Motion Control Method, Device, Electronic Equipment and Storage Medium of a Laparoscopic Surgical Robot

Abstract

The present invention discloses a motion control method, device, electronic device and storage medium for a laparoscopic surgical robot. The method includes: obtaining the position information of the slave robotic arm joints of the laparoscopic surgical robot in real time; 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 a dynamic master-slave operation ratio; obtaining a static master-slave operation ratio, and determining a target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, where the target master-slave operation ratio is used to adjust the motion speed of the slave robotic arm joints of the laparoscopic surgical robot. The above technical solution realizes the dynamic adjustment of the master-slave operation ratio following the joint position in a singular configuration, thereby completing the dynamic adjustment of the motion speed of the slave robotic arm joints to avoid damage to the laparoscopic robot caused by the singular configuration.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a motion control method, device, electronic device 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 precision and reduce surgical risks.

[0003] For the motion control of a laparoscopic surgical robot, the motion trajectory of the end of the master handle is used as the input, and through master-slave mapping, the target trajectory of the end of the slave instrument is obtained. In this process, when the slave manipulator is in a singular configuration, it is necessary to use a relatively fast joint speed to meet the target trajectory of the end of the instrument, and the required joint speed may be greater than the motor's bearing capacity, thus causing damage to the electromechanical and other 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, so as to realize the dynamic adjustment of the master-slave operation ratio following the joint position in a singular configuration, thereby completing the dynamic adjustment of the joint motion speed of the slave manipulator to avoid damage to the laparoscopic robot caused by the singular configuration.

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

[0006] Real-time obtaining the position information of the joints of the slave manipulator of the laparoscopic surgical robot;

[0007] Inputting the position information of the joints of the slave manipulator 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;

[0008] Obtaining a static master-slave operation ratio, and determining a target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, where the target master-slave operation ratio is used to adjust the motion speed of the joints of the slave manipulator of the laparoscopic surgical robot.

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

[0010] A joint position information acquisition module, configured to real-time obtain the position information of the joints of the slave manipulator of the laparoscopic surgical robot;

[0011] A dynamic master-slave operation ratio determination module, configured to input the position information of the slave robotic arm joints of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot;

[0012] A joint motion speed adjustment module, configured to 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 motion speed of the slave robotic arm joints of the endoscopic surgical robot.

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

[0014] At least one processor;

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

[0016] 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 endoscopic surgical robot according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to implement the motion control method of the endoscopic surgical robot according to any embodiment of the present invention when executed by a processor.

[0018] The technical solution of the embodiment of the present invention, by obtaining in real time the position information of the slave robotic arm joints of the endoscopic surgical robot, and then inputting the position information of the slave robotic arm joints of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot, and then obtaining the static master-slave operation ratio, determining the target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, and then adjusting the motion speed of the slave robotic arm joints of the endoscopic surgical robot through the target master-slave operation ratio. The above technical solution realizes the dynamic adjustment of the master-slave operation ratio following the joint position under singular configurations, thereby completing the dynamic adjustment of the motion speed of the slave robotic arm joints to avoid damage to the endoscopic robot caused by singular configurations.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0021] Figure 1 is a flowchart of a motion control method for a laparoscopic surgical robot according to Embodiment 1 of the present invention;

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

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

[0024] Figure 4 is a flowchart of a motion control method for a laparoscopic surgical robot according to Embodiment 4 of the present invention;

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

[0026] Figure 6 is a schematic structural diagram of an electronic device for implementing the motion control method of the laparoscopic surgical robot in the embodiments of the present invention. Detailed Embodiments

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description, claims and the above drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations.

[0029] Embodiment 1

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

[0031] S110. Real-time acquire the position information of the slave manipulator arm joints of the laparoscopic surgical robot.

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

[0033] In the embodiment of the present invention, the singular configuration refers to the configuration where the Jacobian matrix of the slave manipulator arm joints is rank-deficient or becomes a singular matrix during the movement process. Exemplarily, the singular configuration may be that the parallelogram joint is in a limit position or the slide joint is in an upper limit position, etc., which are not specifically limited here. The position information of the slave manipulator arm joints refers to the joint angles of the manipulator arm, which can be acquired through a joint position sensor.

[0034] S120. Input 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.

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

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

[0037] S130. 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, where the target master-slave operation ratio is used to adjust the movement speed of the slave robotic arm joints 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 pre-set 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 according to the position information of the slave robotic arm.

[0039] Exemplarily, the dynamic master-slave operation ratio and the static master-slave operation ratio can be added to obtain the target master-slave operation ratio. The target master-slave operation ratio can have an upper limit value, and its minimum value can 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 further reducing the movement speed of the slave robotic arm joints, so as to avoid damage to the electromechanical and other hardware of the laparoscopic surgical robot caused by excessive joint speed.

[0041] In some alternative embodiments, real-time acquisition of the position information of the slave robotic arm joints of the endoscopic surgical robot includes: acquiring the position information of multiple slave robotic arm joints of the endoscopic surgical robot; correspondingly, inputting the position information of the slave robotic arm joints of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot, including: respectively inputting the position information of multiple slave robotic arm joints of the endoscopic surgical robot into the pre-constructed master-slave operation ratio adjustment model to obtain the master-slave operation ratios corresponding to the position information of multiple slave robotic arm joints of the endoscopic surgical robot; taking the maximum value or the average value of the master-slave operation ratios corresponding to the position information of multiple slave robotic arm joints of the endoscopic surgical robot as the dynamic master-slave operation ratio of the endoscopic 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 ratio are ensured.

[0043] In some alternative embodiments, real-time acquisition of the position information of the slave robotic arm joints of the endoscopic surgical robot includes: acquiring the geometric singularity degree of multiple slave robotic arm joints of the endoscopic surgical robot; based on the geometric singularity degree of multiple slave robotic arm joints of the endoscopic surgical robot, screening the position information of multiple joints to obtain target position information; correspondingly, inputting the position information of the slave robotic arm joints of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot, including: inputting the target position information into the pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot.

[0044] In the embodiments of the present invention, the geometric singularity degree can be characterized by the condition number of the Jacobian matrix of the slave robotic arm joint during the movement process, that is, the larger the condition number, the greater the geometric singularity degree, and vice versa, the smaller the condition number, the smaller the geometric singularity degree. It should be noted that by screening the position information of multiple joints based on the geometric singularity degree, the accuracy and reliability of the subsequently calculated dynamic master-slave operation ratio are ensured.

[0045] Optionally, based on the geometric singularity degree of multiple slave robotic arm joints of the endoscopic surgical robot, screening the position information of multiple joints to obtain target position information includes: taking the position information corresponding to the maximum value among the geometric singularity degrees of multiple joints as the target position information; or taking the position information of the joints with a geometric singularity degree greater than a preset geometric singularity degree threshold as the target position information.

[0046] It should be noted that screening the position information of multiple joints by the maximum value of the geometric singularity degree or a preset geometric singularity degree threshold ensures the accuracy and reliability of the dynamically calculated master-slave operation ratio.

[0047] In the technical solution of the embodiment of the present invention, the position information of the slave manipulator joints of the laparoscopic surgical robot is obtained in real time, and then the position information of the slave manipulator joints of the laparoscopic surgical robot 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, and then the static master-slave operation ratio is obtained. Based on the dynamic master-slave operation ratio and the static master-slave operation ratio, the target master-slave operation ratio is determined, and then the movement speed of the slave manipulator joints 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 under the singular configuration, thereby completing the dynamic adjustment of the movement speed of the slave manipulator joints to avoid damage to the laparoscopic robot caused by the singular configuration.

[0048] Embodiment 2

[0049] Figure 2 FIG. is a flowchart of a motion control method for a laparoscopic surgical robot provided in Embodiment 2 of the present invention. The method in this embodiment can be combined with each optional solution in the motion control method for the laparoscopic surgical robot provided in the above embodiment. The motion control method for the 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)); where Ratio represents the dynamic master-slave operation ratio of the laparoscopic surgical robot, JointAngle represents the position information of the slave manipulator joints 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.

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

[0051] S210. Obtain the position information of the slave manipulator joints of the laparoscopic surgical robot in real time.

[0052] S220. Input the position information of the slave robotic arm joints of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot. Among them, the master-slave operation ratio adjustment model is Ratio = a / (1 + EXP(k × JointAngle + b)); where Ratio represents the dynamic master-slave operation ratio of the endoscopic surgical robot, JointAngle represents the position information of the slave robotic arm joints of the endoscopic 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 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. Among them, the target master-slave operation ratio is used to adjust the movement speed of the slave robotic arm joints of the endoscopic surgical robot.

[0054] In the embodiment of the present invention, a, b, and c are parameters designed in advance. The parameter design process is as follows: Calculate the required joint speed according to the end effector speed of the endoscopic surgical robot and the configuration of the robotic arm joints, and then design the parameter a according to the difference between the required joint speed and the corresponding speed of the typical performance. The parameters b and c aim to achieve a smooth and continuous master-slave operation ratio, and minimize the action range as much as possible to reduce the impact on the operation in the non-singular configuration area.

[0055] The technical solution of the embodiment of the present invention realizes the dynamic adjustment of the master-slave operation ratio in the singular configuration through Ratio = a / (1 + EXP(k × JointAngle + b)), thereby completing the adjustment of the movement speed of the slave robotic arm joints to avoid damage to the endoscopic robot caused by the singular configuration.

[0056] Embodiment III

[0057] Figure 3The figure is a flowchart of a motion control method for a laparoscopic surgical robot provided in Embodiment 3 of the present invention. The method of this embodiment can be combined with each optional solution in the motion control method for the laparoscopic surgical robot provided in the above embodiments. The motion control method for the 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 further includes: obtaining 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; determining 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, increasing and adjusting the dynamic master-slave operation ratio.

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

[0059] S310. Real-time obtain the position information of the joints of the slave robotic arm of the laparoscopic surgical robot.

[0060] S320. Input the position information of the joints of the slave robotic arm 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. 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.

[0062] S340. 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.

[0063] S350. If the distance between the slave robotic arms meets the anti-collision ratio adjustment condition, increase and adjust the dynamic master-slave operation ratio.

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

[0065] In the embodiment of the present invention, the first slave robotic arm and the second slave robotic arm can be any two robotic arms at the slave end of the laparoscopic surgical robot, and no specific limitation is made here. The anti-collision ratio adjustment condition can be that the distance between the slave robotic arms is less than a preset distance threshold or other judgment conditions, which are not limited here.

[0066] Exemplarily, the distance between the first slave robotic arm and the second slave robotic arm can be obtained through envelope detection or current detection. If the distance between the first slave robotic arm and the second slave robotic arm is less than a preset distance threshold, the dynamic master-slave operation ratio is increased to reduce the movement speed of the instrument, thereby reducing the collision risk. In some alternative embodiments, when the distance between the first slave robotic arm and the second slave robotic arm is less than the preset distance threshold, the operator can also be prompted that there is a collision risk.

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

[0068] Embodiment 4

[0069] Figure 4 FIG. is a flowchart of a motion control method for a laparoscopic surgical robot provided in Embodiment 4 of the present invention. The method of this embodiment can be combined with each alternative solution in the motion control method of the laparoscopic surgical robot provided in the above embodiments. The motion control method for the 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, the method further includes: when the movement direction of the slave robotic arm of the laparoscopic surgical robot increases the movement speed of the slave robotic arm, increasing the dynamic master-slave operation ratio; when the movement direction of the slave robotic arm of the laparoscopic surgical robot slows down the movement speed of the slave robotic arm, decreasing the dynamic master-slave operation ratio; when the distance between the slave robotic arms of the laparoscopic surgical robot becomes smaller, increasing the dynamic master-slave operation ratio; when the distance between the slave robotic arms of the laparoscopic surgical robot becomes larger, decreasing the dynamic master-slave operation ratio; when the degree of collision interference between the slave robotic arms of the laparoscopic surgical robot becomes larger, increasing the dynamic master-slave operation ratio; when the degree of collision interference between the slave robotic arms of the laparoscopic surgical robot becomes smaller, decreasing the dynamic master-slave operation ratio.

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

[0071] S410. Obtain the position information of the joints of the slave robotic arm of the laparoscopic surgical robot in real time.

[0072] S420. Input the position information of the joints of the slave robotic arm 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 robotic arm of the endoscopic surgical robot increases the joint speed of the slave robotic arm, increase the dynamic master-slave operation ratio; when the movement direction of the slave robotic arm of the endoscopic surgical robot slows down the joint speed of the slave robotic arm, decrease the dynamic master-slave operation ratio.

[0074] S440. When the distance between the slave robotic arms of the endoscopic surgical robot becomes smaller, increase the dynamic master-slave operation ratio; when the distance between the slave robotic arms of the endoscopic surgical robot becomes larger, decrease the dynamic master-slave operation ratio.

[0075] S450. When the degree of collision interference between the slave robotic arms of the endoscopic surgical robot becomes larger, increase the dynamic master-slave operation ratio; when the degree of collision interference between the slave robotic arms of the endoscopic surgical robot becomes smaller, decrease the dynamic master-slave operation ratio.

[0076] S460. 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, where the target master-slave operation ratio is used to adjust the movement speed of the joints of the slave robotic arm of the endoscopic surgical robot.

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

[0078] Embodiment Five

[0079] Figure 5 FIG. is a schematic structural diagram of a motion control device of an endoscopic surgical robot provided in Embodiment Five of the present invention. As Figure 5 shown, the device includes:

[0080] A joint position information acquisition module 510, configured to acquire the position information of the joints of the slave robotic arm of the endoscopic surgical robot in real time;

[0081] A dynamic master-slave operation ratio determination module 520, configured to input the position information of the joints of the slave robotic arm of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot;

[0082] The joint motion speed adjustment module 530 is configured to 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, where the target master-slave operation ratio is used to adjust the motion speed of the slave-arm joints of the laparoscopic surgical robot.

[0083] The technical solution of the embodiment of the present invention is to obtain the position information of the slave-arm joints of the laparoscopic surgical robot in real time, and then input the position information of the slave-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, and then obtain the static master-slave operation ratio, 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 motion speed of the slave-arm joints of the laparoscopic surgical robot through 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 configuration, thereby completing the dynamic adjustment of the motion speed of the slave-arm joints to avoid damage to the laparoscopic robot caused by the singular configuration.

[0084] In some alternative embodiments, the joint position information acquisition module 510 includes:

[0085] The multi-joint position information acquisition unit is configured to obtain the position information of multiple slave-arm joints of the laparoscopic surgical robot;

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

[0087] The multi-joint master-slave operation ratio determination unit is configured to input the position information of multiple slave-arm joints of the laparoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model respectively to obtain the master-slave operation ratios corresponding to the position information of multiple slave-arm joints of the laparoscopic surgical robot;

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

[0089] In some alternative embodiments, the joint position information acquisition module 510 includes:

[0090] The singular configuration screening unit is configured to obtain the singular configuration degree of multiple slave-arm joints of the laparoscopic surgical robot, and screen the position information of multiple joints based on the singular configuration degree of multiple slave-arm joints of the laparoscopic surgical robot to obtain the target position information;

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

[0092] A target position information adjustment unit, configured 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 endoscopic surgical robot.

[0093] In some alternative embodiments, the configuration singularity screening unit may specifically be further configured to:

[0094] Use the position information corresponding to the maximum value among the configuration singularity degrees of multiple joints as the target position information;

[0095] Alternatively, use the position information corresponding to the joints with a configuration singularity degree greater than a preset configuration singularity degree threshold as the target position information.

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

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

[0098] Where Ratio represents the dynamic master-slave operation ratio of the endoscopic surgical robot, JointAngle represents the position information of the slave manipulator joints of the endoscopic 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.

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

[0100] A collision avoidance ratio adjustment module, configured to obtain the position information of the first slave manipulator of the endoscopic surgical robot and the position information of the second slave manipulator of the endoscopic surgical robot; determine the distance between the slave manipulators based on the position information of the first slave manipulator of the endoscopic surgical robot and the position information of the second slave manipulator of the endoscopic surgical robot; if the distance between the slave manipulators satisfies the collision avoidance ratio adjustment condition, then increase and adjust the dynamic master-slave operation ratio.

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

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

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

[0104] Embodiment Six

[0105] Figure 6 The structural schematic diagram of the electronic device 10 that can be used to implement the embodiments 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 claimed herein.

[0106] As Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. The I / O interface 15 is also connected to the bus 14.

[0107] Multiple 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 disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the 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 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the motion control method of a laparoscopic surgical robot, which includes:

[0109] Obtaining the position information of the slave robotic arm joints of the laparoscopic surgical robot in real time;

[0110] 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;

[0111] Obtaining a static master-slave operation ratio, and determining a target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, where the target master-slave operation ratio is used to adjust the movement speed of the slave robotic arm joints of the laparoscopic surgical robot.

[0112] In some embodiments, the motion control method of the endoscopic surgical robot can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 endoscopic surgical robot described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the motion control method of the endoscopic surgical robot by any other suitable means (e.g., by means of firmware).

[0113] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a dedicated or general-purpose programmable processor, can receive data and instructions from a storage system, at least one input device, and at least one output device, and can transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing devices, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0115] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0116] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0117] The systems and techniques described herein can 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 having a graphical user interface or a web browser through which the user can interact with an implementation 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 can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0118] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0119] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0120] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A motion control device for a laparoscopic surgical robot, characterized in that, Applicable to the situation of master-slave control of the endoscopic surgical robot at the singular position of the slave manipulator, including: A joint position information acquisition module for acquiring the position information of the joints of the slave manipulator of the endoscopic surgical robot in real time, where the position information of the joints of the slave manipulator refers to the joint angles of the manipulator; A dynamic master-slave operation ratio determination module for inputting the position information of the joints of the slave manipulator of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot; the master-slave operation ratio adjustment model is: Ratio = a / (1 + EXP(k × JointAngle + b)); where Ratio represents the dynamic master-slave operation ratio of the endoscopic surgical robot, JointAngle represents the position information of the joints of the slave manipulator of the endoscopic 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; A joint motion speed adjustment module for obtaining a static master-slave operation ratio, which is the master-slave operation ratio preset before the operation, adding the dynamic master-slave operation ratio and the static master-slave operation ratio to obtain a target master-slave operation ratio, where the target master-slave operation ratio is used to adjust the motion speed of the joints of the slave manipulator of the endoscopic surgical robot; The joint position information acquisition module includes: A singularity screening unit for obtaining the singularity degree of the positions of multiple joints of the slave manipulator of the endoscopic surgical robot, screening the position information of multiple joints based on the singularity degree of the positions of multiple joints of the endoscopic surgical robot to obtain target position information, and the singularity degree is characterized by the condition number of the Jacobian matrix during the motion of the joints of the slave manipulator; Correspondingly, the dynamic master-slave operation ratio determination module includes: A target position information adjustment unit for 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 endoscopic surgical robot.

2. The device according to claim 1, characterized in that, The joint position information acquisition module includes: A multi-joint position information acquisition unit for acquiring the position information of multiple joints of the slave manipulator of the endoscopic surgical robot; Correspondingly, the dynamic master-slave operation ratio determination module includes: A multi-joint master-slave operation ratio determination unit for inputting the position information of multiple joints of the slave manipulator of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model respectively to obtain the master-slave operation ratios corresponding to the position information of multiple joints of the slave manipulator of the endoscopic surgical robot; A multi-joint master-slave operation ratio screening unit for taking the maximum value or the average value of the master-slave operation ratios corresponding to the position information of multiple joints of the slave manipulator of the endoscopic surgical robot as the dynamic master-slave operation ratio of the endoscopic surgical robot.

3. The device according to claim 1, wherein The singularity screening unit is specifically used for: Taking the position information corresponding to the maximum value among the singularity degrees of multiple joints as the target position information; Alternatively, the position information corresponding to the joint with a shape and position singularity degree greater than the preset shape and position singularity degree threshold is used as the target position information.

4. The device according to claim 1, wherein, The motion control device of the endoscopic surgical robot further includes: An anti-collision proportional adjustment module, configured to obtain the position information of the first slave robotic arm of the endoscopic surgical robot and the position information of the second slave robotic arm of the endoscopic surgical robot; determine the distance between the slave robotic arms based on the position information of the first slave robotic arm of the endoscopic surgical robot and the position information of the second slave robotic arm of the endoscopic surgical robot; if the distance between the slave robotic arms meets the anti-collision proportional adjustment condition, increase and adjust the dynamic master-slave operation ratio.

5. The device according to claim 1, characterized in that The motion control device of the endoscopic surgical robot further includes: A directional proportional adjustment module, configured to increase and adjust the dynamic master-slave operation ratio when the motion direction of the slave robotic arm of the endoscopic surgical robot makes the joint speed of the slave robotic arm increase; decrease and adjust the dynamic master-slave operation ratio when the motion direction of the slave robotic arm of the endoscopic surgical robot makes the joint speed of the slave robotic arm decrease; increase and adjust the dynamic master-slave operation ratio when the distance between the slave robotic arms of the endoscopic surgical robot becomes smaller; decrease and adjust the dynamic master-slave operation ratio when the distance between the slave robotic arms of the endoscopic surgical robot becomes larger; increase and adjust the dynamic master-slave operation ratio when the collision interference degree between the slave robotic arms of the endoscopic surgical robot becomes larger; decrease and adjust the dynamic master-slave operation ratio when the collision interference degree between the slave robotic arms of the endoscopic surgical robot becomes smaller.

6. An electronic device, characterized in that, Applicable to the situation where the endoscopic surgical robot performs master-slave control under the singular configuration of the slave robotic arm, the electronic device includes: 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 motion control method of the endoscopic surgical robot. The motion control method of the endoscopic surgical robot includes: Real-time acquisition of the position information of the joints of the slave robotic arm of the endoscopic surgical robot, where the position information of the joints of the slave robotic arm refers to the joint angles of the robotic arm; Input the position information of the joints of the slave robotic arm of the endoscopic surgical robot into a pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the endoscopic surgical robot. 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 endoscopic surgical robot, JointAngle represents the position information of the joints of the slave robotic arm of the endoscopic 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. Obtain the static master-slave operation ratio, where the static master-slave operation ratio refers to the master-slave operation ratio preset before the operation. Add the dynamic master-slave operation ratio to the static master-slave operation ratio to obtain the target master-slave operation ratio. Herein, the target master-slave operation ratio is used to adjust the movement speed of the slave-arm joints of the laparoscopic surgical robot; Obtain the position information of the slave-arm joints of the laparoscopic surgical robot in real time, including: obtaining the morphological singularity degree of multiple slave-arm joints of the laparoscopic surgical robot; based on the morphological singularity degree of multiple slave-arm joints of the laparoscopic surgical robot, screening the position information of multiple joints to obtain the target position information; correspondingly, input the position information of the slave-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, and the morphological singularity degree is characterized by the condition number of the Jacobian matrix during the movement of the slave-arm joints.

7. A computer-readable storage medium, characterized in that, Applicable to the situation where the laparoscopic surgical robot performs master-slave control under the singular configuration of the slave arm. The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to implement the motion control method of the laparoscopic surgical robot when executed. The motion control method of the laparoscopic surgical robot includes: Obtain the position information of the slave-arm joints of the laparoscopic surgical robot in real time, where the position information of the slave-arm joints refers to the joint angles of the robotic arm; Input the position information of the slave-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; 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-arm joints 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; Obtain the static master-slave operation ratio, where the static master-slave operation ratio refers to the master-slave operation ratio preset before the operation. Add the dynamic master-slave operation ratio to the static master-slave operation ratio to obtain the target master-slave operation ratio. Herein, the target master-slave operation ratio is used to adjust the movement speed of the slave-arm joints of the laparoscopic surgical robot; Real-time obtain the position information of the slave robotic arm joints of the laparoscopic surgical robot, including: obtaining the configuration singularity degree of multiple slave robotic arm joints of the laparoscopic surgical robot; based on the configuration singularity degree of multiple slave robotic arm joints of the laparoscopic surgical robot, screening the position information of multiple joints to obtain the target position information; correspondingly, 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 the pre-constructed master-slave operation ratio adjustment model to obtain the dynamic master-slave operation ratio of the laparoscopic surgical robot, and the configuration singularity degree is characterized by the condition number of the Jacobian matrix of the slave robotic arm joint during movement.

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