Surgical robot control method and surgical robot system with end effector replacement

Abstract

This application relates to a control method, a surgical robot system, a surgical robot control device, a computer device, a storage medium, and a computer program product for surgical robots with end-effector replacement. The method includes: in response to a surgical robot end-effector replacement event, identifying the type of the replaced end-effector; obtaining the transformation relationship between the end-effector coordinate system and the surgical robot base coordinate system based on the type of the replaced end-effector; reading the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and obtaining the transformation relationship between the end-effector coordinate system and the surgical image coordinate system based on the transformation relationship between the end-effector coordinate system and the surgical robot base coordinate system, and the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system; and controlling the movement of the replaced end-effector based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system. This method can ensure surgical accuracy as much as possible after the surgical robot has its end-effector replaced.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and in particular to a surgical robot control method for end effector replacement, a surgical robot system, a surgical robot control device for end effector replacement, a computer device, a storage medium, and a computer program product. Background Technology

[0002] With the continuous development of technology, robots are being widely used in more fields. For example, various surgical instruments are mounted on the end joints of the robotic arms of surgical robots using matching end mounts, enabling the surgical robot to move the surgical instruments and assist doctors in performing corresponding surgical operations.

[0003] During surgery, multiple procedures are typically performed, requiring the use of different types of surgical instruments. For example, skin abrasion instruments are used to break the skin, while puncture instruments are used to perform punctures. However, using different types of surgical instruments necessitates changing the end effector mounted on the robotic arm's distal joint. Changing the end effector during surgery reduces the precision of subsequent procedures. Summary of the Invention

[0004] Therefore, it is necessary to provide a surgical robot control method, surgical robot system, surgical robot control device, computer equipment, storage medium, and computer program product for replacing the end effector, so as to address the above-mentioned technical problems and ensure surgical accuracy after the surgical robot replaces the end effector.

[0005] In a first aspect, this application provides a method for controlling a surgical robot with a replaceable end effector, the method comprising:

[0006] In response to a surgical robot end-mount replacement event, identify the type of the replaced end-mount;

[0007] Based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system;

[0008] Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, and the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0009] Based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system, the movement of the replaced end-effector is controlled.

[0010] In one embodiment, the above-described surgical robot control method for replacing the end effector further includes:

[0011] If a stage of the surgical procedure is completed, a notification message will be sent to remind you to replace the end-mounted component.

[0012] If a confirmation message for replacing the end mount is received, it is determined that an end mount replacement event has been triggered, and the process proceeds to the step of identifying the type of the replaced end mount in response to the surgical robot end mount replacement event.

[0013] In one embodiment, identifying the type of the replaced end mount includes:

[0014] Identify the initial type of the replaced end mount;

[0015] Push an end-installer type confirmation message, the end-installer type confirmation message carrying the initial type;

[0016] If a type confirmation message is received, the initial type shall be used as the type of the replaced end mount.

[0017] In one embodiment, identifying the type of the replaced end mount includes:

[0018] Push a message indicating the type of installation component to be selected at the end of the application.

[0019] Receive the selection result message and extract the target type of the end mount from the selection result message;

[0020] Identify the initial type of the replaced end mount;

[0021] If the target type is consistent with the initial type, then the initial type is determined to be the type of the replaced end mount.

[0022] In one embodiment, identifying the type of the replaced end mount includes:

[0023] Obtain the identification information of the replaced end mount;

[0024] The type of the replaced end mount is identified based on the identification information of the replaced end mount.

[0025] In one embodiment, before reading the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, the method further includes:

[0026] Register and calibrate the surgical robot with the surgical imaging system;

[0027] The transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system is obtained based on the registration and registration results.

[0028] In one embodiment, before obtaining the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the type of the replaced end effector, the method further includes:

[0029] Obtain the transformation relationship between the end coordinate system and the registration identifier coordinate system of different end mounts, wherein the registration identifier coordinate system is a coordinate system constructed based on preset identifier positions on the joints of the robotic arm;

[0030] Obtain the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system;

[0031] Based on the transformation relationship between the end coordinate system of the different end mounts and the registration identifier coordinate system, and the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system, the transformation relationship between the end coordinate system of the different end mounts and the surgical robot base coordinate system is obtained.

[0032] Secondly, this application also provides a surgical robot system, the surgical robot system comprising:

[0033] A robotic arm includes a base and a plurality of joints mounted on the base and connected in sequence;

[0034] An end mount, detachably mounted to the end joint among the plurality of joints;

[0035] A controller, communicatively connected to the robotic arm, is used to control the movement of the end effector.

[0036] In one embodiment, one of the end joint and the end mount is provided with a locking block, and the other is provided with a locking groove. When the end joint is in a connected state connected to the end mount, the locking block, which is engaged in the locking groove, elastically abuts against the groove wall.

[0037] In one embodiment, the end joint includes a joint body, the joint body having a mounting hole and a locking block elastically connected to the joint body; the end mount includes a main body portion, the main body portion having an outwardly protruding connecting portion, and the locking groove being disposed in the connecting portion;

[0038] In the connected state, the connecting part extends into the mounting hole, and the locking block engages with the locking slot to prevent the connecting part from exiting the mounting hole.

[0039] In one embodiment, the joint body is provided with an unlocking member rotatably connected thereto, the unlocking member being configured to rotate relative to the joint body to drive the locking block to move until it exits the slot.

[0040] Thirdly, this application also provides a control device for a surgical robot with a replaceable end effector, the device comprising:

[0041] The identification module is used to identify the type of the replaced end mount.

[0042] The data acquisition module is used to obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system according to the type of the replaced end effector.

[0043] The conversion module is used to read the conversion relationship between the surgical robot base coordinate system and the surgical image coordinate system, and to obtain the conversion relationship between the end-effector coordinate system and the surgical image coordinate system based on the conversion relationship between the end-effector coordinate system and the surgical robot base coordinate system, as well as the conversion relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0044] The motion control module is used to control the movement of the replaced end mount based on the transformation relationship between the end coordinate system and the surgical image coordinate system.

[0045] Fourthly, this application also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0046] In response to a surgical robot end-mount replacement event, identify the type of the replaced end-mount;

[0047] Based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system;

[0048] Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, and the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0049] Based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system, the movement of the replaced end-effector is controlled.

[0050] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0051] In response to a surgical robot end-mount replacement event, identify the type of the replaced end-mount;

[0052] Based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system;

[0053] Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, and the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0054] Based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system, the movement of the replaced end-effector is controlled.

[0055] Sixthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, performs the following steps:

[0056] In response to a surgical robot end-mount replacement event, identify the type of the replaced end-mount;

[0057] Based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system;

[0058] Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, and the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0059] Based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system, the movement of the replaced end-effector is controlled.

[0060] The aforementioned surgical robot control method, surgical robot system, surgical robot control device, computer equipment, storage medium, and computer program product for replacing the end effector, after replacing the end effector, identify the type of the currently replaced end effector and obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the type of the replaced end effector. This allows the system to obtain the transformation relationship between the end effector coordinate system and the surgical image coordinate system based on this transformation relationship, as well as the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system. Therefore, during subsequent surgery, the movement of the end effector can be controlled based on the transformation relationship between the end effector coordinate system and the surgical image coordinate system of the replaced end effector, thereby controlling the movement of the surgical instruments mounted on the end effector. This ensures the surgical accuracy after the end effector replacement, preventing a decrease in surgical accuracy due to the end effector replacement. Attached Figure Description

[0061] Figure 1This is a schematic diagram illustrating the application environment of a surgical robot control method for replacing the end effector in one embodiment.

[0062] Figure 2 This is a flowchart illustrating a surgical robot control method in one embodiment;

[0063] Figure 3 This is a flowchart illustrating the surgical robot control method in another embodiment;

[0064] Figure 4 This is a schematic diagram of a sub-process of the surgical robot control method in one embodiment;

[0065] Figure 5 This is a schematic diagram of a sub-process of the surgical robot control method in another embodiment;

[0066] Figure 6 This is a schematic diagram of a sub-process of the surgical robot control method in one embodiment;

[0067] Figure 7 This is a schematic diagram of a sub-process of the surgical robot control method in another embodiment;

[0068] Figure 8 This is a flowchart illustrating the surgical robot control method in another embodiment;

[0069] Figure 9 This is a flowchart illustrating the surgical robot control method in another embodiment;

[0070] Figure 10 This is a schematic diagram illustrating the specific process of a surgical robot control method in one embodiment;

[0071] Figure 11 This is a schematic diagram illustrating the specific process of the surgical robot control method in another embodiment;

[0072] Figure 12 This is a schematic diagram of the surgical robot system in one embodiment;

[0073] Figure 13 This is a schematic diagram of the connection between the end joint and the end mount in one embodiment;

[0074] Figure 14 This is a schematic diagram of the end-mount connection structure in one embodiment;

[0075] Figure 15 This is a schematic diagram of the end joint connection structure in one embodiment;

[0076] Figure 16 This is a schematic diagram of the end joint connection structure from another perspective in one embodiment;

[0077] Figure 17 This is a schematic diagram of the surgical robot control device in one embodiment;

[0078] Figure 18 This is an internal structural diagram of a computer device in one embodiment.

[0079] Figure label:

[0080] Terminal 102, surgical robot 104;

[0081] Robotic arm 100, base 110, end joint 120, joint body 121, mounting hole 1211, notch 1212, locking block 122, receiving groove 1221, supporting part 1222, elastic element 123, unlocking element 124, rotating shaft 125, bearing 126, registration mark 127;

[0082] End mount 200, main body 210, connecting part 220, slot 221, guide surface 222;

[0083] Lower-level machine 300;

[0084] Host computer 400;

[0085] Recognition module 510, data acquisition module 520, conversion module 530, motion control module 540;

[0086] Surgical cart 600. Detailed Implementation

[0087] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0088] The surgical robot control method for replacing the end effector provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with the surgical robot 104 whose end effector has been replaced via a network. In response to an end effector replacement event, terminal 102 identifies the type of the replaced end effector; based on the type of the replaced end effector, it obtains the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system; it reads the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, and the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, it obtains the transformation relationship between the end effector coordinate system and the surgical image coordinate system; based on the transformation relationship between the end effector coordinate system and the surgical image coordinate system, it controls the movement of the replaced end effector. Terminal 102 can be, but is not limited to, various computers, laptops, and portable wearable devices.

[0089] In one embodiment, such as Figure 2 As shown, a control method for a surgical robot with a replaceable end effector is provided, which can be applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps:

[0090] S130, in response to a surgical robot end-mount replacement event, identifies the type of the replaced end-mount.

[0091] Among them, the surgical robot end-mount replacement event refers to the event of replacing the end-mount installed on the end joint of the surgical robot, which occurs during the operation.

[0092] The surgery consists of multiple stages. After one stage is completed, the next stage requires different types of surgical instruments, thus necessitating the replacement of the endplates with instruments that match that type. For example, during the first stage of the surgery, a skin-breaking instrument is used to break the skin, while the second stage requires a puncture instrument to perform a puncture. The skin-breaking and puncture instruments are typically attached to the end joint of the surgical robot using different types of endplates, so the endplates are replaced after the first stage of the surgery.

[0093] The type of the replaced end-mounted device identified can include the major category to which the end-mounted device belongs, such as skin-piercing instruments or puncture instruments, and can also include specific size information. For example, among puncture instruments, there are various puncture instruments of different sizes and specifications for puncture at different locations.

[0094] S140, based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system.

[0095] The end effector coordinate system is established based on the end effector, while the surgical robot base coordinate system is established based on the base of the surgical robot. The transformation relationship between the end effector coordinate system and the surgical robot base coordinate system is a transformation matrix, specifically a homogeneous transformation matrix of the end effector coordinate system relative to the surgical robot base coordinate system.

[0096] S150: Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, as well as the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0097] The transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system is stored in memory and can be obtained directly by reading from the memory. The transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system is a transformation matrix between the two, specifically the homogeneous transformation matrix of the surgical robot base coordinate system relative to the surgical image coordinate system. The transformation relationship between the end-effector coordinate system and the surgical image coordinate system is the transformation matrix between the two, specifically the homogeneous transformation matrix of the end-effector coordinate system relative to the surgical image coordinate system. Specifically, it is obtained through the following formula:

[0098] S160 controls the movement of the replaced end mount based on the transformation relationship between the end coordinate system and the surgical image coordinate system.

[0099] Specifically, the surgical robot moves an end effector mounted on its distal joint, which in turn moves surgical instruments connected to the end effector to complete the corresponding surgical procedure. During the process of controlling the movement of the end effector by the surgical robot, the homogeneous transformation matrix between the end effector coordinate system and the surgical image coordinate system, obtained earlier, is required. The specific methods by which the surgical robot controls the movement of the end effector are existing technologies and will not be elaborated here.

[0100] In the aforementioned surgical robot control method for replacing the end effector, after replacing the end effector, the type of the replaced end effector is identified, and the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system is obtained based on the type of the replaced end effector. This allows the transformation relationship between the end effector coordinate system and the surgical image coordinate system to be obtained based on this transformation relationship, as well as the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system. Therefore, during subsequent surgery, the movement of the end effector can be controlled based on the transformation relationship between the replaced end effector coordinate system and the surgical image coordinate system, thereby controlling the movement of the surgical instruments mounted on the end effector. This ensures the surgical accuracy after the end effector replacement, preventing a decrease in surgical accuracy due to the end effector replacement.

[0101] It should be noted that the above-mentioned surgical robot control method for replacing the end effector can be used not only in surgery, but also in pre-operative, post-operative, or testing scenarios.

[0102] like Figure 3 As shown, in one embodiment, the surgical robot control method for changing the end effector further includes:

[0103] S110, if a stage surgical procedure completion event is detected, a prompt message for replacing the end-mounted component is pushed;

[0104] S120: If a confirmation message for replacing the end-mounted component is received, the end-mounted component replacement event is determined to be triggered, and the process proceeds to S130.

[0105] Specifically, S110 and S120 occur before S130. Understandably, S110 and S120 are repeated after each stage of the operation.

[0106] Once a stage of the surgery is completed, the surgical robot sends a prompt message asking whether the end-mount device needs to be replaced. The surgeon responds to this prompt message according to the pre-set surgical procedure.

[0107] For example, the surgical robot includes devices such as a display screen, keyboard, and mouse. After a stage of surgery is completed, a prompt message appears on the display screen asking whether the end effector should be replaced. The doctor can respond to the prompt message by selecting "yes" or "no" using the mouse or keyboard. Alternatively, the display screen can be a touchscreen, and the doctor can respond to the prompt message by touching the corresponding location on the display screen to select "yes" or "no".

[0108] Because the surgical robot's movement trajectory is pre-designed for each stage of the surgery, and the corresponding program to be executed to complete the movement is also pre-set, the controller can automatically recognize that the current stage of the surgery has been completed after the surgical robot has completed the corresponding program, and the display screen will pop up a prompt message asking whether to replace the end effector.

[0109] When the doctor responds to the prompt message, if the controller receives a message that there is no need to replace the end mount, it will not enter S130. The next stage will continue the surgery with the surgical instruments connected to the current end mount, or the surgery will end directly.

[0110] When the doctor responds to the prompt message, if the controller receives a message confirming the replacement of the end mount, it means that the end mount needs to be replaced, and proceeds to S130.

[0111] In this embodiment, a notification message is pushed after each stage of the operation for confirmation, which is less likely to cause omissions. It can promptly determine whether the end-mount device needs to be replaced, and promptly respond to the end-mount device replacement event of the surgical robot after confirming that replacement is required, thereby improving surgical accuracy.

[0112] like Figure 4 As shown, in one embodiment, in S130, identifying the type of the replaced end mount includes:

[0113] S131, Identify the initial type of the replaced end mount;

[0114] S132, Push end-install type confirmation message, the end-install type confirmation message carries the initial type;

[0115] S133, if a type confirmation message is received, the initial type shall be used as the type of the replaced end mount.

[0116] Specifically, after the end-mount replacement is completed, the initial type of the replaced end-mount is identified, and a confirmation message for the end-mount type pops up on the display screen. The message reads: "Please confirm whether the type of the currently replaced end-mount is the identified initial type." The doctor responds to this confirmation message according to the pre-set surgical procedure.

[0117] For example, a doctor can respond to the prompt message by selecting "yes" or "no" using a mouse or keyboard. Alternatively, the display can be a touchscreen, and the doctor can respond to the confirmation message by touching the corresponding location on the display to select "yes" or "no".

[0118] If the controller receives a negative selection after the doctor responds to the confirmation message, it indicates an error occurred when replacing the end-mount device. The replaced end-mount device may not be the type required, or the system may be malfunctioning and unable to correctly identify the type of end-mount device being replaced. In this case, the cause of the error needs to be checked and corrected. If it is not a system malfunction but an installation error, the correct end-mount device must be reinstalled.

[0119] After the doctor responds with the confirmation message, if the controller receives a type confirmation message, i.e., receives a positive selection, it means that the end-mount replacement type is correct. The initially identified type is directly used as the type of the replaced end-mount, and S140 is performed based on this type, calling to read the homogeneous transformation matrix of the end-mount coordinate system relative to the surgical robot base coordinate system corresponding to this type. And some corresponding parameters.

[0120] In this embodiment, after identifying the initial type of the end-mounted component, further confirmation is performed. Only after receiving the type confirmation message is S140 executed, which can avoid installation errors and improve the safety of the operation.

[0121] Or, such as Figure 5 As shown, in one embodiment, in S130, identifying the type of the replaced end mount includes:

[0122] S135, push message for end-installer type selection;

[0123] S136, Receive the feedback selection result message and extract the target type of the end mount carried in the selection result message;

[0124] S137, Identify the initial type of the end mount after replacement;

[0125] S138, if the target type is consistent with the initial type, then the initial type is determined to be the type of the replaced end mount.

[0126] Specifically, after the end-mount device is replaced, an end-mount device type selection message will pop up on the display screen. Alternatively, the end-mount device type selection message can be pushed immediately after S120. This process can be performed simultaneously with the end-mount device replacement, or it can be performed before the end-mount device replacement.

[0127] The end-mount type selection message reads: Please select the type of end-mount that needs to be replaced. The doctor responds to this selection message according to the pre-set surgical procedure.

[0128] For example, a doctor can select the type of end-mount device that needs to be replaced by operating a mouse or keyboard in response to the selection message. Alternatively, the display can be a touchscreen, and the doctor can select the type of end-mount device that needs to be replaced by touching the corresponding location on the display in response to the selection message.

[0129] When the doctor responds to the selection message, the controller receives a selection result message containing the doctor's selection result, which in turn contains the target type of the end mount that needs to be replaced.

[0130] After the end-mount device is replaced, identify its initial type and compare it with the previously extracted target type. If they do not match, it indicates an error occurred during the replacement process, meaning the replaced end-mount device is not the correct target type, or the system is malfunctioning and unable to correctly identify the type of the replaced end-mount device. In this case, check and correct the cause of the error. If it is not a system malfunction but an installation error, reinstall the correct end-mount device.

[0131] If the comparison result shows that the initial type matches the target type, it indicates that the end-mount replacement type is correct. The identified initial type is then used as the type of the replaced end-mount, and S140 is performed based on this type, calling to read the homogeneous transformation matrix of the end-mount coordinate system relative to the surgical robot base coordinate system corresponding to this type. And some corresponding parameters.

[0132] In this embodiment, after selecting the target type, it is compared and confirmed with the initial type of the actually identified end-mounted component. Only when the two match is S140 performed, thus avoiding installation errors and improving the safety of the surgery.

[0133] Figure 4 The illustrated embodiments and Figure 5 The embodiments shown can achieve similar effects, and either method can be chosen.

[0134] like Figure 6 and Figure 7 As shown, in one embodiment, in S130, identifying the type of the replaced end mount includes:

[0135] S410, obtain the identification information of the replaced end mount;

[0136] S420 identifies the type of the replaced end mount based on the identification information of the replaced end mount.

[0137] Specifically, the identification of the type of end mount after replacement mentioned in this embodiment is... Figure 4 and Figure 5The identification of the initial type mentioned in the illustrated embodiment.

[0138] For example, the identification information of the end effector can be the contacts set on it. A contact-type recognition module can be installed on the end joint of the robotic arm, and different end effectors have contacts at different positions. When different end effectors are installed on the end joint, the contact-type recognition module will contact the contacts at different positions, thereby generating corresponding contact signals. Multiple contact signals correspond one-to-one with the initial types of multiple end effectors. Therefore, the initial type of the end effector can be determined based on the generated contact signals.

[0139] In this embodiment, the type of the replaced end-mounted component is automatically identified by the marking information on the end-mounted component, eliminating the need for manual judgment, thus improving accuracy and identification efficiency.

[0140] like Figure 8 As shown, in one embodiment, before reading the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system in S150, the following steps are also included:

[0141] S210, registers and aligns the surgical robot with the surgical imaging system;

[0142] S220, based on the registration and registration results, obtains the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0143] Specifically, by registering and aligning the surgical robot with the surgical imaging system, the homogeneous transformation matrix of the surgical robot's base coordinate system relative to the surgical imaging coordinate system is obtained. The registration and registration method is existing technology in this field and will not be described in detail here.

[0144] Throughout the surgery, the position of the surgical robot's base remains unchanged. Therefore, the homogeneous transformation matrix of the surgical robot's base coordinate system relative to the surgical image coordinate system is... The coordinates remain unchanged. Therefore, after registration and registration, it is only necessary to perform a homogeneous transformation of the surgical robot base coordinate system relative to the surgical image coordinate system. The information is stored in memory, and can be directly read from memory in S150 each time the end mount is replaced. Both S210 and S220 can be performed at the beginning of the surgery, that is, in the first stage of the surgery.

[0145] like Figure 9 As shown, in one embodiment, before obtaining the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system according to the type of the replaced end effector in S140, the method further includes:

[0146] S310, obtain the transformation relationship between the end coordinate system and the registration mark coordinate system of different end mounts. The registration mark coordinate system is a coordinate system constructed based on the preset mark positions on the joints of the robotic arm.

[0147] S320, Obtain the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system;

[0148] S330, based on the transformation relationship between the end coordinate system of different end mounts and the registration mark coordinate system, and the transformation relationship between the registration mark coordinate system and the surgical robot base coordinate system, the transformation relationship between the end coordinate system of different end mounts and the surgical robot base coordinate system is obtained.

[0149] Specifically, the preset marker can be a registration ball set on the joint of the robotic arm. The registration marker coordinate system is a coordinate system established based on the registration marker; for example, a three-axis coordinate system can be established with the center position of the registration marker as the origin. The transformation relationship between the end-effector coordinate system and the registration marker coordinate system is the transformation matrix between the two, specifically the homogeneous transformation matrix of the end-effector coordinate system relative to the registration marker coordinate system. The transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system is the transformation matrix between the two, specifically the homogeneous transformation matrix of the registration identifier coordinate system relative to the surgical robot base coordinate system. As mentioned earlier, the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system is the transformation matrix between the two, specifically the homogeneous transformation matrix of the end effector coordinate system relative to the surgical robot base coordinate system. Specifically, it is obtained through the following formula:

[0150] The registration ball can be mounted on the end joint of the robotic arm, and its position relative to the base is fixed. Only the homogeneous transformation matrix of the registration marker coordinate system relative to the surgical robot base coordinate system needs to be calibrated once. This data is then stored in memory for later retrieval. Furthermore, only one homogeneous transformation matrix of the end-mounted component's coordinate system relative to the registration identifier coordinate system needs to be calibrated. Based on the above formula, the homogeneous transformation matrix of the end-mount coordinate system of each end mount relative to the surgical robot base coordinate system is calculated. It is stored in memory. In S140, the homogeneous transformation matrix of the corresponding end effector coordinate system relative to the surgical robot base coordinate system is retrieved directly based on the type of the identified end effector. That's it. The homogeneous transformation matrix between the registered marker coordinate system and the surgical robot base coordinate system is determined by calibrating the registered ball. And the homogeneous transformation matrix of the end coordinate system of each end-mounted component relative to the registration identifier coordinate system. Specifically, this is done using optical tracking equipment, and the specific calibration method is existing technology and will not be elaborated here.

[0151] like Figure 10 As shown, in one specific embodiment, the surgical robot control method for changing the end effector includes:

[0152] 1. If a stage of the surgical procedure is completed, a notification message will be sent to remind you to replace the end-mounted component.

[0153] 2. If a confirmation message for replacing the end-mount device is received, the end-mount device replacement event is determined to be triggered, and the process proceeds to the next step;

[0154] 3. Obtain the identification information of the replaced end mount;

[0155] 4. Identify the initial type of the replaced end mount based on its identification information;

[0156] 5. Push a terminal installer type confirmation message, which carries the initial type;

[0157] 6. If a type confirmation message is received, the initial type shall be used as the type of the replaced end mount.

[0158] 7. Based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system;

[0159] 8. Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, as well as the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, obtain the transformation relationship between the end effector coordinate system and the surgical image coordinate system.

[0160] 9. Based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system, control the movement of the replaced end-effector.

[0161] 10. Obtain the transformation relationship between the end-mount coordinate system and the registration mark coordinate system of different end-mount components. The registration mark coordinate system is a coordinate system constructed based on the preset mark positions on the joints of the robotic arm.

[0162] 11. Obtain the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system;

[0163] 12. Based on the transformation relationship between the end-mount coordinate system and the registration identifier coordinate system of different end-mount components, and the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system, the transformation relationship between the end-mount coordinate system and the surgical robot base coordinate system of different end-mount components is obtained.

[0164] 13. Based on the registration and registration results, obtain the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system;

[0165] 14. Register and calibrate the surgical robot and the surgical imaging system.

[0166] Steps 1 to 9 are performed sequentially; steps 10 to 12 are performed sequentially, and steps 10 to 12 only need to be performed before step 7; steps 13 to 14 are performed sequentially, and steps 13 to 14 only need to be performed before step 8.

[0167] like Figure 11 As shown, in another specific embodiment, the surgical robot control method for changing the end effector includes:

[0168] 1. If a stage of the surgical procedure is completed, a notification message will be sent to remind you to replace the end-mounted component.

[0169] 2. If a confirmation message for replacing the end-mount device is received, the end-mount device replacement event is determined to be triggered, and the process proceeds to the next step;

[0170] 3. Push a message indicating the type of installation component to the terminal;

[0171] 4. Receive the selection result message and extract the target type of the end mount from the selection result message.

[0172] 5. Obtain the identification information of the replaced end mount;

[0173] 6. Identify the initial type of the replaced end mount based on its identification information;

[0174] 7. If the target type is consistent with the initial type, then the initial type is determined to be the type of the replaced end mount.

[0175] 8. Based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system;

[0176] 9. Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, as well as the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, obtain the transformation relationship between the end effector coordinate system and the surgical image coordinate system.

[0177] 10. Based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system, control the movement of the replaced end-effector.

[0178] 11. Obtain the transformation relationship between the end-mount coordinate system and the registration mark coordinate system of different end-mount components. The registration mark coordinate system is a coordinate system constructed based on the preset mark positions on the joints of the robotic arm.

[0179] 12. Obtain the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system;

[0180] 13. Based on the transformation relationship between the end-mount coordinate system and the registration mark coordinate system of different end mounts, and the transformation relationship between the registration mark coordinate system and the surgical robot base coordinate system, the transformation relationship between the end-mount coordinate system and the surgical robot base coordinate system of different end mounts is obtained.

[0181] 14. Based on the registration and registration results, obtain the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system;

[0182] 15. Register and calibrate the surgical robot and surgical imaging system.

[0183] Steps 1 to 10 are performed sequentially; steps 11 to 13 are performed sequentially, and steps 11 to 13 only need to be performed before step 8; steps 14 to 15 are performed sequentially, and steps 14 to 15 only need to be performed before step 9.

[0184] like Figure 17 As shown, in one embodiment, a surgical robot control device for changing the end effector is provided, the device comprising:

[0185] Identification module 510 is used to identify the type of the replaced end mount;

[0186] The data acquisition module 520 is used to obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system according to the type of the replaced end effector.

[0187] The conversion module 530 is used to read the conversion relationship between the surgical robot base coordinate system and the surgical image coordinate system, and to obtain the conversion relationship between the end effector coordinate system and the surgical robot base coordinate system based on the conversion relationship between the end effector coordinate system and the surgical robot base coordinate system, as well as the conversion relationship between the surgical robot base coordinate system and the surgical image coordinate system.

[0188] The motion control module 540 is used to control the movement of the replaced end mount based on the transformation relationship between the end coordinate system and the surgical image coordinate system.

[0189] In one embodiment, the identification module 510 is further configured to identify the end-of-stage surgical procedure completion event and push an end-mount replacement prompt message; if a confirmation message for end-mount replacement is received, it is determined that an end-mount replacement event has been triggered, and the step of identifying the type of end-mount after replacement in response to the end-mount replacement event of the surgical robot is entered.

[0190] In one embodiment, the identification module 510 is also used to identify the initial type of the replaced end mount and push an end mount type confirmation message. The end mount type confirmation message carries the initial type. If a type confirmation message is received, the initial type is used as the type of the replaced end mount.

[0191] In one embodiment, the identification module 510 is further configured to push an end-mounted component type selection message, receive a feedback selection result message, extract the target type of the end-mounted component carried in the selection result message, and identify the initial type of the replaced end-mounted component. If the target type is consistent with the initial type, the initial type is determined to be the type of the replaced end-mounted component.

[0192] In one embodiment, the data acquisition module 520 is further configured to acquire the identification information of the replaced end mount, and the identification module 510 is further configured to identify the type of the replaced end mount based on the identification information of the replaced end mount.

[0193] Specifically, the identification of the type of the replaced end mount mentioned in this embodiment is the identification of the initial type mentioned in the two embodiments above.

[0194] In one embodiment, the data acquisition module 520 is further used to acquire the transformation relationship between the end-mount coordinate system and the registration identifier coordinate system of different end-mount components. The registration identifier coordinate system is a coordinate system constructed based on preset identifier positions on the joints of the robotic arm. The data acquisition module 520 is further used to acquire the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system. The transformation module 530 is further used to obtain the transformation relationship between the end-mount coordinate system and the surgical robot base coordinate system based on the transformation relationship between the end-mount coordinate system and the registration identifier coordinate system of different end-mount components, as well as the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system.

[0195] In one embodiment, the conversion module 530 is further configured to obtain the conversion relationship between the surgical robot base coordinate system and the surgical image coordinate system based on the registration registration result.

[0196] The various modules in the aforementioned surgical robot control device for replacing the end effector can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0197] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0198] like Figure 12 As shown in the illustration, this application also provides a surgical robot system, including a robotic arm 100, an end effector 200, and a controller. The robotic arm 100 includes a base 110 and a plurality of joints mounted on the base 110 and connected in sequence. The end effector 200 is detachably mounted on an end joint 120 among the plurality of joints. The controller is communicatively connected to the robotic arm 100 and is used to execute the methods in any of the foregoing embodiments.

[0199] Specifically, the robotic arm 100 is mounted on the medical trolley 600 via the base 110, and the robotic arm 100 and the surgical instruments mounted thereon can be pushed to the surgical area by the medical trolley 600.

[0200] In one embodiment, the controller includes a host computer 300 and a slave computer 400, which are communicatively connected. The slave computer 400 includes a memory, a processor, and a communication interface. Its memory stores a surgical robot control program, a registration program, and the aforementioned transformation matrices obtained through calibration, as well as various kinematic parameters. Its processor executes the program stored in its memory. Its communication interface connects to the host computer 300. The host computer 300 includes a memory, a processor, and a communication interface. Its memory stores a host computer program (e.g., a program for displaying various confirmation and selection messages). Its processor executes the program stored in its memory. Its communication interface connects to the slave computer 400.

[0201] In other embodiments, the host computer 300 and the slave computer 400 can also be combined into one.

[0202] like Figure 13 and Figure 14 As shown, in one embodiment, one of the end joint 120 and the end mount 200 is provided with a locking block 122, and the other is provided with a locking groove 221. When the end joint 120 is in a connected state connected to the end mount 200, the locking block 122, which is locked into the locking groove 221, elastically abuts against the groove wall of the locking groove 221.

[0203] In the embodiment shown in the accompanying drawings, the locking block 122 is disposed on the distal joint 120, and the locking groove 221 is disposed on the distal mounting member 200. Specifically, the locking block 122 is cuboid or cylindrical, or it can also be set to an irregular shape. When the locking block 122 is engaged in the locking groove 221, it can simultaneously restrict the relative positions of the distal mounting member 200 and the distal joint 120 along the axial and circumferential directions of the distal joint 120, ensuring the installation accuracy of the distal mounting member 200 and the distal joint 120, thereby further improving the surgical accuracy after replacing the distal mounting member 200.

[0204] Optionally, the end joint 120 is provided with multiple locking blocks 122, and the end mount 200 is provided with multiple slots 221 corresponding to the locking blocks 122. When the end mount 200 is installed on the end joint 120, each locking block 122 engages with its corresponding slot 221 and abuts against the wall of the slot 221. By providing multiple sets of locking blocks 122 and slots 221, the installation accuracy and stability of the end mount 200 and the end joint 120 can be further improved.

[0205] like Figure 13 and Figure 14 As shown, in one embodiment, the end joint 120 further includes a joint body 121, a mounting hole 1211 on the joint body 121, and a locking block 122 elastically connected to the joint body 121. The end mount 200 includes a main body 210, a protruding connecting portion 220 on the main body 210, and a locking groove 221 disposed on the connecting portion 220. In the connected state, the connecting portion 220 extends into the mounting hole 1211, and the locking block 122 engages with the locking groove 221 to prevent the connecting portion 220 from exiting the mounting hole 1211.

[0206] Specifically, both the joint body 121 and the main body portion 210 are flange-shaped, the connecting portion 220 protrudes outward from the end face of the main body portion 210, and the mounting hole 1211 is formed by recessing inward from the end face of the joint body 121. Of course, in other embodiments, the joint body 121 and the main body portion 210 can also be configured as other shapes, such as cuboids or cubes.

[0207] like Figures 13 to 15As shown, in one embodiment, the joint body 121 further includes a notch 1212 communicating with the mounting hole 1211, and a locking block 122 is installed at the notch 1212. The locking block 122 has a receiving groove 1221, with one end of the elastic member 1221 abutting against the groove wall of the receiving groove 1221 and the other end abutting against the joint body 121. Under the restoring force of the elastic member 1221, one end of the locking block 122 extends from the notch 1212 into the mounting hole 1211. When the connecting portion 220 extends into the mounting hole 1211, the locking block 122 engages with the locking groove 221.

[0208] like Figures 13 to 14 As shown, in one embodiment, the connecting portion 220 includes a guide surface 222 located on one side of the slot 221. The guide surface 222 is inclined relative to the direction in which the connecting portion 220 extends into the mounting hole 1211. When the connecting portion 220 just contacts the guide surface 222, the length direction of the connecting portion 220 forms an approximately acute angle with the guide surface 222. When the connecting portion 220 extends into the mounting hole 1211, the end of the locking block 122 slides along the guide surface 222 until it engages with the slot 221. Furthermore, as the end of the locking block 122 slides along the guide surface 222, the degree to which the locking block 122 compresses the elastic member 1221 gradually increases. In this way, the locking block 122 can be guided, making it easier for it to engage with the slot 221.

[0209] like Figures 13 to 16 As shown, in one embodiment, the joint body 121 is provided with an unlocking member 124 rotatably connected thereto. The unlocking member 124 is configured to rotate relative to the joint body 121 to drive the locking block 122 to move until it exits the locking slot 221.

[0210] Specifically, the unlocking element 124 is also disposed within the notch 1212 and protrudes through the notch 1212 to facilitate operation by the operator. When the unlocking element 124 is moved, it rotates relative to the joint body 121, thereby pushing the locking block 122 out of the slot 221 and retracting into the notch 1212. At this time, the connecting part 220 can exit the mounting hole 1211.

[0211] More specifically, the rotating shaft 125 is mounted in the notch 1212 via the bearing 126, and the unlocking member 124 is sleeved and fixed to the rotating shaft 125. A retaining part 1222 is connected to the locking block 122; preferably, the two are integrated. When one end of the unlocking member 124 is moved, the unlocking member 124 and the rotating shaft 125 rotate together relative to the joint body 121, causing the other end of the unlocking member 124 to abut against the retaining part 1222 and push the retaining part 1222, causing the locking block 122 to exit the slot 221. At this time, the elastic member 123 is compressed. When the unlocking member 124 is released, under the rebound force of the elastic member 123, the locking block 122 will reset and re-enter the mounting hole 1211.

[0212] In addition to the above embodiments, the positions of the locking block 122 and the locking slot 221 can be interchanged in other embodiments, that is, the locking block 122 can be set on the end mount 200, and the locking slot 221 can be set on the end joint 120. The specific setting method can be referred to the above embodiments, and will not be repeated here.

[0213] In the above embodiments, based on the control method provided in the aforementioned embodiments, the connection structure between the distal joint 120 and the distal mounting component 200 is defined. On the one hand, the control method can improve the surgical accuracy after the distal end is replaced, and on the other hand, the connection structure can improve the surgical accuracy after the distal end is replaced, thereby making the surgical accuracy higher.

[0214] Based on the same inventive concept as the aforementioned control method, this application also provides a surgical robot control device for replacing the end effector, used to implement the aforementioned control method for replacing the end effector. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations of one or more embodiments of the surgical robot control device for replacing the end effector provided below can be found in the limitations of the surgical robot control method for replacing the end effector described above, and will not be repeated here.

[0215] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 18 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for controlling a surgical robot that can replace an end effector. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0216] Those skilled in the art will understand that Figure 18 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0217] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0218] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0219] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0220] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0221] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0222] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0223] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A control method for a surgical robot with a replaceable end effector, characterized in that, The method includes: In response to a surgical robot end-mount replacement event, identify the type of the replaced end-mount; The transformation relationship between the end-mount coordinate system and the registration identifier coordinate system of different end-mount components is obtained. The registration identifier coordinate system is a coordinate system constructed based on the preset identifier position (127) on the joint of the robotic arm. The transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system is obtained. Based on the transformation relationship between the end-mount coordinate system and the registration identifier coordinate system of different end-mount components, and the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system, the transformation relationship between the end-mount coordinate system and the surgical robot base coordinate system of different end-mount components is obtained. Based on the type of the replaced end effector, obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system; Read the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, and obtain the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system based on the transformation relationship between the end effector coordinate system and the surgical robot base coordinate system, and the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system. Based on the transformation relationship between the end-effector coordinate system and the surgical image coordinate system, the movement of the replaced end-effector is controlled.

2. The method according to claim 1, characterized in that, Also includes: If a stage of the surgical procedure is completed, a notification message will be sent to remind you to replace the end-mounted component. If a confirmation message for replacing the end mount is received, it is determined that an end mount replacement event has been triggered, and the process proceeds to the step of identifying the type of the replaced end mount in response to the surgical robot end mount replacement event.

3. The method according to claim 1, characterized in that, The types of the replaced end mount components include: Identify the initial type of the replaced end mount; Push an end-installer type confirmation message, the end-installer type confirmation message carrying the initial type; If a type confirmation message is received, the initial type shall be used as the type of the replaced end mount.

4. The method according to claim 1, characterized in that, The types of the replaced end mount components include: Push a message indicating the type of installation component to be selected at the end of the application. Receive the selection result message and extract the target type of the end mount from the selection result message; Identify the initial type of the replaced end mount; If the target type is consistent with the initial type, then the initial type is determined to be the type of the replaced end mount.

5. The method according to claim 1, characterized in that, Identifying the type of the replaced end mount includes: Obtain the identification information of the replaced end mount; The type of the replaced end mount is identified based on the identification information of the replaced end mount.

6. The method according to any one of claims 1 to 5, characterized in that, Before reading the transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system, the following is also included: Register and calibrate the surgical robot with the surgical imaging system; The transformation relationship between the surgical robot base coordinate system and the surgical image coordinate system is obtained based on the registration and registration results.

7. A surgical robot system, characterized in that, The surgical robot system includes: The robotic arm (100) includes a base (110) and a plurality of joints mounted on the base (110) and connected in sequence; End mount (200), detachably mounted to the end joint (120) of the plurality of joints. A controller, communicatively connected to the robotic arm (100), is used to control the movement of the end effector (200) using the method described in any one of claims 1 to 6.

8. The surgical robot system according to claim 7, characterized in that, One of the end joint (120) and the end mount (200) is provided with a locking block (122), and the other is provided with a locking groove (221). When the end joint (120) is in a connected state connected to the end mount (200), the locking block (122) that is locked into the locking groove (221) elastically abuts against the groove wall of the locking groove (221).

9. The surgical robot system according to claim 8, characterized in that, The end joint (120) includes a joint body (121), the joint body (121) is provided with a mounting hole (1211), and the locking block (122) is elastically connected to the joint body (121); the end mounting member (200) includes a main body (210), the main body (210) is provided with an outwardly protruding connecting part (220), and the locking groove (221) is provided in the connecting part (220); In the connected state, the connecting part (220) extends into the mounting hole (1211), and the locking block (122) engages with the slot (221) to prevent the connecting part (220) from exiting the mounting hole (1211).

10. The surgical robot system according to claim 9, characterized in that, The joint body (121) is provided with an unlocking member (124) rotatably connected thereto. The unlocking member (124) is configured to rotate relative to the joint body (121) to drive the locking block (122) to move until it exits the locking slot (221).

11. A control device for a surgical robot with a replaceable end effector, characterized in that, The device includes: The identification module is used to identify the type of the replaced end mount. The data acquisition module is used to acquire the transformation relationship between the end coordinate system and the registration identifier coordinate system of different end mounts. The registration identifier coordinate system is a coordinate system constructed based on the preset identifier position (127) on the joint of the robotic arm. The data acquisition module is also used to acquire the transformation relationship between the registration identifier coordinate system and the surgical robot base coordinate system. The conversion module is used to obtain the conversion relationship between the end coordinate system of different end mounts and the coordinate system of the surgical robot base based on the conversion relationship between the end coordinate system of the different end mounts and the coordinate system of the registration identifier, and the conversion relationship between the coordinate system of the registration identifier and the coordinate system of the surgical robot base. The data acquisition module is also used to obtain the transformation relationship between the end-effector coordinate system and the surgical robot base coordinate system according to the type of the replaced end-effector. The conversion module is also used to read the conversion relationship between the surgical robot base coordinate system and the surgical image coordinate system, and to obtain the conversion relationship between the end-effector coordinate system and the surgical image coordinate system based on the conversion relationship between the end-effector coordinate system and the surgical robot base coordinate system, and the conversion relationship between the surgical robot base coordinate system and the surgical image coordinate system. The motion control module is used to control the movement of the replaced end mount based on the transformation relationship between the end coordinate system and the surgical image coordinate system.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images