponding to the working image can be identified based on the image features corresponding to different working types set in advance. Wherein, the working type includes at least one of cutting type, stripping type, clamping type, extrusion type, traction type, suturing type and knotting type.

[0050] Further, a correspondence relationship between different work types and force thresholds can be pre-set, and a current force threshold corresponding to the current work type is determined. The current force threshold is a force value corresponding to the theoretical force information corresponding to the current work type. When determining the target processing mode, the force value corresponding to the target force information can be compared with the current force threshold, and the target processing mode of the surgical robot is determined based on the comparison result.

[0051] The embodiment determines the current force threshold by identifying the current work type of the surgical robot, and determines the target processing mode based on the current force threshold and the force value corresponding to the target force information, which is beneficial to improve the accuracy of determining the target processing mode.

[0052] Optionally, based on the force value corresponding to the target force information and the current force threshold, the target processing mode of the surgical robot is determined, including: in the case that the force value is greater than the current force threshold by a preset multiple, determining the target processing mode of the surgical robot as a fault processing mode; wherein the fault processing mode includes controlling the surgical robot to disconnect the master-slave mapping.

[0053] In order to quickly determine the target processing mode, it can be determined whether the force value corresponding to the target force information is greater than the current force threshold by a preset multiple. For example, the preset multiple can be 3. In the case that the force value is greater than the current force threshold by a preset multiple, it indicates that the surgical robot currently has a fault, and the target processing mode is determined as a fault processing mode. In order to ensure the safety during the operation, the surgical robot does not work when the surgical robot has a fault, and the fault processing mode can be to control the surgical robot to disconnect the master-slave mapping, so as to stop the surgical operation of the surgical robot, and avoid operation errors. In the case that the force value is less than or equal to the current force threshold by a preset multiple, the target processing mode can be determined as a normal processing mode, that is, the surgical robot continues to work according to the current work mode set by the surgical robot.

[0054] The embodiment provides a method for determining a target processing mode, so as to determine whether the surgical robot is processed according to the fault processing mode, which is beneficial to improve the safety of the surgical robot during the operation.

[0055] Optionally, after determining the target force information corresponding to the end of the mechanical arm of the surgical robot, it further includes: in the case that the target force information does not match the theoretical force information, determining the perceived force information based on the target force information and the theoretical force information; generating an operation component control instruction corresponding to the perceived force information, and sending the operation component control instruction to the doctor master console, so that the doctor master console controls the damper to apply a resistance corresponding to the perceived force information to the hand operation component.

[0056] The theoretical stress information is stress information corresponding to a normal working state of the surgical robot when the surgical robot is performing an operation of a current working type.

[0057] In a specific implementation, it can be determined that the target stress information matches the theoretical stress information. Specifically, if a stress value corresponding to the target stress information is the same as a stress value corresponding to the theoretical stress information, and a stress direction corresponding to the target stress information is the same as a stress direction corresponding to the theoretical stress information, it is determined that the target stress information matches the theoretical stress information. Otherwise, it is determined that the target stress information does not match the theoretical stress information.

[0058] In a case where the target stress information matches the theoretical stress information, state indication information indicating that the surgical robot is in a normal working state can be generated and sent to the surgeon master console, so that the surgeon can know the working state of the surgical robot.

[0059] In a case where the target stress information does not match the theoretical stress information, a difference between the target stress information and the theoretical stress information can be used as the perceived stress information. For example, the theoretical stress information is torque a, and the target stress information is torque b. The perceived stress information can be a vector obtained by subtracting torque a from torque b. In order to enable the surgeon to clearly and accurately know the stress state of the surgical robot, operation component control instructions corresponding to the perceived stress information can be generated and sent to the surgeon master console, so that the surgeon master console controls the damper to apply a resistance corresponding to the perceived stress information to the hand operation component. It should be noted that the damper is connected to the hand operation component and can provide resistance. The hand operation component can be a handle used to control surgical operations, and the surgeon can control the operation in the surgical process by operating the handle.

[0060] Further, display instructions can be generated based on the perceived stress information and sent to a display device. The display device displays images collected during the surgical process. After receiving the display instructions, the display device displays the size and direction of the perceived stress information. Specifically, the size and direction of the force corresponding to the perceived stress information can be marked on the display interface by an icon, and different colors can be used to mark forces in different directions. In order to more vividly and visually display the perceived stress information, an animation form can also be used for display. Further, notification instructions can also be generated based on the perceived stress information, and sent to a voice playing end to display the perceived stress information in the form of voice playing.

[0061] In this embodiment, the damper is controlled to provide resistance, so that the surgeon can more clearly and accurately know the resistance state of the end of the mechanical arm of the surgical robot.

[0062] The technical scheme of the embodiment of the present application determines the theoretical joint current of the surgical robot in the working state, acquires the actual joint current corresponding to the theoretical joint current detected by the motor driving component in the surgical robot, wherein the theoretical joint current is used to reflect the joint current corresponding to the joint of the surgical robot in the case that the surgical robot is not subjected to external force; based on the actual joint current and the theoretical joint current, the target force information corresponding to the end of the mechanical arm of the surgical robot is determined, so that the target force information can be determined without installing the force sensor on the end of the mechanical arm, based on the target force information, the target processing mode of the surgical robot is determined, and the surgical robot is controlled to work according to the target processing mode. In the technical scheme, since the actual joint current is detected by the motor driving component originally contained in the surgical robot, the actual joint current does not need to be determined by adding a new device, the target force information is determined by the actual joint current and the theoretical current, so that the device does not need to be added in the process of determining the target force information, which is beneficial to reducing the cost of controlling the surgical robot, and the implementability and safety are higher.

[0063] Figure 2 is a flowchart of another surgical robot control method provided according to the embodiment of the present application. Optionally, the implementation manner of determining the theoretical joint current of the surgical robot in the working state comprises: determining the joint motion information of the surgical robot in the working state; and determining the theoretical joint current of the surgical robot in the working state based on the pre-constructed dynamic model and the joint motion information. Wherein, the same or corresponding explanations of the terms are not repeated here. As shown in Figure 2 the method comprises:

[0064] S210, the joint motion information of the surgical robot in the working state is determined; the theoretical joint current of the surgical robot in the working state is determined based on the pre-constructed dynamic model and the joint motion information; and the actual joint current corresponding to the theoretical joint current detected by the motor driving component in the surgical robot is acquired.

[0065] Wherein, the joint motion information comprises at least one of the joint position, the joint motion speed and the joint motion acceleration; and the dynamic model corresponds to the structural characteristics of the surgical robot.

[0066] In the embodiment, the dynamic model can be:

[0067]

[0068] Wherein, Y is an observation matrix of n x 12n, P is an inertia parameter of 12n x 1, Y and P are linearly independent, τ is a joint torque value of n x 1, n is the number of joints on the mechanical arm of the surgical robot, q is the joint position, is the joint motion speed, joint acceleration.

[0069] After adding the joint motor torque and the joint friction force in the dynamics model, the dynamics model can be expressed as:

[0070]

[0071] wherein τ m represents the joint motor torque, I m is the motor moment of inertia, and o is the reduction ratio. τ f represents the joint friction force, K c is the Coulomb friction coefficient, K v is the viscous friction coefficient, K0 is the asymmetric bias amount of the positive and negative friction forces, and sign is a sign function.

[0072] For the joint without the force sensor, the relationship between the theoretical joint current and the joint torque value can be established by the motor torque constant, and the relationship can be:

[0073] τ=K m I

[0074] wherein K m is the motor torque constant, and I is the theoretical joint current.

[0075] In this embodiment, by the relationship between the theoretical joint current and the joint torque and the dynamics model after adding the joint motor torque and the joint friction force, the calculation formula of the theoretical joint current can be obtained as:

[0076]

[0077] Optionally, the joint motion information and the determined motor torque constant can be input into the theoretical joint current calculation formula to obtain the theoretical joint current.

[0078] In this embodiment, by the dynamics model, the mapping relationship between the theoretical joint current of the surgical mechanical arm and the motion state of the mechanical arm can be accurately established.

[0079] In the embodiment, in order to determine the accurate theoretical joint current, the model parameter identification needs to be performed when the dynamic model is constructed. Optionally, before determining the theoretical joint current of the surgical robot in the working state, the method further includes: acquiring historical motion information of the surgical robot in a historical time period; wherein the historical motion information includes at least one of historical position, historical speed, historical acceleration and historical actual current of the surgical robot; determining model parameters in the dynamic model corresponding to the surgical robot based on the historical motion information and an intelligent search algorithm, and constructing the dynamic model corresponding to the surgical robot based on the model parameters; wherein the intelligent search algorithm includes at least one of a particle swarm algorithm, a genetic algorithm, an ant colony algorithm and a simulated annealing algorithm.

[0080] wherein the model parameters include inertia parameters P, K c is a Coulomb friction coefficient, K v is a viscous coefficient, K0 is a positive and negative friction asymmetry bias, a motor rotational inertia and a motor torque constant.

[0081] In the specific implementation, the historical motion information in the historical time period can be acquired, and the model parameters in the initialization state of the dynamic model are set, the dynamic model is constructed based on the initial parameters, the historical motion information is input into the dynamic model, and the historical theoretical current is determined.

[0082] In the embodiment, the residual sum of squares can be used to construct the fitness function, and the fitness function expression is:

[0083]

[0084] wherein H is the fitness function, i represents the i-th joint, I R represents the historical actual current, I N represents the historical theoretical current.

[0085] Optionally, H approaching 0 can be taken as a preset determination condition, the model parameters of the dynamic model are continuously adjusted by the intelligent search algorithm, the model parameters satisfying the preset determination condition are finally determined, and the theoretical joint current is determined based on the dynamic model corresponding to the model parameters satisfying the preset determination condition.

[0086] S220, based on the actual joint current and the theoretical joint current, determining target force information corresponding to an end of a mechanical arm of the surgical robot.

[0087] S230, based on the target force information, determining a target processing mode of the surgical robot, and controlling the surgical robot to work according to the target processing mode.

[0088] The embodiment identifies the model parameters of the dynamic model through an intelligent search algorithm, thereby facilitating improvement of the accuracy of the determined dynamic model.

[0089] Figure 3 Fig. 1 is a structural schematic diagram of a surgical robot control device according to an embodiment of the present application, which is used to execute the surgical robot control method provided in any of the above embodiments. The device and the surgical robot control method of each of the above embodiments belong to the same inventive concept, and the details not described in the embodiment of the surgical robot control device can be referred to the embodiment of the surgical robot control method. As shown in Fig. 1, the device comprises: Figure 3

[0090] a current determination module 10 configured to determine a theoretical joint current of the surgical robot in a working state, and acquire an actual joint current corresponding to the theoretical joint current detected by a motor driving component in the surgical robot, wherein the theoretical joint current is used to reflect a joint current corresponding to a joint of the surgical robot in a case where the surgical robot is not subjected to an external force;

[0091] a target force information determination module 11 configured to determine target force information corresponding to an end of a mechanical arm of the surgical robot based on the actual joint current and the theoretical joint current;

[0092] a processing mode determination module 12 configured to determine a target processing mode of the surgical robot based on the target force information, and control the surgical robot to work in accordance with the target processing mode.

[0093] Optionally, the current determination module 10 comprises:

[0094] a joint motion information determination unit configured to determine joint motion information of the surgical robot in the working state;

[0095] a theoretical joint current determination unit configured to determine the theoretical joint current of the surgical robot in the working state based on a pre-constructed dynamic model and the joint motion information;

[0096] wherein the joint motion information comprises at least one of a joint position, a joint motion speed and a joint motion acceleration; and the dynamic model corresponds to a structural characteristic of the surgical robot.

[0097] Optionally, the current determination module 10 further comprises:

[0098] ​The historical motion information acquisition unit is configured to acquire historical motion information of the surgical robot in a historical time period before determining the theoretical joint current of the surgical robot in the working state, wherein the historical motion information comprises at least one of historical position, historical speed, historical acceleration and historical actual current of the surgical robot.

[0099] The model parameter determination unit is configured to determine model parameters in the dynamic model corresponding to the surgical robot based on the historical motion information and an intelligent search algorithm, and to construct the dynamic model corresponding to the surgical robot based on the model parameters.

[0100] The intelligent search algorithm comprises at least one of a particle swarm algorithm, a genetic algorithm, an ant colony algorithm and a simulated annealing algorithm.

[0101] On the basis of any optional technical solution in the embodiments of the present application, the target force information determination module 11 comprises:

[0102] The force Jacobian matrix construction unit is configured to construct a force Jacobian matrix corresponding to the structural characteristics of the surgical robot.

[0103] The joint torque difference determination unit is configured to determine a joint torque difference of the surgical robot based on a current difference between the actual joint current and the theoretical joint current and a motor torque constant of the surgical robot determined in advance.

[0104] The target force information determination unit is configured to determine target force information corresponding to the end of the mechanical arm of the surgical robot based on the force Jacobian matrix and the joint torque difference.

[0105] On the basis of any optional technical solution in the embodiments of the present application, the present application further comprises:

[0106] The working image acquisition module is configured to acquire a working image of the surgical robot in the working state before determining the target processing mode of the surgical robot based on the target force information.

[0107] The current working type recognition module is configured to recognize a current working type corresponding to the working image, and to determine a current force threshold corresponding to the current working type based on a preset corresponding relationship between the working type and the force threshold, wherein the working type comprises at least one of a cutting type, a stripping type, a clamping type, a squeezing type, a traction type, a suturing type and a knotting type, and the current force threshold is a force value corresponding to the theoretical force information corresponding to the current working type.

[0108] The processing mode determination module 12 comprises:

[0109] The target processing mode determination unit is configured to determine a target processing mode of the surgical robot based on a stress value corresponding to the target stress information and a current stress threshold.

[0110] In any of the optional technical solutions in the embodiments of the present application, the target processing mode determination unit, optionally, comprises:

[0111] The fault processing mode determination subunit is configured to determine the target processing mode of the surgical robot as a fault processing mode in a case where the stress value is greater than the current stress threshold multiplied by the preset multiple.

[0112] The fault processing mode comprises a control of disconnecting the master-slave mapping of the surgical robot.

[0113] In any of the optional technical solutions in the embodiments of the present application, the target processing mode determination unit, optionally, comprises:

[0114] The perception stress information determination module is configured to, after determining the target stress information corresponding to the end of the mechanical arm of the surgical robot, determine, in a case where the target stress information does not match the theoretical stress information, perception stress information based on the target stress information and the theoretical stress information.

[0115] The instruction generation module is configured to generate an operation component control instruction corresponding to the perception stress information, and send the operation component control instruction to the doctor master console, so that the doctor master console controls the damper to apply a resistance corresponding to the perception stress information to the hand operation component.

[0116] The technical solution of the embodiments of the present application determines the theoretical joint current of the surgical robot in a working state, and acquires an actual joint current corresponding to the theoretical joint current detected by a motor driving component in the surgical robot; wherein the theoretical joint current is used to reflect a joint current corresponding to a joint of the surgical robot in a case where the surgical robot is not subjected to external force; based on the actual joint current and the theoretical joint current, target stress information corresponding to the end of the mechanical arm of the surgical robot is determined, so that the target stress information can be determined without installing a force sensor at the end of the mechanical arm, and based on the target stress information, a target processing mode of the surgical robot is determined, and the surgical robot is controlled to work according to the target processing mode. In the technical solution, since the actual joint current is detected by the motor driving component originally contained in the surgical robot, the actual joint current does not need to be determined by adding a new device, the target stress information is determined based on the actual joint current and the theoretical current, so that in the process of determining the target stress information, no new device needs to be added, which is beneficial to reducing the cost of controlling the surgical robot, and the implementability and safety are higher.

[0117] It is worth noting that in the above embodiment of the surgical robot control device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for the convenience of mutual differentiation, and does not serve to limit the protection scope of the present application.

[0118] Figure 4 is a structural schematic diagram of an electronic device for implementing the surgical robot control method of the embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (such as headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0119] As shown in Figure 4 , the electronic device 20 includes at least one processor 21, and a memory, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc., which is communicatively connected to the at least one processor 21, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 21 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 22 or loaded from the storage unit 28 into the random access memory (RAM) 23. In the RAM 23, various programs and data required for the operation of the electronic device 20 can also be stored. The processor 21, the ROM 22, and the RAM 23 are connected to each other through a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0120] A plurality of components in the electronic device 20 are connected to the I / O interface 25, including: an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, speakers, etc.; a storage unit 28, such as a magnetic disk, an optical disk, etc.; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0121] The processor 21 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 21 executes various methods and processes described above, such as the surgical robot control method.

[0122] In some embodiments, the surgical robot control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 20 via the ROM 22 and / or the communication unit 29. When the computer program is loaded onto the RAM 23 and executed by the processor 21, one or more steps of the surgical robot control method described above can be performed. Alternatively, in other embodiments, the processor 21 can be configured to perform the surgical robot control method by any other appropriate means, such as by means of firmware.

[0123] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0124] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0125] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0127] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0128] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0129] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0130] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A surgical robot control method, characterized in that: include: Determining a theoretical joint current of the surgical robot in a working state, and obtaining an actual joint current detected by a motor drive component of the surgical robot and corresponding to the theoretical joint current; wherein the theoretical joint current is used to reflect the joint current corresponding to the joint of the surgical robot when the surgical robot is not subjected to an external force; determining target force information corresponding to the end of the robotic arm of the surgical robot based on the actual joint current and the theoretical joint current; Acquire a working image of the surgical robot in the working state; identifying a current work type corresponding to the work image, and determining a current force threshold corresponding to the current work type based on a predetermined correspondence between the work type and the force threshold, wherein the current force threshold is a force value corresponding to theoretical force information corresponding to the current work type; determining a target processing mode of the surgical robot based on the target force information, and controlling the surgical robot to operate according to the target processing mode; The determining of the target processing mode of the surgical robot based on the target force information includes: determining a target processing mode of the surgical robot based on the force value corresponding to the target force information and the current force threshold; The target processing mode includes a fault processing mode and a normal processing mode. The target processing mode of the surgical robot is determined based on the force value corresponding to the target force information and the current force threshold, including: In a case where the force value is greater than a preset multiple of a current force threshold, determining the target processing method of the surgical robot to be the fault processing method; Wherein, the fault handling method includes controlling the surgical robot to disconnect the master-slave mapping; When the force value is less than or equal to the current force threshold value of a preset multiple, the target processing mode of the surgical robot is determined to be the normal processing mode.

2. The method according to claim 1, characterized in that Determining the theoretical joint current of the surgical robot in a working state includes: determining joint motion information of the surgical robot in the working state; Determining the theoretical joint current of the surgical robot in a working state based on a pre-built dynamic model and the joint motion information; The joint motion information includes at least one of a joint position, a joint motion speed, and a joint motion acceleration; and the dynamic model corresponds to the structural characteristics of the surgical robot.

3. The method according to claim 2, characterized in that Before determining the theoretical joint current of the surgical robot in the working state, the method further includes: Acquiring historical motion information of the surgical robot within a historical time period; wherein the historical motion information includes at least one of a historical position, a historical speed, a historical acceleration, and a historical actual current of the surgical robot; determining model parameters in a dynamic model corresponding to the surgical robot based on the historical motion information and an intelligent search algorithm, and constructing a dynamic model corresponding to the surgical robot based on the model parameters; The intelligent search algorithm includes at least one of a particle swarm algorithm, a genetic algorithm, an ant colony algorithm and a simulated annealing algorithm.

4. The method according to claim 1, wherein The determining, based on the actual joint current and the theoretical joint current, target force information corresponding to the end of the robotic arm of the surgical robot includes: constructing a force Jacobian matrix corresponding to the structural characteristics of the surgical robot; determining a joint torque difference of the surgical robot based on a current difference between the actual joint current and the theoretical joint current and a predetermined motor torque constant of the surgical robot; Based on the force Jacobian matrix and the joint torque difference, target force information corresponding to the end of the robotic arm of the surgical robot is determined.

5. The method according to claim 1, wherein The working type includes at least one of a cutting type, a peeling type, a clamping type, a squeezing type, a pulling type, a suturing type and a knotting type.

6. The method according to claim 1, characterized in that After determining the target force information corresponding to the end of the robotic arm of the surgical robot, the method further includes: In a case where the target force information does not match the theoretical force information, determining the perceived force information based on the target force information and the theoretical force information; Generate an operating component control instruction corresponding to the perceived force information, and send the operating component control instruction to the doctor's main operating console, so that the doctor's main operating console controls the damper to apply resistance corresponding to the perceived force information to the hand operating component.

7. A surgical robot control device, characterized in that: include: a current determination module, configured to determine a theoretical joint current of the surgical robot in a working state, and obtain an actual joint current detected by a motor drive component of the surgical robot and corresponding to the theoretical joint current; wherein the theoretical joint current is used to reflect the joint current corresponding to the joints of the surgical robot when the surgical robot is not subjected to an external force; a target force information determination module, configured to determine target force information corresponding to the end of the robotic arm of the surgical robot based on the actual joint current and the theoretical joint current; a processing mode determination module, configured to determine a target processing mode of the surgical robot based on the target force information, and control the surgical robot to operate according to the target processing mode; A working image acquisition module is used to acquire a working image of the surgical robot in a working state before determining a target processing mode of the surgical robot based on target force information; a current work type identification module, configured to identify the current work type corresponding to the work image, and determine a current force threshold corresponding to the current work type based on a predetermined correspondence between the work type and the force threshold, wherein the current force threshold is a force value corresponding to theoretical force information corresponding to the current work type; The processing mode determination module includes: a target processing mode determining unit, configured to determine a target processing mode of the surgical robot based on a force value corresponding to the target force information and the current force threshold; The target processing mode includes a fault processing mode and a normal processing mode, and the target processing mode determining unit includes: a fault handling method determining subunit, configured to determine that a target handling method of the surgical robot is the fault handling method when the force value is greater than a current force threshold value of a preset multiple; Wherein, the fault handling method includes controlling the surgical robot to disconnect the master-slave mapping; The normal processing mode determination subunit is used to determine that the target processing mode of the surgical robot is the normal processing mode when the force value is less than or equal to the current force threshold value of a preset multiple.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the surgical robot control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical robot control method according to any one of claims 1 to 6 when executed.

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