Motion control method and device of endoscopic surgery robot, electronic equipment and storage medium

Abstract

The invention discloses a motion control method and device of an endoscopic surgery robot, electronic equipment and a storage medium. The method comprises the steps that position information of a slave end mechanical arm joint of the endoscopic surgery robot is obtained in real time; the position information of the slave end mechanical arm joint of the endoscopic surgery robot is input into a pre-constructed master-slave operation proportion adjusting model, and a dynamic master-slave operation proportion is obtained; and a static master-slave operation proportion is obtained, a target master-slave operation proportion is determined based on the dynamic master-slave operation proportion and the static master-slave operation proportion, and the target master-slave operation proportion is used for adjusting the movement speed of a slave end mechanical arm joint of the endoscopic surgery robot. According to the technical scheme, the dynamic adjustment of the master-slave operation proportion following the joint position under the singular shape and position is realized, so that the dynamic adjustment of the joint movement speed of the slave end mechanical arm is completed, and the damage of the singular shape and position to the endoscope robot is avoided.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a motion control method, device, electronic equipment 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 surgical accuracy and reduce surgical risks.

[0003] The motion control of the laparoscopic surgical robot uses the motion trajectory of the master end handle as input, and obtains the target trajectory of the instrument end at the slave end through master-slave mapping. In this process, the slave end robot arm needs to meet the target trajectory of the instrument end at a faster joint speed in a singular position. The required joint speed may be greater than the motor's tolerance, thus causing damage to the electromechanical hardware of the laparoscopic surgical robot. Summary of the invention

[0004] The present invention provides a motion control method, device, electronic device and storage medium for a laparoscopic surgical robot to achieve dynamic adjustment of the master-slave operation ratio following the joint position in a singular shape and position, thereby completing the dynamic adjustment of the joint movement speed of the slave end manipulator to avoid damage to the laparoscopic robot caused by the singular shape and position.

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

[0006] Obtain the position information of the slave arm joint of the laparoscopic surgical robot in real time;

[0007] Inputting the position information of the slave end mechanical arm joint of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot;

[0008] A static master-slave operation ratio is obtained, and a target master-slave operation ratio is determined based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave end mechanical arm joint of the laparoscopic surgical robot.

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

[0010] A joint position information acquisition module is used to acquire the position information of the slave end mechanical arm joint of the laparoscopic surgical robot in real time;

[0011] A dynamic master-slave operation ratio determination module, used for inputting the position information of the slave end mechanical arm joint of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot;

[0012] The joint movement speed adjustment module is used to obtain the static master-slave operation ratio, and determine the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave end mechanical arm joint of the laparoscopic surgical robot.

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

[0014] at least one processor;

[0015] and a memory communicatively coupled to the at least one processor;

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

[0018] The technical solution of the embodiment of the present invention obtains the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot in real time, and then inputs the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, and then obtains the static master-slave operation ratio. The target master-slave operation ratio is determined based on the dynamic master-slave operation ratio and the static master-slave operation ratio, and then the movement speed of the slave-end mechanical arm joint of the laparoscopic surgical robot is adjusted by the target master-slave operation ratio. The above technical solution realizes the dynamic adjustment of the master-slave operation ratio following the joint position in the singular shape, thereby completing the dynamic adjustment of the movement speed of the slave-end mechanical arm joint to avoid the damage of the singular shape to the laparoscopic robot.

[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 motion control method for a laparoscopic surgical robot provided according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flow chart of a motion control method for a laparoscopic surgical robot provided according to Embodiment 2 of the present invention;

[0023] Figure 3 is a flow chart of a motion control method for a laparoscopic surgical robot provided according to Embodiment 3 of the present invention;

[0024] Figure 4 is a flow chart of a motion control method for a laparoscopic surgical robot provided according to a fourth embodiment of the present invention;

[0025] Figure 5 is a structural schematic diagram of a motion control device for a laparoscopic surgical robot provided according to a fifth embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of an electronic device for implementing the motion control method of the laparoscopic surgical robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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 interchangeable 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 of their variations 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. The acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a motion control method for a laparoscopic surgical robot provided in the first embodiment of the present invention. This embodiment is applicable to the situation where a laparoscopic surgical robot performs master-slave control. The method can be executed by a motion control device for a laparoscopic surgical robot. The motion control device for a laparoscopic surgical robot can be implemented in the form of hardware and / or software. The motion control device for a laparoscopic surgical robot can be configured in an electronic device such as a laparoscopic surgical robot. Figure 1 As shown, the method includes:

[0031] S110, acquiring position information of the slave-end mechanical arm joint of the laparoscopic surgical robot in real time.

[0032] Among them, the laparoscopic surgical robot refers to a medical device designed to perform various minimally invasive surgeries. The laparoscopic surgical robot includes a console and a surgical platform. The console is connected to the surgical platform in communication. The console serves as the master end for realizing master-slave remote operation, and the surgical platform serves as the slave end for realizing master-slave remote operation. The console refers to the platform on which the user performs surgical operations and controls. The console may include but is not limited to an end handle, a joint position sensor, a display device, and a root base, etc., which are not specifically limited here. The surgical platform may include a robotic arm and an instrument end, etc., which are not specifically limited here.

[0033] In the embodiment of the present invention, the singular shape refers to the shape of the slave end robot arm joint when its Jacobian matrix is ​​reduced in rank or becomes a singular matrix during the movement. Exemplarily, the singular shape may be a parallelogram joint in a limited position or a slide joint in an upper limit position, etc., which are not specifically limited here. The position information of the slave end robot arm joint refers to the joint angle of the robot arm, which can be collected by a joint position sensor.

[0034] S120, inputting the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot.

[0035] In the embodiment of the present invention, the master-slave operation ratio adjustment model refers to a model that can dynamically adjust the master-slave operation ratio of the laparoscopic surgical robot.

[0036] Exemplarily, the master-slave operation ratio adjustment model may be a dynamic master-slave operation ratio prediction model obtained based on neural network training, and the master-slave operation ratio adjustment model may also be a pre-designed curve function, which is not specifically limited here.

[0037] S130. Obtain a static master-slave operation ratio, and determine a target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave-end mechanical arm joint of the laparoscopic surgical robot.

[0038] In the embodiment of the present invention, the static master-slave operation ratio refers to the master-slave operation ratio preset before the operation, for example, the static master-slave operation ratio can be 1:1, 1:2 or other operation ratios. Correspondingly, the dynamic master-slave operation ratio refers to the master-slave operation ratio calculated in real time based on the position information of the slave end manipulator.

[0039] Exemplarily, the dynamic master-slave operation ratio and the static master-slave operation ratio may be added to obtain the target master-slave operation ratio. The target master-slave operation ratio may have an upper limit value, and its minimum value may be 0.

[0040] It should be noted that the target master-slave operation ratio is larger than the previous static master-slave operation ratio, that is, the master-slave operation ratio is increased, thereby reducing the movement speed of the target trajectory at the end of the instrument, and then reducing the movement speed of the slave-end robotic arm joint, thereby avoiding damage to the electromechanical and other hardware of the laparoscopic surgical robot caused by excessive joint speed.

[0041] In some optional embodiments, the position information of the slave robotic arm joints of the laparoscopic surgical robot is obtained in real time, including: obtaining the position information of multiple slave robotic arm joints of the laparoscopic surgical robot; accordingly, inputting the position information of the slave robotic arm joints of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, including: inputting the position information of the multiple slave robotic arm joints of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model respectively to obtain the master-slave operation ratio corresponding to the position information of the multiple slave robotic arm joints of the laparoscopic surgical robot; taking the maximum value or mean value of the master-slave operation ratio corresponding to the position information of the multiple slave robotic arm joints of the laparoscopic surgical robot as the dynamic master-slave operation ratio of the laparoscopic surgical robot.

[0042] It should be noted that by screening the master-slave operation ratios corresponding to the position information of multiple joints, the accuracy and reliability of the dynamic master-slave operation ratios are guaranteed.

[0043] In some optional embodiments, the position information of the slave robotic arm joints of the laparoscopic surgical robot is obtained in real time, including: obtaining the degree of shape and position singularity of multiple slave robotic arm joints of the laparoscopic surgical robot; based on the degree of shape and position singularity of multiple slave robotic arm joints of the laparoscopic surgical robot, screening the position information of multiple joints to obtain target position information; accordingly, inputting the position information of the slave robotic arm joints of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, including: inputting the target position information into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot.

[0044] In the embodiment of the present invention, the degree of singularity of the position and shape can be characterized by the condition number of the Jacobian matrix of the slave end manipulator joint during the movement, that is, the larger the condition number, the greater the degree of singularity of the position and shape, and vice versa, the smaller the condition number, the smaller the degree of singularity of the position and shape. It should be noted that the position information of multiple joints is screened by the degree of singularity of the position and shape, which ensures the accuracy and reliability of the dynamic master-slave operation ratio calculated subsequently.

[0045] Optionally, based on the degree of shape and position singularity of multiple slave-end robotic arm joints of the laparoscopic surgical robot, the position information of multiple joints is screened to obtain target position information, including: taking the position information corresponding to the maximum value of the shape and position singularity of multiple joints as the target position information; or taking the position information corresponding to the joint whose shape and position singularity is greater than a preset shape and position singularity threshold as the target position information.

[0046] It should be noted that the position information of multiple joints is screened by using the maximum value of the degree of singularity of shape and position or a preset threshold value of the degree of singularity of shape and position, thereby ensuring the accuracy and reliability of the dynamic master-slave operation ratio calculated subsequently.

[0047] The technical solution of the embodiment of the present invention obtains the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot in real time, and then inputs the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, and then obtain the static master-slave operation ratio, and determine the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, and then adjust the movement speed of the slave-end mechanical arm joint of the laparoscopic surgical robot by the target master-slave operation ratio. The above technical solution realizes the dynamic adjustment of the master-slave operation ratio following the joint position in the singular shape, thereby completing the dynamic adjustment of the movement speed of the slave-end mechanical arm joint to avoid the damage of the singular shape to the laparoscopic robot.

[0048] Embodiment 2

[0049] Figure 2 A flow chart of a motion control method for a laparoscopic surgical robot provided in the second embodiment of the present invention. The method of this embodiment can be combined with the various optional schemes in the motion control method for a laparoscopic surgical robot provided in the above embodiments. The motion control method for a laparoscopic surgical robot provided in this embodiment is further optimized. Optionally, the master-slave operation ratio adjustment model is: Ratio=a / (1+EXP(k×JointAngle+b)); wherein Ratio represents the dynamic master-slave operation ratio of the laparoscopic surgical robot, JointAngle represents the position information of the slave end mechanical arm joint of the laparoscopic surgical robot, a is used to determine the limit of the dynamic master-slave operation ratio, k is used to determine the growth rate of the dynamic master-slave operation ratio, and b is used to translate the curve corresponding to the master-slave operation ratio adjustment model.

[0050] like Figure 2 As shown, the method includes:

[0051] S210, acquiring position information of the slave-end mechanical arm joint of the laparoscopic surgical robot in real time.

[0052] S220. Input the position information of the slave-end robotic arm joint of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, wherein the master-slave operation ratio adjustment model is Ratio=a / (1+EXP(k×JointAngle+b)); wherein Ratio represents the dynamic master-slave operation ratio of the laparoscopic surgical robot, JointAngle represents the position information of the slave-end robotic arm joint of the laparoscopic surgical robot, a is used to determine the limit value of the dynamic master-slave operation ratio, k is used to determine the growth rate of the dynamic master-slave operation ratio, and b is used to translate the curve corresponding to the master-slave operation ratio adjustment model.

[0053] S230. Obtain a static master-slave operation ratio, and determine a target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave-end mechanical arm joint of the laparoscopic surgical robot.

[0054] In the embodiment of the present invention, a, b and c are pre-designed parameters. The parameter design process is as follows: the required joint speed is calculated based on the instrument end speed of the laparoscopic surgical robot and the joint shape and position of the robot arm, and then the parameter a is designed based on the difference between the required joint speed and the speed corresponding to the typical performance. The parameters b and c are intended to achieve smooth and continuous transition of the master-slave operation ratio, and to minimize the action range as much as possible to reduce the impact on the operation in the non-singular shape and position area.

[0055] The technical solution of the embodiment of the present invention realizes the dynamic adjustment of the master-slave operation ratio under the singular shape and position through Ratio=a / (1+EXP(k×JointAngle+b)), thereby completing the adjustment of the joint movement speed of the slave-end manipulator to avoid damage to the laparoscope robot caused by the singular shape and position.

[0056] Embodiment 3

[0057] Figure 3A flowchart of a motion control method for a laparoscopic surgical robot provided in the third embodiment of the present invention, the method of this embodiment can be combined with the various optional schemes in the motion control method for a laparoscopic surgical robot provided in the above embodiments. The motion control method for a laparoscopic surgical robot provided in this embodiment is further optimized. Optionally, before determining the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, it also includes: obtaining the position information of the first slave end robotic arm of the laparoscopic surgical robot and the position information of the second slave end robotic arm of the laparoscopic surgical robot; determining the distance between the slave end robotic arms based on the position information of the first slave end robotic arm of the laparoscopic surgical robot and the position information of the second slave end robotic arm of the laparoscopic surgical robot; if the distance between the slave end robotic arms meets the anti-collision ratio adjustment condition, the dynamic master-slave operation ratio is increased and adjusted.

[0058] like Figure 3 As shown, the method includes:

[0059] S310, acquiring position information of the slave-end mechanical arm joint of the laparoscopic surgical robot in real time.

[0060] S320, inputting the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot.

[0061] S330, obtaining position information of a first slave end robotic arm of the laparoscopic surgery robot and position information of a second slave end robotic arm of the laparoscopic surgery robot.

[0062] S340, determining the distance between the slave end robotic arms based on the position information of the first slave end robotic arm of the laparoscopic surgery robot and the position information of the second slave end robotic arm of the laparoscopic surgery robot.

[0063] S350: If the distance between the slave end mechanical arms meets the anti-collision ratio adjustment condition, the dynamic master-slave operation ratio is increased and adjusted.

[0064] S360. Obtain a static master-slave operation ratio, and determine a target master-slave operation ratio based on the increased and adjusted dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave-end robotic arm joint of the laparoscopic surgical robot.

[0065] In the embodiment of the present invention, the first slave end mechanical arm and the second slave end mechanical arm can be any two mechanical arms of the slave end of the laparoscopic surgical robot, and are not specifically limited here. The anti-collision ratio adjustment condition can be that the distance between the slave end mechanical arms is less than a preset distance threshold or other judgment conditions are not limited here.

[0066] For example, the distance between the first slave end mechanical arm and the second slave end mechanical arm can be obtained by envelope detection or current detection. If the distance between the first slave end mechanical arm and the second slave end mechanical arm is less than a preset distance threshold, the dynamic master-slave operation ratio is increased and adjusted to reduce the moving speed of the instrument, thereby reducing the risk of collision. In some optional embodiments, when the distance between the first slave end mechanical arm and the second slave end mechanical arm is less than a preset distance threshold, the operator can also be prompted that there is a risk of collision.

[0067] The technical solution of the embodiment of the present invention can reduce the risk of collision by setting an anti-collision ratio adjustment mechanism.

[0068] Embodiment 4

[0069] Figure 4 This is a flow chart of a motion control method for a laparoscopic surgical robot provided in the fourth embodiment of the present invention. The method of this embodiment can be combined with the various optional solutions in the motion control method for a laparoscopic surgical robot provided in the above embodiments. The motion control method for a laparoscopic surgical robot provided in this embodiment is further optimized. Optionally, before determining the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, it also includes: when the movement direction of the slave-end robotic arm of the laparoscopic surgical robot causes the movement speed of the slave-end robotic arm to increase the dynamic master-slave operation ratio; when the movement direction of the slave-end robotic arm of the laparoscopic surgical robot causes the movement speed of the slave-end robotic arm to slow down the movement speed of the slave-end robotic arm, the dynamic master-slave operation ratio is decreased; when the distance between the slave-end robotic arms of the laparoscopic surgical robot becomes smaller, the dynamic master-slave operation ratio is increased; when the distance between the slave-end robotic arms of the laparoscopic surgical robot becomes larger, the dynamic master-slave operation ratio is decreased; when the degree of collision interference between the slave-end robotic arms of the laparoscopic surgical robot becomes larger, the dynamic master-slave operation ratio is increased; when the degree of collision interference between the slave-end robotic arms of the laparoscopic surgical robot becomes smaller, the dynamic master-slave operation ratio is decreased.

[0070] like Figure 4 As shown, the method includes:

[0071] S410, acquiring position information of the slave-end mechanical arm joint of the laparoscopic surgical robot in real time.

[0072] S420, inputting the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot.

[0073] S430. When the movement direction of the slave robot arm of the laparoscopic surgical robot causes the joint speed of the slave robot arm to increase, the dynamic master-slave operation ratio is increased; when the movement direction of the slave robot arm of the laparoscopic surgical robot causes the joint speed of the slave robot arm to slow down, the dynamic master-slave operation ratio is decreased.

[0074] S440. When the distance between the slave-end robotic arms of the laparoscopic surgical robot becomes smaller, the dynamic master-slave operation ratio is increased; when the distance between the slave-end robotic arms of the laparoscopic surgical robot becomes larger, the dynamic master-slave operation ratio is decreased.

[0075] S450. When the degree of collision interference between the slave-end robotic arms of the laparoscopic surgical robot increases, the dynamic master-slave operation ratio is increased; when the degree of collision interference between the slave-end robotic arms of the laparoscopic surgical robot decreases, the dynamic master-slave operation ratio is decreased.

[0076] S460. Obtain a static master-slave operation ratio, and determine a target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave-end manipulator arm joint of the laparoscopic surgical robot.

[0077] In an embodiment of the present invention, the adjustment of the master-slave operation ratio may be directional, that is, the master-slave operation ratio may be dynamically adjusted according to changes in speed, distance, and degree of collision interference to reduce the risk of collision or remind the user of approaching a strange shape.

[0078] Embodiment 5

[0079] Figure 5 This is a schematic diagram of the structure of a motion control device for a laparoscopic surgical robot provided in Embodiment 5 of the present invention. Figure 5 As shown, the device comprises:

[0080] The joint position information acquisition module 510 is used to acquire the position information of the slave end mechanical arm joint of the laparoscopic surgery robot in real time;

[0081] A dynamic master-slave operation ratio determination module 520 is used to input the position information of the slave end mechanical arm joint of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot;

[0082] The joint movement speed adjustment module 530 is used to obtain the static master-slave operation ratio, and determine the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave-end mechanical arm joint of the laparoscopic surgical robot.

[0083] The technical solution of the embodiment of the present invention obtains the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot in real time, and then inputs the position information of the slave-end mechanical arm joint of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, and then obtain the static master-slave operation ratio, and determine the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, and then adjust the movement speed of the slave-end mechanical arm joint of the laparoscopic surgical robot by the target master-slave operation ratio. The above technical solution realizes the dynamic adjustment of the master-slave operation ratio following the joint position in the singular shape, thereby completing the dynamic adjustment of the movement speed of the slave-end mechanical arm joint to avoid the damage of the singular shape to the laparoscopic robot.

[0084] In some optional implementations, the joint position information acquisition module 510 includes:

[0085] A multi-joint position information acquisition unit, used to acquire position information of multiple slave-end mechanical arm joints of the laparoscopic surgical robot;

[0086] Accordingly, the dynamic master-slave operation ratio determination module 520 includes:

[0087] A multi-joint master-slave operation ratio determination unit is used to input the position information of multiple slave-end mechanical arm joints of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model, and obtain the master-slave operation ratio corresponding to the position information of multiple slave-end mechanical arm joints of the laparoscopic surgical robot;

[0088] A multi-joint master-slave operation ratio screening unit is used to use the maximum or average value of the master-slave operation ratio corresponding to the position information of multiple slave-end mechanical arm joints of the laparoscopic surgical robot as the dynamic master-slave operation ratio of the laparoscopic surgical robot.

[0089] In some optional implementations, the joint position information acquisition module 510 includes:

[0090] A shape and position singularity screening unit is used to obtain the shape and position singularity degree of multiple slave end mechanical arm joints of the laparoscopic surgical robot, and based on the shape and position singularity degree of multiple slave end mechanical arm joints of the laparoscopic surgical robot, screen the position information of multiple joints to obtain target position information;

[0091] Accordingly, the dynamic master-slave operation ratio determination module 520 includes:

[0092] The target position information adjustment unit is used to input the target position information into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot.

[0093] In some optional implementations, the shape and position singularity screening unit can also be specifically used for:

[0094] The position information corresponding to the maximum value of the shape and position singularity degrees of multiple joints is used as the target position information;

[0095] Alternatively, the position information corresponding to the joint whose shape and position singularity degree is greater than a preset shape and position singularity degree threshold is used as the target position information.

[0096] In some optional implementations, the master-slave operation ratio adjustment model is:

[0097] Ratio=a / (1+EXP(k×JointAngle+b));

[0098] Among them, Ratio represents the dynamic master-slave operation ratio of the laparoscopic surgical robot, JointAngle represents the position information of the slave-end robotic arm joint of the laparoscopic surgical robot, a is used to determine the limit of the dynamic master-slave operation ratio, k is used to determine the growth rate of the dynamic master-slave operation ratio, and b is used to translate the curve corresponding to the master-slave operation ratio adjustment model.

[0099] In some optional embodiments, the motion control device of the laparoscopic surgical robot includes:

[0100] An anti-collision ratio adjustment module is used to obtain the position information of the first slave robotic arm of the laparoscopic surgical robot and the position information of the second slave robotic arm of the laparoscopic surgical robot; determine the distance between the slave robotic arms based on the position information of the first slave robotic arm of the laparoscopic surgical robot and the position information of the second slave robotic arm of the laparoscopic surgical robot; if the distance between the slave robotic arms meets the anti-collision ratio adjustment condition, increase the dynamic master-slave operation ratio.

[0101] In some optional embodiments, the motion control device of the laparoscopic surgical robot includes:

[0102] A directional ratio adjustment module is used to increase the dynamic master-slave operation ratio when the movement direction of the slave robot arm of the laparoscopic surgical robot causes the joint speed of the slave robot arm to increase; to decrease the dynamic master-slave operation ratio when the movement direction of the slave robot arm of the laparoscopic surgical robot causes the joint speed of the slave robot arm to slow down; to increase the dynamic master-slave operation ratio when the distance between the slave robot arms of the laparoscopic surgical robot decreases; to decrease the dynamic master-slave operation ratio when the distance between the slave robot arms of the laparoscopic surgical robot increases; to increase the dynamic master-slave operation ratio when the collision interference degree between the slave robot arms of the laparoscopic surgical robot increases; and to decrease the dynamic master-slave operation ratio when the collision interference degree between the slave robot arms of the laparoscopic surgical robot decreases.

[0103] The motion control device of the laparoscopic surgical robot provided in the embodiment of the present invention can execute the motion control method of the laparoscopic surgical robot provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0104] Embodiment 6

[0105] Figure 6 A 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 assistants, 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.

[0106] like Figure 6As 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. The I / O interface 15 is also connected to the bus 14.

[0107] 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.

[0108] 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 special 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 a motion control method for a laparoscopic surgical robot, which includes:

[0109] Obtain the position information of the slave arm joint of the laparoscopic surgical robot in real time;

[0110] Inputting the position information of the slave end mechanical arm joint of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot;

[0111] A static master-slave operation ratio is obtained, and a target master-slave operation ratio is determined based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave end mechanical arm joint of the laparoscopic surgical robot.

[0112] In some embodiments, the motion control method of the laparoscopic 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 motion control method of the laparoscopic surgical robot described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the motion control method of the laparoscopic surgical robot in any other appropriate manner (for example, by means of firmware).

[0113] 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), system-on-chips (SOCs), complex 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.

[0114] 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.

[0115] 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 conjunction 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.

[0116] 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).

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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. A motion control method for a laparoscopic surgical robot, characterized in that: include: Obtain the position information of the slave arm joint of the laparoscopic surgical robot in real time; Inputting the position information of the slave end mechanical arm joint of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot; A static master-slave operation ratio is obtained, and a target master-slave operation ratio is determined based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave end mechanical arm joint of the laparoscopic surgical robot.

2. The method according to claim 1, characterized in that The real-time acquisition of position information of the slave end mechanical arm joint of the laparoscopic surgery robot includes: Obtaining position information of multiple slave-end robotic arm joints of a laparoscopic surgical robot; Accordingly, the position information of the slave end mechanical arm joint of the laparoscopic surgical robot is input into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, including: Inputting the position information of multiple slave-end mechanical arm joints of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model respectively, and obtaining the master-slave operation ratio corresponding to the position information of multiple slave-end mechanical arm joints of the laparoscopic surgical robot; The maximum value or average value of the master-slave operation ratio corresponding to the position information of multiple slave-end mechanical arm joints of the laparoscopic surgical robot is used as the dynamic master-slave operation ratio of the laparoscopic surgical robot.

3. The method according to claim 1, characterized in that The real-time acquisition of position information of the slave end mechanical arm joint of the laparoscopic surgery robot includes: Obtaining the degree of singularity of the shape and position of multiple slave-end mechanical arm joints of the laparoscopic surgical robot; Based on the degree of shape and position singularity of multiple slave-end mechanical arm joints of the laparoscopic surgical robot, the position information of multiple joints is screened to obtain target position information; Accordingly, the position information of the slave end mechanical arm joint of the laparoscopic surgical robot is input into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, including: The target position information is input into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot.

4. The method according to claim 3, characterized in that The method of screening the position information of the multiple joints based on the degree of shape and position singularity of the multiple slave-end mechanical arm joints of the laparoscopic surgical robot to obtain the target position information includes: The position information corresponding to the maximum value of the shape and position singularity degrees of multiple slave-end robot arm joints is used as the target position information; Alternatively, the position information corresponding to the joint whose shape and position singularity degree is greater than a preset shape and position singularity degree threshold is used as the target position information.

5. The method according to claim 1, characterized in that: The master-slave operation ratio adjustment model is: Ratio=a / (1+EXP(k×JointAngle+b)); Among them, Ratio represents the dynamic master-slave operation ratio of the laparoscopic surgical robot, JointAngle represents the position information of the slave-end robotic arm joint of the laparoscopic surgical robot, a is used to determine the limit of the dynamic master-slave operation ratio, k is used to determine the growth rate of the dynamic master-slave operation ratio, and b is used to translate the curve corresponding to the master-slave operation ratio adjustment model.

6. The method according to any one of claims 1 to 5, characterized in that: Before determining the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, the method further includes: Acquire position information of a first slave end robotic arm of the laparoscopic surgery robot and position information of a second slave end robotic arm of the laparoscopic surgery robot; Determine the distance between the slave end robotic arms based on the position information of the first slave end robotic arm of the laparoscopic surgery robot and the position information of the second slave end robotic arm of the laparoscopic surgery robot; If the distance between the slave end mechanical arms meets the anti-collision ratio adjustment condition, the dynamic master-slave operation ratio is increased and adjusted.

7. The method according to any one of claims 1 to 5, characterized in that: Before determining the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, the method further includes: When the movement direction of the slave end mechanical arm of the laparoscopic surgical robot causes the joint speed of the slave end mechanical arm to increase, the dynamic master-slave operation ratio is increased and adjusted; When the movement direction of the slave end mechanical arm of the laparoscopic surgical robot slows down the joint speed of the slave end mechanical arm, the dynamic master-slave operation ratio is reduced and adjusted; When the distance between the slave end mechanical arms of the laparoscopic surgical robot becomes smaller, the dynamic master-slave operation ratio is increased and adjusted; When the distance between the slave end mechanical arms of the laparoscopic surgical robot increases, the dynamic master-slave operation ratio is reduced and adjusted; When the degree of collision interference between the slave end mechanical arms of the laparoscopic surgical robot becomes larger, the dynamic master-slave operation ratio is increased and adjusted; When the degree of collision interference between the slave-end robotic arms of the laparoscopic surgical robot becomes smaller, the dynamic master-slave operation ratio is adjusted to be reduced.

8. A motion control device for a laparoscopic surgical robot, characterized in that: include: A joint position information acquisition module is used to acquire the position information of the slave end mechanical arm joint of the laparoscopic surgical robot in real time; A dynamic master-slave operation ratio determination module, used for inputting the position information of the slave end mechanical arm joint of the laparoscopic surgical robot into a pre-built master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot; The joint movement speed adjustment module is used to obtain the static master-slave operation ratio, and determine the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, wherein the target master-slave operation ratio is used to adjust the movement speed of the slave end mechanical arm joint of the laparoscopic surgical robot.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled 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 motion control method of the laparoscopic surgical robot according to any one of claims 1-7.

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

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