Master-slave control method, device, console and storage medium of a laparoscopic surgical robot

Abstract

The present invention discloses a master-slave control method, device, console and storage medium for a laparoscopic surgical robot. The method includes: obtaining attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root; performing comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root to obtain a target master-end attitude instruction of the laparoscopic surgical robot; and sending the target master-end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction. According to the above technical solution, through performing comfort compensation processing on the basis of the original attitude data, the wrist of the master-end operator does not have to move to the limit angle, and the attitude of the surgical platform at the slave end can reach the limit orientation, enabling the wrist to work in a comfortable attitude.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a master-slave control method, device, console and storage medium for a laparoscopic surgical robot. Background Art

[0002] In modern medical technology, the application of laparoscopic surgical robots has gradually become an important means to improve the accuracy of surgery and reduce the surgical risk.

[0003] During the use of a laparoscopic surgical robot, an operator can hold the end handle of the console and change the orientation of the end handle by adjusting the wrist angle, so as to achieve master-slave teleoperation.

[0004] Currently, in actual surgical applications, due to differences in the surgical areas of surgical procedures, individual body types, and operating habits, etc., the operator's wrist frequently works in an anti-joint position, and the wrist is in the limit angle for a long time, which makes the operator fatigued. Summary of the Invention

[0005] The present invention provides a master-slave control method, device, console and storage medium for a laparoscopic surgical robot, so as to perform comfort compensation processing on the basis of the original attitude data, so that the wrist of the master-end operator does not have to move to the limit angle, and the attitude of the slave-end surgical platform can reach the limit orientation, enabling the wrist to work in a comfortable attitude.

[0006] According to one aspect of the present invention, a master-slave control method for a laparoscopic surgical robot is provided, including:

[0007] Obtaining attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console;

[0008] Performing comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console, to obtain a target master-end attitude instruction for the laparoscopic surgical robot, where the comfort compensation processing is an attitude data compensation operation that enables the wrist of the handle operator not to move to the limit angle, and the attitude of the surgical platform can reach the limit orientation, enabling the wrist to work in a comfortable attitude;

[0009] Sending the target master-end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes slave-end attitude control operation based on the target master-end attitude instruction.

[0010] According to another aspect of the present invention, a master-slave control device for a laparoscopic surgical robot is provided, including:

[0011] A handle-base attitude data acquisition module, configured to obtain attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console;

[0012] The attitude data compensation processing module is used to perform comfort compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root, so as to obtain the target master-end attitude instruction of the endoscopic surgical robot. The comfort compensation processing is an attitude data compensation operation that enables the wrist of the handle operator not to move to the limit angle, so that the attitude of the surgical platform can reach the limit orientation, and the wrist works in a comfortable attitude.

[0013] The target master-end attitude instruction sending module is used to send the target master-end attitude instruction to the surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot can complete the slave-end attitude control operation based on the target master-end attitude instruction.

[0014] According to another aspect of the present invention, there is provided a console of an endoscopic surgical robot, and the console of the endoscopic surgical robot includes:

[0015] At least one processor;

[0016] And a memory communicatively connected to the at least one processor;

[0017] Wherein, 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, so that the at least one processor can execute the master-slave control method of the endoscopic surgical robot according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, there is provided a computer-readable storage medium, and the computer-readable storage medium stores computer instructions for enabling a processor to implement the master-slave control method of the endoscopic surgical robot according to any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention obtains the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root, and then performs comfort compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root to obtain the target master-end attitude instruction of the endoscopic surgical robot, and then sends the target master-end attitude instruction to the surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot can complete the slave-end attitude control operation based on the target master-end attitude instruction. The above technical solution performs comfort compensation processing on the basis of the original attitude data, so that the wrist of the master-end operator does not have to move to the limit angle, and the attitude of the slave-end surgical platform can reach the limit orientation, and the wrist works in a comfortable attitude.

[0020] 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 invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0022] Figure 1 is a flowchart of a master-slave control method for a laparoscopic surgical robot according to Embodiment 1 of the present invention;

[0023] Figure 2 is a schematic structural diagram of a console of a laparoscopic surgical robot according to an embodiment of the present invention;

[0024] Figure 3 is a flowchart of a master-slave control method for a laparoscopic surgical robot according to Embodiment 2 of the present invention;

[0025] Figure 4 is a flowchart of a master-slave control method for a laparoscopic surgical robot according to Embodiment 3 of the present invention;

[0026] Figure 5 is a schematic structural diagram of a master-slave control device for a laparoscopic surgical robot according to Embodiment 4 of the present invention;

[0027] Figure 6 is a schematic structural diagram of a console of a laparoscopic surgical robot for implementing the master-slave control method of the laparoscopic surgical robot according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention shall fall within the protection scope of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" 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 necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of the data in the technical solution of this application all comply with the relevant regulations of national laws and regulations.

[0030] Embodiment 1

[0031] Figure 1 The following is a flowchart of a master-slave control method for a laparoscopic surgical robot provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of master-slave control of a laparoscopic surgical robot. This method can be executed by the master-slave control device of the laparoscopic surgical robot. The master-slave control device of the laparoscopic surgical robot can be implemented in the form of hardware and / or software, and the master-slave control device of the laparoscopic surgical robot can be configured in the console of the laparoscopic surgical robot. As Figure 1 shown, the method includes:

[0032] S110. Obtain the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console.

[0033] In the embodiment of the present invention, a laparoscopic surgical robot refers to a medical device designed to complete various minimally invasive surgeries. The laparoscopic surgical robot includes a console and a surgical platform. The console is communicatively connected to the surgical platform. The console serves as the master end for implementing master-slave teleoperation, and the surgical platform serves as the slave end for implementing master-slave teleoperation. The console refers to the platform where the user performs surgical operations and controls. Exemplarily, Figure 2 is a schematic structural diagram of a console of a laparoscopic surgical robot provided according to an embodiment of the present invention. The console may include, but is not limited to, an end handle 1, a joint position sensor 2, a display device 3, and a root base (not shown in the figure), etc., which are not specifically limited here. The joint position sensor 2 can be arranged at the robotic arm joint of the console. The surgical platform may include a manipulator and an operating bed, etc., which are not specifically limited here.

[0034] The attitude data refers to the orientation of the end handle, which may include a pitch angle, a yaw angle, and a roll angle. Specifically, the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console can be obtained through the joint position sensor.

[0035] Exemplarily, a coordinate system of the end handle of the console and a coordinate system of the base at the root of the console are established; when performing master-slave teleoperation control, attitude data of the end handle in the coordinate system of the end handle of the console relative to the coordinate system of the base at the root of the console can be collected through a joint position sensor, that is, the attitude data of the end handle of the console relative to the base at the root of the console.

[0036] S120. Perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base at the root of the console to obtain a target master-end attitude instruction of the laparoscopic surgical robot.

[0037] In the embodiment of the present invention, the comfort compensation processing refers to an attitude data compensation operation that enables the wrist of the operator of the master-end handle not to move to the limit angle, so that the attitude of the surgical platform at the slave end can reach the limit orientation, and the wrist works in a comfortable attitude. The target master-end attitude instruction refers to the attitude data after the comfort compensation processing, which can be used to control the surgical platform at the slave end, so as to realize master-slave teleoperation.

[0038] Exemplarily, the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base at the root of the console can be subjected to comfort compensation processing through the pre-calibrated attitude data. For example, when the wrist is bent upwards by more than 45 degrees, the pitch angle in the attitude data can be compensated according to the pre-configured pitch compensation angle. The attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base at the root of the console can also be input into a pre-trained attitude data compensation model based on machine learning, and then the model outputs the attitude data after the comfort compensation processing.

[0039] S130. Send the target master-end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction.

[0040] Exemplarily, after receiving the target master-end attitude instruction, the control system of the surgical platform can perform inverse kinematic solution on the target master-end attitude instruction to obtain kinematic instructions for each joint of the slave arm of the surgical platform, so that the surgical platform can complete the slave-end attitude control operation according to the kinematic instructions of each joint, and realize master-slave teleoperation.

[0041] The technical solution of the embodiment of the present invention is to obtain the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console, and then perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console to obtain the target master end attitude instruction of the laparoscopic surgical robot. Then, the target master end attitude instruction is sent to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot can complete the slave end attitude control operation based on the target master end attitude instruction. In the above technical solution, by performing comfort compensation processing on the original attitude data, the master end operator's wrist does not need to move to the limit angle, and the attitude of the slave end surgical platform can reach the limit orientation, so that the wrist works in a comfortable attitude.

[0042] Embodiment 2

[0043] Figure 3 As shown in the flowchart of the master-slave control method of a laparoscopic surgical robot provided by Embodiment 2 of the present invention, the method of this embodiment can be combined with each optional solution in the master-slave control method of the laparoscopic surgical robot provided in the above embodiment. The master-slave control method of the laparoscopic surgical robot provided in this embodiment is further optimized. Optionally, the step of performing comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console to obtain the target master end attitude instruction of the laparoscopic surgical robot includes: performing attitude compensation processing on the end handle of the console and / or attitude compensation processing on the root base of the console for the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console to obtain the target master end attitude instruction of the laparoscopic surgical robot.

[0044] As Figure 3 shown, the method includes:

[0045] S210. Obtain the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console.

[0046] S220. Perform attitude compensation processing on the end handle of the console and / or attitude compensation processing on the root base of the console for the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console to obtain the target master end attitude instruction of the laparoscopic surgical robot.

[0047] S230. Send the target master end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot can complete the slave end attitude control operation based on the target master end attitude instruction.

[0048] In the embodiment of the present invention, the attitude compensation processing of the end handle of the console refers to the attitude compensation of the end handle. Similarly, the attitude compensation processing of the root base of the console refers to the attitude compensation of the root base.

[0049] In some alternative embodiments, the attitude compensation process for the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console includes one or more of the following steps: obtaining the pitch compensation angle of the end handle of the console; based on the pitch compensation angle of the end handle of the console, performing pitch angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the root base of the console; obtaining the yaw compensation angle of the end handle of the console; based on the yaw compensation angle of the end handle of the console, performing yaw angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the root base of the console; obtaining the roll compensation angle of the end handle of the console; based on the roll compensation angle of the end handle of the console, performing roll angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the root base of the console.

[0050] Exemplarily, the pitch compensation angle of the end handle of the console pre-calibrated by the user can be obtained, and then the pitch compensation matrix of the end handle of the console can be determined based on the pitch compensation angle of the end handle of the console. The calculation formula is as follows:

[0051] ;

[0052] where A1 represents the pitch compensation angle of the end handle of the console, represents the pitch compensation matrix of the end handle of the console; similarly, the yaw compensation angle of the end handle of the console pre-calibrated by the user can be obtained, and then the yaw compensation matrix of the end handle of the console can be determined based on the yaw compensation angle of the end handle of the console. The calculation formula is as follows:

[0053] ;

[0054] where A2 represents the yaw compensation angle of the end handle of the console, represents the yaw compensation matrix of the end handle of the console;

[0055] Similarly, the roll compensation angle of the end handle of the console pre-calibrated by the user can be obtained, and then the roll compensation matrix of the end handle of the console can be determined based on the roll compensation angle of the end handle of the console. The calculation formula is as follows:

[0056] ;

[0057] where A3 represents the roll compensation angle of the end handle of the console, represents the roll compensation matrix of the end handle of the console; further, the calculation formula of the target master end attitude command can be as follows:

[0058] ;

[0059] wherein, represents the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root, represents the target master attitude instruction.

[0060] In some other alternative embodiments, the attitude compensation process of the base of the console root for the attitude data of the end handle of the console of the endoscopic surgical robot includes one or more of the following steps: obtaining the pitch compensation angle of the base of the console root; based on the pitch compensation angle of the base of the console root, performing pitch angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root; obtaining the yaw compensation angle of the base of the console root; based on the yaw compensation angle of the base of the console root, performing yaw angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root; obtaining the roll compensation angle of the base of the console root; based on the roll compensation angle of the base of the console root, performing roll angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root.

[0061] Exemplarily, the pitch compensation angle of the base of the console root pre-calibrated by the user can be obtained, and then the pitch compensation matrix of the base of the console root can be determined based on the pitch compensation angle of the base of the console root. The calculation formula is as follows:

[0062] ;

[0063] wherein, B1 represents the pitch compensation angle of the base of the console root, represents the pitch compensation matrix of the base of the console root; similarly, the yaw compensation angle of the base of the console root pre-calibrated by the user can be obtained, and then the yaw compensation matrix of the base of the console root can be determined based on the yaw compensation angle of the base of the console root. The calculation formula is as follows:

[0064] ;

[0065] wherein, B2 represents the yaw compensation angle of the base of the console root, represents the yaw compensation matrix of the base of the console root;

[0066] Similarly, the roll compensation angle of the base of the console root pre-calibrated by the user can be obtained, and then the roll compensation matrix of the base of the console root can be determined based on the roll compensation angle of the base of the console root. The calculation formula is as follows:

[0067] ;

[0068] Among them, B3 represents the rotation compensation angle of the base of the console root, represents the rotation compensation matrix of the base of the console root; further, the calculation formula of the target master end attitude command can be as follows:

[0069] ;

[0070] Among them, represents the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root, represents the target master end attitude command.

[0071] Exemplarily, the calculation formula of the target master end attitude command can also be:

[0072] .

[0073] Through the technical solution of the embodiment of the present invention, by performing attitude compensation processing on the end handle of the console and / or attitude compensation processing on the base of the console root on the basis of the original attitude data, the wrist of the master operator does not need to move to the limit angle, and the attitude of the slave surgical platform can reach the limit orientation, enabling the wrist to work in a comfortable attitude.

[0074] Embodiment III

[0075] Figure 4 is a flowchart of a master-slave control method for a laparoscopic surgical robot provided by Embodiment III of the present invention. The method of this embodiment can be combined with each optional solution in the master-slave control method for the laparoscopic surgical robot provided in the above embodiment. The master-slave control method for the laparoscopic surgical robot provided in this embodiment is further optimized. Optionally, the comfort compensation processing of the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root to obtain the target master end attitude command of the laparoscopic surgical robot includes: determining the target orientation data of the end handle of the console of the laparoscopic surgical robot; determining the attitude compensation angle based on the target orientation data of the end handle of the console of the laparoscopic surgical robot; and performing comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root based on the attitude compensation angle to obtain the target master end attitude command of the laparoscopic surgical robot.

[0076] As Figure 4 shown, the method includes:

[0077] S310. Obtain the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root.

[0078] S320. Determine the target orientation data of the end handle of the console of the endoscopic surgical robot.

[0079] In the embodiment of the present invention, the target orientation data refers to the pitch, yaw, and roll orientation data of the end handle.

[0080] Exemplarily, the mean or median of the pitch, yaw, and roll orientation data of the end handle can be obtained from the data recording system of different historical surgical procedures or historical operators; and then the mean or median of the pitch, yaw, and roll orientation data of the end handle is determined as the common orientation data, and then the common orientation data is used as the target orientation data. The common orientation data can also be updated according to the real-time orientation data of the end handle, so that the updated common orientation data can be used as the target orientation data.

[0081] S330. Determine the attitude compensation angle based on the target orientation data of the end handle of the console of the endoscopic surgical robot.

[0082] Exemplarily, the calculation formula of the attitude compensation angle can be as follows:

[0083] Attitude compensation angle = Inv(Inv(attitude deviation matrix of the initial orientation) × target orientation data);

[0084] Wherein, the attitude deviation matrix of the initial orientation refers to the attitude deviation matrix between the initial orientation and the target orientation of the end handle.

[0085] S340. Based on the attitude compensation angle, perform comfort compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root to obtain the target main end attitude command of the endoscopic surgical robot.

[0086] In the embodiment of the present invention, a root base compensation matrix and / or an end handle compensation matrix can be constructed according to the attitude compensation angle, and then, according to the root base compensation matrix and / or the end handle compensation matrix, perform comfort compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root. The specific calculation formula can be as follows:

[0087] ;

[0088] Wherein, represents the root base compensation matrix, represents the end handle compensation matrix.

[0089] In some alternative embodiments, after obtaining the attitude compensation angle, the XYZ fixed angle may also be determined based on the attitude compensation angle, and then, based on the XYZ fixed angle, comfort compensation processing may be performed on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root.

[0090] S350. Send the target master end attitude instruction to the surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot completes the slave end attitude control operation based on the target master end attitude instruction.

[0091] Optionally, after determining the attitude compensation angle based on the target orientation data of the end handle of the console of the endoscopic surgical robot, it further includes: adjusting the orientation of the display device of the console of the endoscopic surgical robot based on the attitude compensation angle.

[0092] In the embodiments of the present invention, the attitude compensation angle may also be used as a control instruction for the mechanical degrees of freedom to adjust the orientation of the display device, so that the operator can obtain a better visual experience of the three elements: the hand, the display device, and the instrument image in the display device.

[0093] The technical solution of the embodiments of the present invention determines the target orientation data of the end handle of the console of the endoscopic surgical robot, and then determines the attitude compensation angle according to the target orientation data of the end handle of the console of the endoscopic surgical robot. Then, based on the attitude compensation angle, comfort compensation processing is performed on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root, so that the master end operator's wrist does not have to move to the extreme angle, and the attitude of the slave end surgical platform can reach the extreme orientation, enabling the wrist to work in a comfortable posture.

[0094] Embodiment 4

[0095] Figure 5 It is a schematic structural diagram of a master-slave control device of an endoscopic surgical robot provided in Embodiment 4 of the present invention. As Figure 5 shown, the device includes:

[0096] A handle-base attitude data acquisition module 410, configured to acquire the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root;

[0097] An attitude data compensation processing module 420, configured to perform comfort compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root, and obtain the target master end attitude instruction of the endoscopic surgical robot. The comfort compensation processing is an attitude data compensation operation that enables the wrist of the handle operator not to move to the extreme angle, and the attitude of the surgical platform can reach the extreme orientation, enabling the wrist to work in a comfortable posture.

[0098] The target master-end attitude instruction sending module 430 is configured to send the target master-end attitude instruction to the surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction.

[0099] In the technical solution of the embodiment of the present invention, by obtaining the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root, and then performing comfort compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root, the target master-end attitude instruction of the endoscopic surgical robot is obtained, and then the target master-end attitude instruction is sent to the surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction. Through the above technical solution, by performing comfort compensation processing on the original attitude data, the master-end operator's wrist does not need to move to the limit angle, and the attitude of the slave-end surgical platform can reach the limit orientation, enabling the wrist to work in a comfortable attitude.

[0100] In some alternative embodiments, the attitude data compensation processing module 420 includes:

[0101] The handle-base attitude compensation unit is configured to perform attitude compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root and / or attitude compensation processing on the base of the console root, to obtain the target master-end attitude instruction of the endoscopic surgical robot.

[0102] In some alternative embodiments, the handle-base attitude compensation unit includes one or more of the following sub-units:

[0103] The pitch angle compensation sub-unit of the end handle is configured to obtain the pitch compensation angle of the end handle of the console; based on the pitch compensation angle of the end handle of the console, perform pitch angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root;

[0104] The yaw angle compensation sub-unit of the end handle is configured to obtain the yaw compensation angle of the end handle of the console; based on the yaw compensation angle of the end handle of the console, perform yaw angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root;

[0105] The roll angle compensation sub-unit of the end handle is configured to obtain the roll compensation angle of the end handle of the console; based on the roll compensation angle of the end handle of the console, perform roll angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the base of the console root.

[0106] In some alternative embodiments, the handle-base attitude compensation unit includes one or more of the following sub-units:

[0107] The pitch angle compensation sub-unit of the root base is configured to obtain the pitch compensation angle of the console root base; based on the pitch compensation angle of the console root base, perform pitch angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the console root base;

[0108] The yaw angle compensation sub-unit of the root base is configured to obtain the yaw compensation angle of the console root base; based on the yaw compensation angle of the console root base, perform yaw angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the console root base;

[0109] The roll angle compensation sub-unit of the root base is configured to obtain the roll compensation angle of the console root base; based on the roll compensation angle of the console root base, perform roll angle compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the console root base.

[0110] In some alternative embodiments, the handle-base attitude data acquisition module 410 includes:

[0111] The joint position sensor acquisition unit is configured to obtain the attitude data of the end handle of the console of the endoscopic surgical robot relative to the console root base through the joint position sensor.

[0112] In some alternative embodiments, the attitude data compensation processing module 420 includes:

[0113] The target orientation data determination unit is configured to determine the target orientation data of the end handle of the console of the endoscopic surgical robot;

[0114] The attitude compensation angle determination unit is configured to determine the attitude compensation angle based on the target orientation data of the end handle of the console of the endoscopic surgical robot;

[0115] The target master end attitude instruction determination unit is configured to perform comfort compensation processing on the attitude data of the end handle of the console of the endoscopic surgical robot relative to the console root base based on the attitude compensation angle, and obtain the target master end attitude instruction of the endoscopic surgical robot.

[0116] In some alternative embodiments, the master-slave control device of the endoscopic surgical robot further includes:

[0117] A console display device adjustment unit for adjusting the orientation of the console display device of the endoscopic surgical robot based on the attitude compensation angle.

[0118] The master-slave control device of the endoscopic surgical robot provided by the embodiments of the present invention can execute the master-slave control method of the endoscopic surgical robot provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0119] Embodiment Five

[0120] Figure 6 FIG. shows a schematic structural diagram of a console 10 of an endoscopic surgical robot that can be used to implement the embodiments of the present invention. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0121] As Figure 6 shown, the console 10 of the endoscopic surgical robot includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the console 10 of the endoscopic surgical robot can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. The I / O interface 15 is also connected to the bus 14.

[0122] Multiple components in the console 10 of the endoscopic surgical robot are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the console 10 of the endoscopic surgical robot to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0123] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the master-slave control method of the laparoscopic surgical robot, and the method includes:

[0124] Obtain the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console;

[0125] Perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console to obtain the target master-end attitude instruction of the laparoscopic surgical robot. The comfort compensation processing is an attitude data compensation operation that enables the wrist of the handle operator not to move to the limit angle, but allows the attitude of the surgical platform to reach the limit orientation, so that the wrist works in a comfortable attitude;

[0126] Send the target master-end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction.

[0127] In some embodiments, the master-slave control method of the laparoscopic surgical robot can be implemented as a computer program, which is tangibly included in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the console 10 of the laparoscopic surgical robot via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the master-slave control method of the laparoscopic surgical robot described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the master-slave control method of the laparoscopic surgical robot in any other suitable way (for example, by means of firmware).

[0128] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented 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 a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0129] The computer program for implementing the methods of the present invention 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, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0130] In the context of the present invention, 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. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein can be implemented on a console of a laparoscopic surgical robot, the console of the laparoscopic surgical robot having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball), by which a user can provide input to the console of the laparoscopic surgical robot. Other types of devices can also be used to provide interaction with the user; for example, the 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 input, voice input, or tactile input).

[0132] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (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 herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0133] The computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of high management difficulty and weak business scalability existing in traditional physical hosts and VPS services.

[0134] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0135] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. 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 substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A master-slave control device for a laparoscopic surgical robot, characterized in that Executed by the console of the laparoscopic surgical robot, including: A handle-base attitude data acquisition module, configured to acquire the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root; An attitude data compensation processing module, configured to perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root, to obtain the target master-end attitude instruction of the laparoscopic surgical robot. The comfort compensation processing is an attitude data compensation operation that enables the attitude of the surgical platform to reach the limit orientation without the wrist of the handle operator moving to the limit angle, so that the wrist works in a comfortable attitude; A target master-end attitude instruction sending module, configured to send the target master-end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction; The attitude data compensation processing module includes: A target orientation data determination unit, configured to determine the target orientation data of the end handle of the console of the laparoscopic surgical robot; An attitude compensation angle determination unit, configured to determine the attitude compensation angle based on the target orientation data of the end handle of the console of the laparoscopic surgical robot. The attitude compensation angle = Inv(Inv(attitude deviation matrix of the initial orientation) × target orientation data), where the attitude deviation matrix of the initial orientation refers to the attitude deviation matrix between the initial orientation and the target orientation of the end handle; A target master-end attitude instruction determination unit, configured to perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root based on the attitude compensation angle, to obtain the target master-end attitude instruction of the laparoscopic surgical robot; The determination formula of the target master-end attitude instruction is: ； Among them, represents the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console, represents the target master end attitude instruction, represents the root base compensation matrix, and the root base compensation matrix is constructed according to the attitude compensation angle, represents the end handle compensation matrix, and the end handle compensation matrix is constructed according to the attitude compensation angle.

2. A console of a laparoscopic surgical robot, characterized in that, Including: At least one processor; And a memory communicatively connected to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor, so that the at least one processor can execute the master-slave control method of the laparoscopic surgical robot. The master-slave control method of the laparoscopic surgical robot includes: Acquiring the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root; Performing comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root, to obtain the target master-end attitude instruction of the laparoscopic surgical robot. The comfort compensation processing is an attitude data compensation operation that enables the attitude of the surgical platform to reach the limit orientation without the wrist of the handle operator moving to the limit angle, so that the wrist works in a comfortable attitude; Sending the target master-end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction; The performing comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the base of the console root, to obtain the target master-end attitude instruction, includes: Determine the target orientation data of the end handle of the console of the laparoscopic surgical robot; Determine the attitude compensation angle based on the target orientation data of the end handle of the console of the laparoscopic surgical robot. The attitude compensation angle = Inv(Inv(attitude deviation matrix of the initial orientation) × target orientation data), where the attitude deviation matrix of the initial orientation refers to the attitude deviation matrix between the initial orientation and the target orientation of the end handle; Based on the attitude compensation angle, perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base to obtain the target master end attitude instruction of the laparoscopic surgical robot; The determination formula of the target master end attitude instruction is: ； Among them, represents the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console, represents the target master end attitude command, represents the root base compensation matrix, and the root base compensation matrix is constructed according to the attitude compensation angle, represents the end handle compensation matrix, and the end handle compensation matrix is constructed according to the attitude compensation angle.

3. The console of the laparoscopic surgical robot according to claim 2, characterized in that, The performing comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base to obtain the target master end attitude instruction of the laparoscopic surgical robot includes: Perform attitude compensation processing on the end handle of the console and attitude compensation processing on the console root base for the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base to obtain the target master end attitude instruction of the laparoscopic surgical robot.

4. The console of the laparoscopic surgical robot according to claim 3, characterized in that, The performing attitude compensation processing on the end handle of the console of the laparoscopic surgical robot relative to the console root base includes one or more of the following steps: Obtain the pitch compensation angle of the end handle of the console; based on the pitch compensation angle of the end handle of the console, perform pitch angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the console root base; Obtain the yaw compensation angle of the end handle of the console; based on the yaw compensation angle of the end handle of the console, perform yaw angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the console root base; Obtain the roll compensation angle of the end handle of the console; based on the roll compensation angle of the end handle of the console, perform roll angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the console root base.

5. The console of the laparoscopic surgical robot according to claim 3, characterized in that, The performing attitude compensation processing on the console root base for the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base includes one or more of the following steps: Obtain the pitch compensation angle of the console root base; based on the pitch compensation angle of the console root base, perform pitch angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the console root base; Obtain the yaw compensation angle of the console root base; based on the yaw compensation angle of the console root base, perform yaw angle compensation processing on the attitude data of the end handle of the laparoscopic surgical robot relative to the console root base; Obtain the rotational compensation angle of the console root base; based on the rotational compensation angle of the console root base, perform rotational angle compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base.

6. The console of the laparoscopic surgical robot according to claim 2, characterized in that, The obtaining of the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base includes: Obtain the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base through a joint position sensor.

7. The console of the laparoscopic surgical robot according to claim 2, wherein, After determining the attitude compensation angle based on the target orientation data of the end handle of the console of the laparoscopic surgical robot, it further includes: Based on the attitude compensation angle, adjust the orientation of the display device of the console of the laparoscopic surgical robot.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to implement the master-slave control method of the laparoscopic surgical robot when executed. The master-slave control method of the laparoscopic surgical robot includes: Obtain the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base; Perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base to obtain the target master-end attitude instruction of the laparoscopic surgical robot. The comfort compensation processing is an attitude data compensation operation that enables the wrist of the handle operator not to move to the extreme angle, but to make the attitude of the surgical platform reach the extreme orientation, so that the wrist works in a comfortable attitude. Send the target master-end attitude instruction to the surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes the slave-end attitude control operation based on the target master-end attitude instruction; The performing of comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base to obtain the target master-end attitude instruction of the laparoscopic surgical robot includes: Determine the target orientation data of the end handle of the console of the laparoscopic surgical robot; Determine the attitude compensation angle based on the target orientation data of the end handle of the console of the laparoscopic surgical robot. The attitude compensation angle = Inv(Inv(attitude deviation matrix of the initial orientation) × target orientation data), where the attitude deviation matrix of the initial orientation refers to the attitude deviation matrix between the initial orientation and the target orientation of the end handle. Based on the attitude compensation angle, perform comfort compensation processing on the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the console root base to obtain the target master-end attitude instruction of the laparoscopic surgical robot; The determination formula of the target master-end attitude instruction is: ； Among them, represents the attitude data of the end handle of the console of the laparoscopic surgical robot relative to the root base of the console, represents the target master end attitude instruction, represents the root base compensation matrix, and the root base compensation matrix is constructed according to the attitude compensation angle, represents the end handle compensation matrix, and the end handle compensation matrix is constructed according to the attitude compensation angle.

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