Sliding table control protection method, device and equipment for surgical robot and storage medium

Abstract

The invention discloses a sliding table control protection method, device and equipment for a surgical robot and a storage medium. The method comprises the steps of determining a control type of a control object for the surgical robot; under the condition that the control type is sliding table joint control, the forceps end position of the instrument forceps end of the surgical robot in a surgical operation area is determined, and the surgical operation area comprises a safe area and a dangerous area; under the condition that the forceps end position is in the safe area, whether the movement of the surgical robot sliding table has a safety risk or not is determined based on the minimum spacing distance between the forceps end of the instrument and the dangerous area and the sliding table movement information corresponding to the robot sliding table, and under the condition that the safety risk exists, the dynamic compensation torque corresponding to the robot sliding table is determined; and the robot sliding table is controlled and protected on the basis of the dynamic compensation torque, so that the injury of an instrument forceps end to human tissues and bones is prevented, and the safety of man-machine interaction in the sliding table force control process of the surgical robot is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control technology, and in particular to a slide control protection method, device, equipment and storage medium for a surgical robot. Background Art

[0002] Surgical robots are increasingly used in the modern medical field. Their millimeter-level operating accuracy and flexibility provide effective support for complex operations.

[0003] However, during the operation, when the doctor controls the movement of the surgical robot slide with his hands, improper control or sudden accidents may cause damage to the instrument, endanger the safety of medical staff and patients, and cause harm to the human body.

[0004] Currently, during surgery, most of the focus is on controlling the robotic arms of surgical robots, and there is a lack of a force-controlled safety protection system for the robot slide, which makes it impossible to ensure the safe operation of the robot slide, posing a safety hazard to medical staff and patients. Summary of the invention

[0005] The present invention provides a slide control protection method, device, equipment and storage medium for a surgical robot to predict whether there is a safety risk in dragging the slide, and to suppress and control the slide of the surgical robot, thereby enhancing the safety of human-computer interaction during the slide force control process of the surgical robot.

[0006] According to one aspect of the present invention, a slide control and protection method for a surgical robot is provided. The method comprises:

[0007] Determine a control type of the control object for the surgical robot, wherein the control type includes slide joint control and multi-joint control; when the control type is slide joint control, determine a position of a clamp end of an instrument clamp end of the surgical robot in a surgical operation area, wherein the surgical operation area includes a safe area and a dangerous area;

[0008] When the clamp end position is in the safe area, based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide, the dynamic compensation torque corresponding to the robot slide is determined, and the robot slide is controlled based on the dynamic compensation torque.

[0009] According to another aspect of the present invention, a slide control protection device for a surgical robot is provided. The device comprises:

[0010] A control type determination module, used to determine the control type of the control object for the surgical robot, wherein the control type includes slide joint control and multi-joint control;

[0011] a clamp end position determination module, used to determine the clamp end position of the instrument clamp end of the surgical robot in the surgical operation area when the control type is slide joint control, wherein the surgical operation area includes a safe area and a dangerous area;

[0012] A compensation torque determination module is used to determine the dynamic compensation torque corresponding to the robot slide based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide when the clamp end position is in the safe area, and control the robot slide based on the dynamic compensation torque.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the slide control and protection method of the surgical robot described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the slide control and protection method of a surgical robot described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention determines the control type of the surgical robot by the control object. When the control type is slide joint control, the position of the instrument clamp of the surgical robot in the surgical operation area is determined. When the clamp position is the safe area, based on the minimum spacing distance between the instrument clamp and the dangerous area, and the slide motion information corresponding to the robot slide, the dynamic compensation torque corresponding to the robot slide is determined, and the robot slide is controlled based on the dynamic compensation torque. When only the slide is dragged, the movement of other joints is suppressed. At the same time, by defining the surgical safety boundary, the movement of the doctor operating the slide is predicted and compensated, thereby ensuring the safe control of the surgical robot slide, thereby improving the safety of human-computer interaction during the surgical robot slide force control process.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a slide control and protection method for a surgical robot provided in accordance with Embodiment 1 of the present invention;

[0022] Figure 2 is a flow chart of a slide control and protection method for a surgical robot provided in accordance with a second embodiment of the present invention;

[0023] Figure 3 is a structural diagram of a slide control and protection device for a surgical robot provided according to a third embodiment of the present invention;

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

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1A flowchart of a slide control and protection method for a surgical robot is provided for the first embodiment of the present invention. This embodiment can be applied to the safety protection of the slide movement of the surgical robot. The method can be executed by a slide control and protection device for the surgical robot. The slide control and protection device for the surgical robot can be implemented in the form of hardware and / or software. The slide control and protection device for the surgical robot can be configured in an electronic device. Figure 1 As shown, the method includes:

[0029] S101. Determine the control type of the control object for the surgical robot.

[0030] In the present invention, the control object may refer to the object of controlling the surgical robot, such as the surgeon and the instrument nurse. The surgical robot may refer to a surgical auxiliary mechanical device including at least a surgical robot arm and a robot slide. Exemplarily, the control type includes slide joint control and multi-joint control, wherein the slide joint control may refer to the control type of the surgical robot being slide control only, and the multi-joint control may refer to the comprehensive control of multiple joints of the surgical robot.

[0031] Specifically, during the operation, control information of the surgical robot is obtained, and the control type of the surgical robot by the control object is determined based on the control information analysis, namely, slide table control only, surgical robot arm control, or mixed control.

[0032] Exemplarily, determining the control type of the control object for the surgical robot includes:

[0033] Acquire control data of the control object for the surgical robot. According to the joint linkage weights of each joint of the surgical robot, fuse the control data to obtain control fusion data. Cluster the control fusion data to determine the control type of the control object for the surgical robot.

[0034] The control data may refer to the manipulation information of the surgical robot by the control object. For example, the control data may include at least the joint torque sensor value and the actual acceleration value. The joint torque sensor value may include a torque sensor and a position encoder, which can monitor the position, speed, torque and other information of each joint in real time, which is essential for the precise control of the robot arm.

[0035] Specifically, when the controlled object is dragging the slide, due to factors such as physiological hand shaking, it is impossible to ensure that the control force is fully applied to the slide, and other joints of the surgical arm are stressed, causing the posture of the instrument clamp end to change, which is easy to trigger safety hazards. According to the operation of the controlled object and the use of the surgical arm joints, the joint linkage weights of each joint linkage are pre-allocated. Joints with greater linkage are set with larger joint linkage weights, and vice versa. According to the collected joint linkage weights of each joint, the control data is fused and processed, which can improve the reliability and accuracy of the control fusion data, so that the control type of the robot can be better determined. The control fusion data is clustered based on Mean-shift or other clustering algorithms, so that the control type of the controlled object for the surgical robot can be determined.

[0036] In practice, when manipulating the slide, a sampling window of an appropriate period is used as the manipulation behavior recognition period at the current moment, and the distance between the control data and the control type is calculated in real time, and it is classified into the closest type to determine the manipulation type at the current moment. If it is identified that only the slide is controlled at this time, the movement of the joints other than the slide can be suppressed by generating reverse current or switching the non-manipulated joints to the position loop, so as to avoid the risk of changes in the posture of other joints.

[0037] S102: When the control type is slide joint control, determine the position of the instrument clamp end of the surgical robot in the surgical operation area.

[0038] It should be noted that the instrument clamp end may refer to the instrument clamp tool at the end of the surgical robot's mechanical arm. The instrument clamp end will move with the movement of the robot slide, and the movement of the instrument clamp end may cause harm to medical staff and patients. For example, the surgical operation area may include a safe area and a dangerous area. The clamp end position may refer to the position information of the instrument clamp end in the surgical operation area.

[0039] Specifically, when the control type is slide joint control, the position of the instrument clamp end in the surgical operation area is calculated by inverse kinematics of the surgical arm to determine whether the instrument clamp end is in a safe area or a dangerous area.

[0040] Exemplarily, the process of determining the surgical operation area includes: acquiring a surgical area image of the surgical medical area; performing edge detection processing on the surgical area image to determine the intraoperative bone tissue area, and determining the intraoperative bone tissue area as a dangerous area; and determining other areas outside the dangerous area as safe areas.

[0041] Specifically, the surgical area image of the surgical medical area is acquired in real time based on a high-resolution three-dimensional endoscope, and pre-processing operations such as denoising and contrast enhancement are performed on the acquired surgical area image. Image segmentation techniques such as edge detection are used to separate the patient's intraoperative bone tissue area. Since the control of the slide table may cause the instrument clamp to injure human tissue and bones, the intraoperative bone tissue area is determined as a dangerous area. Other areas are determined as safe areas.

[0042] S103. When the position of the clamp end is in the safe area, based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide, determine the dynamic compensation torque corresponding to the robot slide, and control the robot slide based on the dynamic compensation torque.

[0043] Among them, the minimum spacing distance may refer to the minimum distance between the instrument clamp end and the dangerous area, that is, the minimum distance between the instrument clamp end and the bone tissue area during surgery. The slide motion information may refer to the real-time motion information of the robot slide, such as the motion information when the control object controls the slide. Exemplarily, the slide motion information includes at least torque information and speed information. The dynamic compensation torque may refer to the protective torque to prevent the slide movement from causing harm. It is mainly used to suppress the slide movement to prevent the instrument clamp end from causing damage to human tissue and bones.

[0044] Specifically, based on the minimum distance and the motion information of the slide, it is determined whether the instrument clamp will cause damage to human tissue and bones within a preset period of time. If it is determined that damage will be caused, the dynamic compensation torque is calculated based on the motion information of the slide, and the robot slide is restrained and controlled by the dynamic compensation torque to prevent the instrument clamp from causing damage to human tissue and bones.

[0045] Exemplarily, the dynamic compensation torque corresponding to the robot slide is determined based on the minimum spacing distance between the instrument clamp end and the dangerous area, and the slide motion information corresponding to the robot slide, including: comparing the minimum spacing distance with a preset safety distance threshold; when the minimum spacing distance is less than the preset safety distance threshold, determining the dynamic compensation proportional gain corresponding to the robot slide according to the minimum spacing distance; determining the dynamic compensation torque corresponding to the robot slide according to the dynamic compensation proportional gain and the slide motion information.

[0046] It should be noted that the preset safety distance threshold can be determined based on the historical safety distance threshold, or can be set based on actual experience. The present invention does not specifically limit this, as long as it can meet actual needs. The dynamic compensation proportional gain can be a compensation ratio for protecting and controlling the robot slide. The dynamic compensation proportional gain is not a fixed proportional gain, and it changes dynamically according to the distance between the instrument clamp end and the dangerous area.

[0047] Specifically, when the minimum interval distance is less than the preset safety distance threshold, the dynamic compensation proportional gain corresponding to the robot slide is calculated based on the minimum interval distance through the dynamic adjustment equation, and then the dynamic compensation torque corresponding to the robot slide is calculated and determined based on the dynamic compensation proportional gain and the slide motion information, so as to realize dynamic force compensation when the robot slide moves towards the dangerous area.

[0048] Exemplarily, the dynamic adjustment equation is as follows:

[0049] K p (d) = K p0 +αd|

[0050] Where: K p (d) is the dynamic compensation proportional gain, K p0 is the basic proportional gain, α is the adjustment factor used to control the rate at which the proportional gain changes with distance, and d is the minimum interval distance.

[0051] The technical solution of the embodiment of the present invention determines the control type of the surgical robot by the control object. When the control type is slide joint control, the position of the instrument clamp of the surgical robot in the surgical operation area is determined. When the clamp position is the safe area, based on the minimum spacing distance between the instrument clamp and the dangerous area, and the slide motion information corresponding to the robot slide, the dynamic compensation torque corresponding to the robot slide is determined, and the robot slide is controlled based on the dynamic compensation torque. When only the slide is dragged, the movement of other joints is suppressed. At the same time, by defining the surgical safety boundary, the movement of the doctor operating the slide is predicted and compensated, thereby ensuring the safe control of the surgical robot slide, thereby improving the safety of human-computer interaction during the surgical robot slide force control process.

[0052] Embodiment 2

[0053] Figure 2 This is a flow chart of a slide control protection method for a surgical robot provided in the second embodiment of the present invention. Based on the above embodiments, this embodiment refines the process of determining the dynamic compensation torque when the clamp end position is in the dangerous area. Figure 2 As shown, the method includes:

[0054] S201. Determine the control type of the control object for the surgical robot.

[0055] S202: When the control type is slide joint control, determine the position of the instrument clamp end of the surgical robot in the surgical operation area.

[0056] S203. When the position of the clamp end is in the safe area, based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide, determine the dynamic compensation torque corresponding to the robot slide, and control the robot slide based on the dynamic compensation torque.

[0057] S204: When the clamp end position is in the dangerous area, determine the slide speed and slide torque corresponding to the robot slide.

[0058] S205. When the slide speed is greater than a first preset speed threshold, determine a dynamic compensation torque based on the slide speed, the slide torque and a feedback adjustment coefficient, and control the robot slide based on the dynamic compensation torque.

[0059] The first preset speed threshold may be determined according to actual conditions, and the present invention does not specifically limit this.

[0060] Specifically, after the instrument clamp enters the danger zone, the control force and movement speed of the robot slide need to be limited. At this time, the slide speed and slide torque of the robot slide need to be monitored. If it is detected that the slide speed exceeds the first preset speed threshold, the dynamic compensation torque is determined according to the slide torque and the feedback adjustment coefficient, and the robot slide is controlled based on the dynamic compensation torque.

[0061] Exemplarily, the process of determining the dynamic compensation torque may be as follows:

[0062]

[0063] Where F is the dynamic compensation torque, k 1 , k 2 , k 3 is the feedback adjustment coefficient, v is the slide speed, and f is the slide torque. When the control force and speed of the controlled object are greater, the dynamic compensation torque of the robot slide is greater, that is, the feedback force of the controlled object is greater.

[0064] Exemplarily, when the speed of the slide is greater than a second preset speed threshold, the robot slide is prohibited from moving and an alarm signal is issued.

[0065] When the slide speed is greater than the second preset speed threshold (the second preset speed threshold is greater than the first preset speed threshold), the slide movement is automatically stopped and prohibited, and a signal is given in the form of an alarm to prevent the slide speed from being too fast and causing harm to patients and doctors.

[0066] Exemplarily, during the movement of the robot slide, the surgical arm joint acceleration and the instrument clamp end torque of each joint of the surgical arm of the surgical robot are determined; based on the sliding window function and statistical hypothesis test, it is determined whether the movement state of the robot slide is an abnormal control state according to the surgical arm joint acceleration and / or the instrument clamp end torque; when the movement state is an abnormal control state, the intraoperative operation of the surgical robot is stopped, the intraoperative posture of the surgical robot is fixed, and an alarm signal is issued.

[0067] Another invention is to continuously monitor and record the acceleration of the surgical arm at each joint and the torque information of the instrument clamp end during the movement of the robot slide. For the convenience of analysis, a sliding window function is used to divide the continuous acceleration data into a series of time periods (i.e., windows). The data in each window represents the change in acceleration over a period of time. The length of the sliding window needs to be selected according to the actual situation. Generally, the window length should be long enough to contain enough information, but not too long to capture short-term changes.

[0068] In each sliding window, the statistical characteristics of acceleration, such as mean, variance, etc., are calculated. Statistical methods, such as t-test, are used to compare the acceleration data in the current window with the normal acceleration data in the previous period of time. The t-test can help determine whether the data in the current window deviates significantly from the normal range. If a significant difference is detected between the data in the current window and the historical data, it is considered that there is an abnormal control state in the movement of the robot slide during this time period. The protection mechanism will be automatically triggered to stop the movement of all joints. The intraoperative posture of the surgical robot is fixed, and at the same time, a warning signal is issued to remind the doctor to pay attention to the current operating status and take necessary measures to correct or check the problem.

[0069] In practice, when the object is controlling the movement of the slide, the instrument clamp may pierce human tissue and bones. For the dragging of the slide before and during surgery, the instrument torque changes are monitored in real time. A sliding window function is constructed, and based on inference test methods such as t-tests, whether there is a significant difference in the observed value in each sliding window is calculated. If the sensor observation value suddenly changes at this time, it means that the force suddenly applied to the instrument clamp during the dragging process is abnormal. At this time, the movement of the slide is stopped immediately and a signal prompt is issued to prevent the instrument from continuing to move in the direction of the sudden force change.

[0070] On the other hand, unpredictable unknown situations may occur during the slide force control process, such as robot arm collision, which may cause sudden changes in the slide movement. If there is no strategic response at this time, it will cause serious consequences for doctors or patients. The acceleration of each joint of the surgical arm during the slide control process is monitored, and the significant difference points in the acceleration sequence are identified in real time through inference test methods such as sliding window function and t test. These difference points indicate that the doctor's control behavior of the slide is in an uncontrollable or abnormal state. At this time, the movement of each joint of the surgical arm is automatically stopped and a signal prompt is issued to prevent harm to patients and doctors.

[0071] The technical solution of the embodiment of the present invention, when the clamp end position is in a dangerous area, gives an inhibitory feedback torque based on the control torque, current position and moving speed of the slide joint control, controls or restricts the movement of the robot slide, monitors the slide force control data in real time, identifies abnormal control status during dragging and automatically activates protection, thereby improving the safety of human-computer interaction.

[0072] Embodiment 3

[0073] Figure 3 This is a schematic diagram of the structure of the slide control protection device of the surgical robot provided in the third embodiment of the present invention. Figure 3 As shown, the device comprises:

[0074] A control type determination module 301 is used to determine the control type of the control object for the surgical robot, wherein the control type includes slide joint control and robotic arm control;

[0075] A clamp end position determination module 302, used for determining the clamp end position of the instrument clamp end of the surgical robot in the surgical operation area when the control type is the slide joint control, wherein the surgical operation area includes a safe area and a dangerous area;

[0076] The compensation torque determination module 303 is used to determine the dynamic compensation torque corresponding to the robot slide based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide when the clamp end position is in the safe area, and control the robot slide based on the dynamic compensation torque.

[0077] The technical solution of the embodiment of the present invention determines the control type of the surgical robot by the control object. When the control type is slide joint control, the position of the instrument clamp of the surgical robot in the surgical operation area is determined. When the clamp position is the safe area, based on the minimum spacing distance between the instrument clamp and the dangerous area, and the slide motion information corresponding to the robot slide, the dynamic compensation torque corresponding to the robot slide is determined, and the robot slide is controlled based on the dynamic compensation torque. When only the slide is dragged, the movement of other joints is suppressed. At the same time, by defining the surgical safety boundary, the movement of the doctor operating the slide is predicted and compensated, thereby ensuring the safe control of the surgical robot slide, thereby improving the safety of human-computer interaction during the surgical robot slide force control process.

[0078] Optionally, the control type determination module 301 is specifically configured to include:

[0079] Acquiring control data of the control object for the surgical robot, wherein the control data at least includes a joint torque sensor value and an actual acceleration value;

[0080] According to the joint linkage weights of the joints of the surgical robot, the control data are fused to obtain control fusion data;

[0081] The control fusion data is clustered to determine the control type of the control object for the surgical robot.

[0082] Optionally, the clamp end position determination module 302 is further configured to:

[0083] Acquire a surgical field image of a surgical medical field;

[0084] Performing edge detection processing on the surgical area image to determine the intraoperative bone tissue area, and determining the intraoperative bone tissue area as a dangerous area;

[0085] Other areas outside the dangerous area are determined as safe areas.

[0086] Optionally, the compensation torque determination module 303 is specifically configured to:

[0087] Compare the minimum separation distance with a preset safety distance threshold;

[0088] When the minimum interval distance is less than the preset safety distance threshold, determining the dynamic compensation proportional gain corresponding to the robot slide according to the minimum interval distance;

[0089] The dynamic compensation torque corresponding to the robot slide is determined according to the dynamic compensation proportional gain and the slide motion information.

[0090] Optionally, the compensation torque determination module 303 is further used for:

[0091] When the clamp end position is in the dangerous area, determining a slide speed and a slide torque corresponding to the robot slide;

[0092] When the slide speed is greater than a first preset speed threshold, a dynamic compensation torque is determined based on the slide speed, the slide torque and a feedback adjustment coefficient, and the robot slide is controlled based on the dynamic compensation torque.

[0093] Optionally, the compensation torque determination module 303 is further used for:

[0094] When the speed of the slide is greater than a second preset speed threshold, the robot slide is prohibited from moving and an alarm signal is issued.

[0095] Optionally, the device further includes an abnormality control processing module.

[0096] Among them, the exception control processing module is used to:

[0097] During the movement of the robot slide, determining the surgical arm joint acceleration of each joint of the surgical arm of the surgical robot;

[0098] Based on a sliding window function and a statistical hypothesis test, determining whether the movement state of the robot slide is an abnormal control state according to the joint acceleration of the surgical arm;

[0099] When the moving state is an abnormal control state, the intraoperative operation of the surgical robot is stopped, the intraoperative posture of the surgical robot is fixed, and an alarm signal is issued.

[0100] The slide control and protection device for a surgical robot provided in an embodiment of the present invention can execute the slide control and protection method for a surgical robot provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0101] Embodiment 4

[0102] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0103] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and 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 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0104] A number of components in the electronic device 10 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 disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0105] The processor 11 may be a variety of general and / or special 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 appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for slide control protection of a surgical robot.

[0106] In some embodiments, the slide control protection of the method surgical robot can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 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 slide control protection of the method surgical robot described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the slide control protection of the method surgical robot by any other appropriate means (for example, by means of firmware).

[0107] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0109] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0110] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0111] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0112] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0113] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0114] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Slide control and protection method of surgical robot, It is characterized in that include: Determining a control type of the controlled object for the surgical robot, wherein the control type includes slide joint control and multi-joint control; In the case where the control type is slide joint control, determining the position of the instrument clamp end of the surgical robot in the surgical operation area, wherein the surgical operation area includes a safe area and a dangerous area; When the clamp end position is in the safe area, based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide, the dynamic compensation torque corresponding to the robot slide is determined, and the robot slide is controlled based on the dynamic compensation torque.

2. The method according to claim 1, It is characterized in that Determining the control type of the control object for the surgical robot includes: Acquiring control data of the control object for the surgical robot, wherein the control data at least includes a joint torque sensor value and an actual acceleration value; According to the joint linkage weights of the joints of the surgical robot, the control data are fused to obtain control fusion data; The control fusion data is clustered to determine the control type of the control object for the surgical robot.

3. The method according to claim 1, It is characterized in that The process of determining the surgical operation area includes: Acquire a surgical field image of a surgical medical field; Performing edge detection processing on the surgical area image to determine the intraoperative bone tissue area, and determining the intraoperative bone tissue area as a dangerous area; Other areas outside the dangerous area are determined as safe areas.

4. The method according to claim 1, It is characterized in that The method of determining the dynamic compensation torque corresponding to the robot slide based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide comprises: Compare the minimum separation distance with a preset safety distance threshold; When the minimum interval distance is less than the preset safety distance threshold, determining the dynamic compensation proportional gain corresponding to the robot slide according to the minimum interval distance; The dynamic compensation torque corresponding to the robot slide is determined according to the dynamic compensation proportional gain and the slide motion information.

5. The method according to claim 1, It is characterized in that The method further comprises: When the clamp end position is in the dangerous area, determining a slide speed and a slide torque corresponding to the robot slide; When the slide speed is greater than a first preset speed threshold, a dynamic compensation torque is determined based on the slide speed, the slide torque and a feedback adjustment coefficient, and the robot slide is controlled based on the dynamic compensation torque.

6. The method according to claim 5, It is characterized in that The method further comprises: When the speed of the slide is greater than a second preset speed threshold, the robot slide is prohibited from moving and an alarm signal is issued.

7. The method according to claim 1, It is characterized in that The method further comprises: During the movement of the robot slide, determining the joint acceleration of the surgical arm and the instrument clamp end torque of each joint of the surgical arm of the surgical robot; Based on a sliding window function and a statistical hypothesis test, determining whether the movement state of the robot slide is an abnormal control state according to the surgical arm joint acceleration and / or the instrument clamp end torque; When the moving state is an abnormal control state, the intraoperative operation of the surgical robot is stopped, the intraoperative posture of the surgical robot is fixed, and an alarm signal is issued.

8. Slide control protection device of surgical robot, It is characterized in that include: A control type determination module, used to determine the control type of the control object for the surgical robot, wherein the control type includes slide joint control and multi-joint control; a clamp end position determination module, used to determine the clamp end position of the instrument clamp end of the surgical robot in the surgical operation area when the control type is slide joint control, wherein the surgical operation area includes a safe area and a dangerous area; A compensation torque determination module is used to determine the dynamic compensation torque corresponding to the robot slide based on the minimum spacing distance between the instrument clamp end and the dangerous area and the slide motion information corresponding to the robot slide when the clamp end position is in the safe area, and control the robot slide based on the dynamic compensation torque.

9. An electronic device, It is characterized in that The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program 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 slide control and protection method of the surgical robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the slide control and protection method of a surgical robot according to any one of claims 1 to 7 when executed.

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