Surgical robot, control method and computer readable storage medium

Abstract

The invention relates to a surgical robot, a control method and a computer readable storage medium, the surgical robot comprises a master console, slave operation equipment and a control device, the master console comprises an input device, the slave operation equipment is configured to install a surgical instrument, and the input device is used for controlling the surgical instrument to move; the input device comprises a plurality of joints and a handle, the handle is connected with the joint at the nearest end of the joints, and the control device is configured to be used for obtaining the speed of each joint of the input device; determining the linear velocity and / or the angular velocity of the handle according to the velocity of each joint; according to the speed of each joint and the linear speed and / or the angular speed of the handle, the friction force compensation amount of each joint is determined; the frictional force compensation amount is applied to an actuator corresponding to each joint. According to the technical scheme, friction force compensation is conducted on all the joints, the friction force compensation amount is related to the speed of all the joints and the linear speed and / or the angular speed of the handle, and the operation experience of the input device can be better improved.

Description

Technical Field

[0001] The present application relates to the field of medical machinery technology, and in particular to a surgical robot, a control method and a computer-readable storage medium. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a main control console and a slave operating device. The main control console includes a handle. The doctor sends control commands to the slave operating device through the operating handle to control the surgical instruments on the slave operating device to perform corresponding actions.

[0003] When the doctor manipulates the handle, by compensating the torque of the joints connected to the handle, it is possible to avoid or reduce arm fatigue caused by the doctor having to overcome additional resistance such as gravity when manipulating the handle, thereby improving the doctor's operating experience. However, the existing technology mainly compensates for gravity without considering the influence of friction, resulting in unsatisfactory compensation effect. Summary of the invention

[0004] In response to the above technical problems, the present application provides a surgical robot, a control method and a computer-readable storage medium, which can better enhance the operating experience of the input device by performing friction compensation on each joint, and the friction compensation amount is related to the speed of each joint and the linear speed and / or angular speed of the handle.

[0005] In order to solve the above technical problems, the present application provides a surgical robot, the surgical robot comprising a main console, a slave operating device and a control device, the main console comprising an input device, the slave operating device being configured to install a surgical instrument, the input device being used to control the movement of the surgical instrument, the input device comprising a plurality of joints and a handle, the handle being connected to the proximal joint of the plurality of joints, and the control device being configured to:

[0006] After establishing master-slave control between the master control console and the slave operating device, obtaining a first speed of each joint of the input device;

[0007] Determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint;

[0008] Determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle;

[0009] The friction force compensation amount is applied to the actuator corresponding to each of the joints.

[0010] In one embodiment, before determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to:

[0011] The first speed of each joint is filtered.

[0012] In one embodiment, when filtering the first speed of each joint, the control device is configured to:

[0013] Obtaining the absolute value of the velocity of each joint at the current moment;

[0014] When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; when the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment;

[0015] According to the sign and the absolute value of the velocity of the joint, the first velocity of each joint after filtering is determined.

[0016] In one embodiment, when determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to:

[0017] Determine a Jacobian matrix of the posture of the input device at the current moment according to the first positions of the joints;

[0018] The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

[0019] In one embodiment, when determining the friction compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle, the control device is configured to:

[0020] determining a target compensation amount of friction force according to a first speed of the joint;

[0021] Determining a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle;

[0022] The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

[0023] In one embodiment, the first adjustment coefficient is linearly or nonlinearly related to the linear velocity modulus of the handle, or the first adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle.

[0024] In one embodiment, the joints include multiple position joints for adjusting the position of the handle and multiple posture joints for adjusting the posture of the handle, the first adjustment coefficients of the multiple position joints are associated with the linear velocity of the handle, and the first adjustment coefficients of the multiple posture joints are associated with the angular velocity of the handle.

[0025] In one embodiment, when the linear speed of the handle is less than a first threshold, the first adjustment coefficient is a first fixed value; when the linear speed of the handle is greater than the first threshold and less than a second threshold, the first adjustment coefficient increases with the increase of the linear speed of the handle; when the linear speed of the handle is greater than the second threshold, the first adjustment coefficient is a second fixed value.

[0026] In one embodiment, when determining the target compensation amount of friction force of each joint, the control device is configured to:

[0027] Acquiring friction compensation parameters of the friction compensation model corresponding to each joint, wherein the friction compensation parameters are determined according to the current of the actuator and the second speed of each joint before establishing master-slave control between the master console and the slave operating device;

[0028] The friction target compensation amount of each joint is determined according to the first speed of each joint and the friction compensation parameter.

[0029] In one embodiment, the control device is further configured to:

[0030] Determining the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle;

[0031] The damping amount is applied to the actuator corresponding to each of the joints.

[0032] In one embodiment, when determining the damping amount of each joint, the control device is configured to:

[0033] Determine the damping base amount of each joint according to the linear velocity and angular velocity of the handle, or determine the damping base amount of each joint according to the first velocity of each joint; determine the second adjustment coefficient of the damping base amount according to the linear velocity and / or angular velocity of the handle;

[0034] The damping base amount of each joint is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

[0035] In one embodiment, the second adjustment coefficient is linearly or nonlinearly related to the linear velocity modulus of the handle, or the second adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle.

[0036] In one embodiment, when the linear speed of the handle is less than a third threshold, the second adjustment coefficient decreases as the linear speed of the handle increases; when the linear speed of the handle is greater than the third threshold, the second adjustment coefficient is a third fixed value.

[0037] In one embodiment, the control device is further configured to:

[0038] After establishing master-slave control between the master console and the slave operating device, obtaining the first position of each joint;

[0039] According to the first position of each joint, a gravity compensation amount and an elastic force compensation amount of each joint are determined.

[0040] In one embodiment, the control device is configured to:

[0041] Obtaining the sum of the gravity compensation amount, elastic force compensation amount, friction force compensation amount and damping amount of each joint as the target torque of each joint;

[0042] The target torque of each joint is applied to the actuator corresponding to each joint.

[0043] The present application also provides a control method for a surgical robot, the surgical robot comprising a main control console, a slave operating device and a control device, the main control console comprising an input device, the slave operating device being configured to install a surgical instrument, the input device being used to manipulate the movement of the surgical instrument, the input device comprising a plurality of joints and a handle, the handle being connected to the proximal joint of the plurality of joints, the control method comprising:

[0044] After establishing master-slave control between the master control console and the slave operating device, obtaining a first speed of each joint of the input device;

[0045] Determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint;

[0046] Determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle;

[0047] The friction force compensation amount is applied to the actuator of each joint.

[0048] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the surgical robot as described above are implemented.

[0049] The surgical robot, control method and computer-readable storage medium of the present application, the surgical robot includes a main control console, a slave operating device and a control device, the main control console includes an input device, the slave operating device is configured to install surgical instruments, the input device is used to control the movement of surgical instruments, the input device includes multiple joints and a handle, the handle is connected to the most proximal joint of the multiple joints, and the control device is configured to: obtain the speed of each joint of the input device; determine the linear speed and / or angular speed of the handle according to the speed of each joint; determine the friction compensation amount of each joint according to the speed of each joint and the linear speed and / or angular speed of the handle; apply the friction compensation amount to the actuator corresponding to each joint. The technical solution of the present application performs friction compensation on each joint, and the friction compensation amount is related to the speed of each joint and the linear speed and / or angular speed of the handle, which can better improve the operation experience of the input device. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic structural diagram of a surgical robot according to an embodiment;

[0051] Figure 2 is a schematic structural diagram of a main control console according to an embodiment;

[0052] Figure 3 is a schematic structural diagram of a slave operating device according to an embodiment;

[0053] Figure 4 is a schematic structural diagram of a surgical instrument according to an embodiment;

[0054] Figure 5 is a schematic structural diagram of an input device according to an embodiment;

[0055] Figure 6 is a partial structural schematic diagram of an input device according to an embodiment;

[0056] Figure 7 (a) and (b) are schematic diagrams showing the relationship between the first adjustment coefficient and the linear velocity of the handle according to an embodiment;

[0057] Figure 8 This is a comparison chart of the joint velocity before and after filtering.

[0058] Fig. 9(a) and (b) are schematic diagrams showing the relationship between the second adjustment coefficient and the linear speed of the handle according to an embodiment;

[0059] Fig.10 is a flow chart of a control method of a surgical robot according to an embodiment;

[0060] Fig.11 is another flowchart of a method for controlling a surgical robot according to an embodiment. DETAILED DESCRIPTION

[0061] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0062] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, wherein the "distal end" refers to the end away from the operator during surgery, and the "proximal end" refers to the end close to the operator during surgery.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. In the present invention, "each" includes one and more than two quantities.

[0064] The surgical robot of one embodiment of the present application is as follows: Figure 1As shown, the surgical robot includes a main console 20, a slave operating device 10 and a control device. The main console 20 is remotely connected to the slave operating device 10, and the surgeon S can remotely operate and control the slave operating device 10 on the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired from the slave operating device 10 according to the operation of the surgeon S. The surgeon S can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the main console 20. The surgeon S controls the slave operating device 10 to perform related operations, such as performing surgery or acquiring images of the patient's body, by observing the three-dimensional images of the patient's body.

[0065] The operating device 10 includes a plurality of mechanical arms 11. In one embodiment, the surgical robot further includes a gas insufflation device, a lumen group, and one or more cannulas (not shown), wherein the lumen group connects the cannulas to the gas insufflation device fluid. The one or more cannulas are connected to the distal ends of the plurality of mechanical arms 11, and the cannulas are inserted into the body cavity of the patient P lying on the operating table T.

[0066] In one embodiment, surgeon S can control the working mode of the gas insufflation device through the main console 20, such as injecting gas from the gas source into the body cavity of the patient P to form artificial pneumoperitoneum, or extracting gas from the body cavity of the patient P. Assistant A installs the surgical instrument 40 on the robotic arm 11 according to the surgical conditions, or replaces the surgical instrument 40 from the robotic arm 11. Surgeon S, assistant A and anesthesiologist B form a basic surgical team. The surgical instrument 40 can be a surgical instrument such as an electric cauterizer, a clamp, a stapler, an ultrasonic scalpel, etc. for performing surgical operations, or an imaging device (such as an endoscope) or other surgical tools for acquiring images.

[0067] The main control console 20 is also connected to the electronic device cart 30 by remote communication, and the electronic device cart 30 is connected to the slave operation device 10 by remote communication. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the above-mentioned gas blowing device and other devices. In this embodiment, the main control console 20 and the slave operation device 10 and the electronic device cart 30 use wired Ethernet communication to communicate remotely, but the remote communication is not limited to wired Ethernet communication, and can also be other wired methods, such as but not limited to serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as but not limited to WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0068] In one embodiment, Figure 2As shown, the main console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24 and a control signal processing system 25, wherein the display device 21 is used to display the image acquired by the above-mentioned imaging system. The armrest 22 is used to place the operator's arm and / or hand so that the operator can operate the input device 24 more comfortably, and the observation device 21 is used to observe the image displayed by the display device 21. According to actual needs, the armrest 22 can also be omitted; or the observation device 21 can be omitted, and direct observation can be performed in this case. The operator controls the movement of the surgical instrument of the slave operation device 10 by operating the input device 23, and the control signal processing system 25 of the main console 20 processes the input signal of the input device 22 and then issues a control command to the slave operation device 10, and the slave operation device 10 responds to the control command of the main console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be set in the slave operation device 10, for example, in the base of the slave operation device 10. The control signal processing system 25 can be a device with the above-mentioned control device.

[0069] In some embodiments, Figure 3 As shown, the slave operation device 10 includes multiple robotic arms 11 and a controller 250. The multiple robotic arms 11 can be of the same configuration or different configurations, and multiple surgical instruments are installed on the multiple robotic arms 11. Specifically, the first instrument 310, the second instrument 320, the third instrument 330 and the imaging device 340 in the multiple surgical instruments are detachably installed on the multiple robotic arms 11. In some other embodiments, the instruments and imaging devices in the multiple surgical instruments can interchange the robotic arms 11 on which they are installed.

[0070] The controller 250 is configured to control the joint movement of the driving robot arm 11 and the movement of the surgical instrument in response to the control signal from the main console 20 or the slave operation device 10. The controller 250 can be set in the base of the slave operation device 10. In some embodiments, the controller 250 can also be set on each robot arm 11. It can be understood that the controller 250 can also be set in the main console 20. In some embodiments, the controller 250 and the control signal processing system 25 are the same control device, or the controller 250 and the control signal processing system 25 are different control devices respectively arranged in the slave operation device 10 and the main console 20, or the controller 250 can be the same device as the above-mentioned control device.

[0071] The surgical robot also typically includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a video image acquisition function (e.g., an instrument 40 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 40 with image acquisition capability includes an optical device of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 40 with image acquisition capability, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly to be processed and displayed on a video display device.

[0072] like Figure 4 As shown, the instrument 40 includes an instrument box 41, a long shaft 42 and an end effector 43. The instrument 40 is detachably mounted on the distal end of the mechanical arm 11 of the slave operation device 10. The instrument box 41 has a transmission device (not shown in the figure), which includes multiple transmission units (such as winches). The transmission unit is connected to the end effector 43 through multiple cables. The multiple transmission units are respectively coupled to multiple driving units (such as motors) of the mechanical arm 11 and driven by the driving units. The driving unit receives a control instruction from the control device, and drives the end effector 43 to move by driving the transmission unit according to the control instruction. The control device can be set in the main console 20 or in the slave operation device 10. For example, the driving unit drives the transmission unit to rotate so as to retract / pull the cable to control the movement of the end effector 43. The end effector 43 can perform multiple Cartesian degrees of freedom, such as translation (including lateral and / or longitudinal movement), pitch, yaw, etc. It can be understood that translation and pitch, translation and yaw can move independently or simultaneously. The end effector 43 is used to perform operations related to surgical operations. Depending on the requirements of the surgical operation, the end effector 43 can be an electric cauterizer, a clamp, a stapler, scissors, an ultrasonic scalpel, a camera, an imaging device, etc., wherein the camera or imaging device is used to obtain images of the inside of the human body.

[0073] See also Figure 5 and Figure 6 The input device 23 may include a connector 101, a base 12, an operating component 15, and at least one driving arm. The connector 101, the base 12, the at least one driving arm, and the operating component 15 are rotatably connected in sequence. One end of the connector 101 away from the base 12 is connected to the relevant components of the main operating table 120. The operating component 15 is configured to receive an operation of an operator. The operating component 15 may include a handle 151. The user performs relevant operations on the input device 23 by grasping the handle 151 to send a control command to the slave operating device 10.

[0074] Among them, the number of driving arms can be determined according to actual execution requirements. For example, when the movement to be performed is relatively simple, only one driving arm can be selected, and one end of the driving arm is connected to the base 12, and the other end of the driving arm is connected to the operating component 15. For example, when the movement to be performed is more complex, two or more driving arms can be selected. The more driving arms there are, the higher the degree of freedom, and more complex operations can be performed.

[0075] This embodiment is described by taking the number of driving arms as two as an example. The two driving arms are respectively a first arm 13 and a second arm 14. The second arm 14 is rotationally connected to the first arm 13, one end of the first arm 13 away from the second arm 14 is rotationally connected to the base 12, and one end of the second arm 14 away from the first arm 13 is rotationally connected to the operating component 15, wherein the rotation of the first arm 13 and the second arm 14 provides the operating component 15 with at least two degrees of freedom.

[0076] In this embodiment, the base 12 rotates along the first axis A1 relative to the connecting member 101, the first arm 13 rotates along the second axis A2 relative to the base 12, and the second arm 14 rotates along the third axis A3 relative to the first arm 13. The first axis A1 is perpendicular to the second axis A2 and the third axis A3, and the second axis A2 is parallel to the third axis A3, so that the rotation of the base 12, the first arm 13, and the second arm 14 can allow the operation assembly 15 to move in three-dimensional space.

[0077] like Figure 6 As shown, the input device 23 may further include a first gravity compensation mechanism 200, which is connected between the base 12 and the first arm 13 to generate a moment of force that balances the gravity moment of the parallelogram mechanism in the first degree of freedom of rotation about the second axis A2. In some embodiments, the first gravity compensation mechanism 20 may include a first rotation mechanism 201 and a first elastic mechanism 202. The first rotation mechanism 201 may include a plurality of rotation parts, which are distributed on the first mounting plate 123 of the base 12 and the first arm 13.

[0078] For ease of understanding, the first rotating mechanism 201 may include a rotating portion of a first part and a rotating portion of a second part. Exemplarily, the rotating portion of the first part is disposed on the first mounting plate 123, and the rotating portion of the second part is disposed on the arm rotating disk 132 of the first arm 13. The first elastic mechanism 202 is coupled between the body rotating disk of the base 12 and the first rotating mechanism 201 to generate a moment of force that balances the gravity moment of the parallelogram mechanism in the first degree of freedom, so that the user can easily drag the input device 23 in the first degree of freedom.

[0079] In this embodiment, during the process of the operator operating the handle to control the movement of the surgical instrument, that is, after the master-slave control is established between the master console 20 and the slave operating device 10, the above-mentioned control device is further configured to:

[0080] Acquire a first position and a first velocity of each joint of the input device;

[0081] Determine the gravity compensation amount and elastic force compensation amount of each joint according to the first position of each joint, and determine the friction compensation amount of each joint according to the first speed of each joint;

[0082] The gravity compensation amount, the elastic force compensation amount and the friction force compensation amount are applied to the actuator corresponding to each joint.

[0083] Among them, the elastic force compensation is used to compensate for the spring force of the physical spring in the mechanical structure of the input device, which solves the problem that the mechanical spring cannot achieve arbitrary posture compensation when compensating for gravity. By increasing the friction compensation for each joint, the operation experience of the input device can be better improved. In this way, by performing gravity compensation, elastic force compensation and friction compensation on each joint of the input device, the compensation effect can be improved.

[0084] In this embodiment, each joint has its own corresponding compensation model, which includes a gravity compensation model, an elastic force compensation model, and a friction compensation model. The compensation models of different joints are relatively independent. By establishing independent compensation models for each joint, all model parameters of the compensation model of a single joint can be extracted, and redundant items caused by coupling and invalid items caused by special configurations can be effectively eliminated, making the compensation model more accurate and requiring less calculation to solve.

[0085] In one embodiment, when determining the gravity compensation amount of each joint according to the first position of each joint, the control device is configured to:

[0086] Obtaining gravity compensation parameters of the gravity compensation model corresponding to each joint;

[0087] The gravity compensation amount of each joint is determined according to the first position of each joint and the gravity compensation parameter.

[0088] In one embodiment, the gravity compensation model of the joint can be expressed as follows:

[0089]

[0090]

[0091] Among them, F grav,j is the weight of connecting rod j, is the Jacobian vector of joint i, τ grav,iis the moment of gravity of all links acting on joint i, n represents the degree of freedom of the main manipulator, H j is the component related to the joint angle, m j is the mass of the connecting rod, p 0,j is the position of the center of mass of the connecting rod. In this way, formula (2) can express that the force rotation of the gravity of a single connecting rod in the joint coordinate system can be decomposed into the product of two components, namely, the configuration component related to the joint position and the gravity parameter component related to the mass and center of mass. The gravity parameter component is determined when the gravity compensation model is established, that is, the gravity compensation parameter of the gravity compensation model.

[0092] In one embodiment, when determining the elastic force compensation amount of each joint according to the first position of each joint, the control device is configured to:

[0093] Obtaining elastic force compensation parameters of the elastic force compensation model corresponding to each joint;

[0094] The elastic force compensation amount of each joint is determined according to the first position of each joint and the elastic force compensation parameter.

[0095] In one embodiment, the elastic force compensation model of the joint can be expressed as follows:

[0096] τ spring,i =a i cosθ i +b i sinθ i (3)

[0097] in, is the velocity of joint i. a i and b i It is a parameter related to spring force and is determined when the elastic force compensation model is established.

[0098] In one embodiment, when determining the friction compensation amount of each joint according to the first speed of each joint, the control device is configured to:

[0099] Determine the linear velocity and / or angular velocity of the handle according to the first velocity of each joint;

[0100] The friction force compensation amount of each joint is determined according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0101] Among them, the linear velocity is the translation velocity of the handle, which is independent of the handle's posture, and the angular velocity of the handle is the speed at which the handle's posture changes. By compensating the friction of each joint, the operating experience of the input device can be better improved. At the same time, the friction compensation amount is related to the first velocity of each joint and the linear velocity and / or angular velocity of the handle, so that the friction compensation effect is adapted to different working conditions of the input device, thereby improving the stability of the operation.

[0102] In one embodiment, when determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to:

[0103] Determine the Jacobian matrix of the posture of the input device at the current moment according to the first position of each joint;

[0104] The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

[0105] Among them, the Jacobian matrix is ​​used to map the velocity of the joint space to the velocity of the operation space. The Jacobian matrix has m rows and n columns: m is the degree of freedom of the operation space (usually the input device has 6 degrees of freedom), and n is the degree of freedom of the joint space (or the number of joints).

[0106] In one embodiment, when determining the friction compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle, the control device is configured to:

[0107] Determine a target compensation amount of friction force according to a first velocity of the joint;

[0108] Determine a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle;

[0109] The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

[0110] Among them, after determining the target compensation amount of friction for the joint, the target compensation amount of friction is adaptively adjusted by determining the first adjustment coefficient based on the linear velocity and / or angular velocity of the handle to determine the actual compensation amount of friction for the joint, which can improve the adaptability and stability of the input device under different working conditions (such as fast operation or fine operation).

[0111] In one embodiment, when determining the target compensation amount of friction force of each joint, the control device is configured to:

[0112] Obtaining friction compensation parameters of the friction compensation model corresponding to each joint;

[0113] The friction target compensation amount of each joint is determined according to the first speed and the friction compensation parameter of each joint.

[0114] In one embodiment, before establishing a master-slave control connection between the master console 20 and the slave operating device 10, the control device obtains the current of the actuator of the input device 23 and the second position and second speed of each joint; and determines the gravity compensation parameters of the gravity compensation model and the elasticity compensation parameters of the elasticity compensation model corresponding to the joints according to the second position of the joints and the current of the actuator; and determines the friction compensation parameters of the friction compensation model corresponding to the joints according to the second speed of the joints and the current of the actuator.

[0115] In one embodiment, before the master-slave control connection is established between the master console 20 and the slave operating device 10, the input device 23 can be automatically operated according to a preset excitation program. During the automatic operation of the input device 23, the control device obtains the current of the actuator and the second position and second speed of each joint. In one embodiment, before the master-slave control connection is established between the master console 20 and the slave operating device 10, the control device (second control device) used to obtain the current of the actuator and the second position and second speed of each joint is different from the control device used to obtain the first position and first speed of each joint of the input device after the master-slave control is established between the master console and the slave operating device. In one embodiment, the control device for obtaining the current of the actuator and the second position and second speed of each joint can be set on the surgical robot or can be an external device.

[0116] In one embodiment, the friction compensation model of each joint can be expressed as:

[0117]

[0118] Among them, k fric is the first adjustment coefficient, Used to calculate the friction target compensation amount, is the velocity of joint i, k cou,i is the Coulomb friction coefficient of joint i, k vis,i is the viscous friction coefficient of joint i, k cou,i and k vis,i It is obtained in advance when establishing the friction compensation model of each joint. Therefore, k of different joints cou,i and k vis,i They can be the same or different, which ensures the independence of the friction compensation models of each joint and improves the accuracy of the friction compensation model.

[0119] In one embodiment, the first adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity modulus of the handle, which can be specifically expressed as follows:

[0120] k fric =f(|v|) (5)

[0121] By establishing a relationship between the first adjustment coefficient and the linear velocity modulus of the handle, the friction compensation amount can be adaptively adjusted according to the linear velocity of the handle. In different linear velocity ranges of the handle, adaptive friction compensation is performed on each joint, and the operating experience and accuracy of the operation will be effectively improved.

[0122] In one embodiment, Figure 7 As shown in FIG. 1 , when the linear speed of the handle is less than the first threshold, the first adjustment coefficient is a first fixed value. When the linear speed of the handle is greater than the first threshold and less than the second threshold, the first adjustment coefficient increases as the linear speed of the handle increases. Figure 7 As shown in (a), the first adjustment coefficient may be linearly related to the linear velocity modulus of the handle, or Figure 7 As shown in (b), the first adjustment coefficient may also be nonlinearly related to the linear velocity modulus of the handle. When the linear velocity of the handle is greater than the second threshold, the first adjustment coefficient is a second fixed value. Based on the above relationship, when the operator is performing fast operation, the friction compensation amount can be increased to improve the lightness of the handle, making the handle more suitable for fast operation. When the operator is performing fine operation, the friction compensation amount can be reduced to improve the stability of the handle, making the handle more suitable for fine operation.

[0123] In one embodiment, the first adjustment coefficient may also be linearly related or nonlinearly related to the angular velocity modulus of the handle. The relationship between the first adjustment coefficient and the angular velocity modulus of the handle may refer to Figure 7 The relationship shown will not be repeated here.

[0124] In one embodiment, the first adjustment coefficient may also be linearly related or nonlinearly related to the linear velocity and angular velocity modulus of the handle. Specifically, each joint of the input device includes a plurality of position joints for adjusting the position of the handle and a plurality of posture joints for adjusting the posture of the handle. The plurality of position joints may be, for example, Figure 6 The base 12, the first arm 13 and the second arm 14 shown in the figure, and the multiple posture joints can be joints in the operating component 15. Among them, the first adjustment coefficients of the multiple position joints are related to the linear velocity of the handle, and the first adjustment coefficients of the multiple posture joints are related to the angular velocity of the handle. In this way, the friction compensation can be made more accurate. The relationship between the first adjustment coefficients of the multiple position joints and the linear velocity of the handle, and the relationship between the first adjustment coefficients of the multiple posture joints and the angular velocity of the handle can be referred to Figure 7 The relationship shown will not be repeated here.

[0125] In one embodiment, in order to prevent the influence of noise when the joint velocity is close to zero, before determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to:

[0126] The first velocity of each joint is filtered.

[0127] In one embodiment, when filtering the first speed of each joint, the control device is configured to:

[0128] Get the absolute value of the velocity of each joint at the current moment;

[0129] When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; when the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment;

[0130] According to the sign and the absolute value of the velocity of the joint, a first velocity of each joint after filtering is determined.

[0131] Specifically, the filtering function of the joint velocity can be expressed as follows:

[0132]

[0133]

[0134] in, is the joint angular velocity at time k+1, threshold is the velocity threshold, η k is the symbol of the joint velocity at time k, η k+1 is the sign of the joint velocity at time k+1. Based on the above filtering function, the sign and absolute value of the joint velocity can be processed separately. When the absolute value of the joint velocity at the current moment is greater than the set threshold, the sign of the joint velocity remains consistent with the current moment, otherwise it remains consistent with the previous moment. That is, when the absolute value of the joint velocity is less than the set threshold, the sign of the joint velocity remains unchanged, and the absolute value of the filtered velocity is the absolute value of the velocity at that moment. The filtering effect of the joint velocity is as follows: Figure 8 As shown, this approach can avoid the compensation direction from jumping back and forth when the joint velocity fluctuates around zero.

[0135] In one embodiment, the compensation model of each joint further includes a damping model, and the control device is further configured to:

[0136] Determine the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determine the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle;

[0137] Applies the amount of damping to the actuator corresponding to each joint.

[0138] The damping amount is related to the linear velocity and angular velocity of the handle or to the first velocity of each joint and the linear velocity and / or angular velocity of the handle, so that the damping effect is adapted to different working conditions of the input device and the stability of the operation is improved.

[0139] In one embodiment, when determining the damping amount of each joint, the control device is configured to:

[0140] Determine the damping base amount of each joint according to the linear velocity and angular velocity of the handle, or determine the damping base amount of each joint according to the first velocity of each joint; determine the second adjustment coefficient of the damping base amount according to the linear velocity and / or angular velocity of the handle;

[0141] The damping base amount of each joint is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

[0142] The linear velocity damping and angular velocity damping of the handle are calculated according to the linear velocity and angular velocity of the handle, and are mapped to the joint space of the input device to obtain the damping base amount of each joint. After determining the damping base amount of the joint, the damping base amount is adaptively adjusted by a second adjustment coefficient determined according to the linear velocity and / or angular velocity of the handle to determine the actual amount of damping applied to the joint, which can improve the adaptability and stability of the input device under different working conditions (such as fast operation or fine operation).

[0143] In one embodiment, the damping model of each joint can be expressed as:

[0144]

[0145]

[0146] Among them, k damp is the second adjustment coefficient. ω is the angular velocity of the handle, v is the linear velocity of the handle, k ω and k v are the damping coefficients of angular velocity and linear velocity, J b is the Jacobian matrix of the input device, Used to calculate the damping base. Therefore, the damping base of each joint is related to the linear velocity and angular velocity of the handle, which can make the calculation of the damping base more accurate.

[0147] Alternatively, the damping model of each joint can also be expressed as:

[0148]

[0149] in, is the velocity of joint i, so the damping base of each joint is related to the first velocity of each joint, which is easy to calculate.

[0150] In one embodiment, the second adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity modulus of the handle, which can be specifically expressed as follows:

[0151] k damp =g(|v|) (11)

[0152] By establishing a relationship between the second adjustment coefficient and the linear velocity and / or angular velocity of the handle, the damping amount can be adaptively adjusted according to the linear velocity and / or angular velocity of the handle. In different linear velocity and / or angular velocity ranges of the handle, damping is adaptively applied to each joint, which effectively improves the operating experience and accuracy of the operation.

[0153] In one embodiment, Fig. 9 As shown in FIG. 1 , when the handle linear velocity is less than the third threshold value, the second adjustment coefficient decreases as the handle linear velocity increases, wherein, Fig. 9 As shown in (a), the second adjustment coefficient is linearly related to the linear velocity modulus of the handle, or, as Fig. 9 As shown in (b), the second adjustment coefficient is nonlinearly related to the linear velocity modulus of the handle; when the linear velocity of the handle is greater than the third threshold, the second adjustment coefficient is a third fixed value. Based on the above relationship, when the operator is performing fast operation, the damping amount can be reduced to improve the lightness of the handle, making the handle more suitable for fast operation; when the operator is performing fine operation, the damping amount can be increased to improve the stability of the handle, making the handle more suitable for fine operation.

[0154] In one embodiment, the second adjustment coefficient may also be linearly or nonlinearly related to the angular velocity modulus of the handle. The relationship between the second adjustment coefficient and the angular velocity modulus of the handle may refer to Fig. 9 The relationship shown will not be repeated here.

[0155] In one embodiment, the second adjustment coefficient may also be linearly or nonlinearly related to the linear velocity and angular velocity module of the handle. Specifically, each joint of the input device includes a plurality of position joints for adjusting the position of the handle and a plurality of posture joints for adjusting the posture of the handle, wherein the second adjustment coefficients of the plurality of position joints are associated with the linear velocity of the handle, and the second adjustment coefficients of the plurality of posture joints are associated with the angular velocity of the handle. In this way, the friction compensation can be made more accurate. The relationship between the second adjustment coefficients of the plurality of position joints and the linear velocity of the handle, and the relationship between the second adjustment coefficients of the plurality of posture joints and the angular velocity of the handle can be referred to. Fig. 9 The relationship shown will not be repeated here.

[0156] By combining the relationship between the first adjustment coefficient and the second adjustment coefficient and the linear velocity and / or angular velocity of the handle, the friction compensation and damping amounts can be adaptively adjusted to improve the adaptability and stability of the input device under different working conditions. For example, when the operator is operating quickly, the friction compensation amount can be increased and the damping amount can be reduced, which can improve the lightness of the handle and make the handle more suitable for fast operation. When the operator is performing fine operation, the friction compensation amount can be reduced and the damping amount can be increased, which can improve the stability of the handle and make the handle more suitable for fine operation.

[0157] In one embodiment, the control device is configured to:

[0158] The sum of the gravity compensation, elastic force compensation, friction compensation and damping of each joint is obtained as the target torque of each joint;

[0159] The target torque of each joint is applied to the actuator corresponding to each joint.

[0160] By calculating the sum of each compensation amount and damping amount, the target torque of each joint is output to achieve torque compensation of the joint.

[0161] The technical solution of this application has the following technical effects:

[0162] 1. The torque compensation of each joint is realized by pure control, which is more flexible and adaptable than the method of using counterweight or spring, and there is no need to adjust the mechanical structure before use;

[0163] 2. The compensation model is composed of the compensation models of each driving joint. The compensation model of a single joint includes the gravity compensation model, the elastic compensation model and the friction compensation model. The model is more accurate.

[0164] 3. Friction compensation is performed on each joint, and the amount of friction compensation is related to the speed of each joint and the linear speed and / or angular speed of the handle, which can better improve the operating experience of the input device;

[0165] 4. The adaptive damping amount has been added. Together with the friction compensation amount, it can better improve the stability of the handle during use. By adaptively adjusting the friction compensation amount and damping amount according to the movement speed of the handle, it can not only ensure the lightness of the handle during fast operation, but also ensure the stability of the handle during fine operation;

[0166] 5. Use the filter function of joint velocity to improve the stability of friction compensation.

[0167] The present application also provides a control method for a surgical robot, the surgical robot comprising a main control console, a slave operating device and a control device, the main control console comprising an input device, the slave operating device being configured to install a surgical instrument, the input device being used to control the movement of the surgical instrument, the input device comprising a plurality of joints and a handle, the handle being connected to the proximal joint of the plurality of joints. Fig.10 As shown, the control method includes:

[0168] Step S1, after establishing master-slave control between the master control console and the slave operating device, obtaining the first position and first speed of each joint of the input device;

[0169] Step S2, determining a gravity compensation amount and an elastic force compensation amount of each joint according to the first position of each joint, and determining a friction force compensation amount of each joint according to the first speed of each joint;

[0170] Step S3, applying the gravity compensation amount, the elastic force compensation amount and the friction force compensation amount to the actuator corresponding to each joint.

[0171] In one embodiment, each joint has its own corresponding compensation model, which includes a gravity compensation model, an elastic force compensation model and a friction force compensation model, and the compensation models of different joints are relatively independent.

[0172] In one embodiment, in step S2, determining the gravity compensation amount of each joint according to the first position of each joint includes:

[0173] Acquire gravity compensation parameters of the gravity compensation model corresponding to each joint, wherein the gravity compensation parameters are determined according to the current of the actuator and the second position and the second speed of each joint before establishing the master-slave control between the master console and the slave operating device;

[0174] The gravity compensation amount of each joint is determined according to the first position of each joint and the gravity compensation parameter.

[0175] In one embodiment, in step S2, determining the elastic force compensation amount of each joint according to the first position of each joint includes:

[0176] Acquiring elastic force compensation parameters of the elastic force compensation model corresponding to each joint, wherein the elastic force compensation parameters are determined according to the second position and the current of the actuator before establishing the master-slave control between the master console and the slave operating device;

[0177] The elastic force compensation amount of each joint is determined according to the first position of each joint and the elastic force compensation parameter.

[0178] In one embodiment, before determining the friction compensation amount of each joint according to the first speed of each joint, the method further includes:

[0179] The first velocity of each joint is filtered.

[0180] In one embodiment, when filtering the first speed of each joint, the control device is configured to:

[0181] Get the absolute value of the velocity of each joint at the current moment;

[0182] When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; when the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment;

[0183] According to the sign and the absolute value of the velocity of the joint, a first velocity of each joint after filtering is determined.

[0184] In one embodiment, Fig.11 As shown, in step S2, the friction compensation amount of each joint is determined according to the first speed of each joint, including:

[0185] Step S21, determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint;

[0186] Step S22, determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle.

[0187] In one embodiment, determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint includes:

[0188] Determine the Jacobian matrix of the posture of the input device at the current moment according to the first position of each joint;

[0189] The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

[0190] In one embodiment, the friction compensation amount of each joint is determined according to the first speed of each joint and the linear speed and / or angular speed of the handle, including:

[0191] Determine a target compensation amount of friction force according to a first velocity of the joint;

[0192] Determine a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle;

[0193] The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

[0194] In one embodiment, the first adjustment coefficient is linearly or nonlinearly related to the velocity modulus of the handle, or the first adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle.

[0195] In one embodiment, determining the target compensation amount of friction force of each joint includes:

[0196] Obtaining friction compensation parameters of the friction compensation model corresponding to each joint, wherein the friction compensation parameters are determined according to the second speed and the current of the actuator before establishing the master-slave control between the master console and the slave operating device;

[0197] The friction target compensation amount of each joint is determined according to the first speed of each joint and the friction compensation parameter.

[0198] In one embodiment, the method further comprises:

[0199] Determine the linear velocity and angular velocity of the handle according to the first velocity of each joint;

[0200] Determine the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determine the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle;

[0201] Applies the amount of damping to the actuator corresponding to each joint.

[0202] In one embodiment, determining the damping amount of each joint includes:

[0203] Determine the damping base amount of each joint according to the linear velocity and angular velocity of the handle, or determine the damping base amount of each joint according to the first velocity of each joint; and determine the second adjustment coefficient of the damping base amount according to the linear velocity and / or angular velocity of the handle;

[0204] The damping base amount of the handle is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

[0205] In one embodiment, the second adjustment coefficient is linearly or nonlinearly related to the velocity modulus of the handle, or the second adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle.

[0206] In one embodiment, the method further comprises:

[0207] The sum of the gravity compensation, elastic force compensation, friction compensation and damping of each joint is obtained as the target torque of each joint;

[0208] The target torque of each joint is applied to the actuator corresponding to each joint.

[0209] The implementation process of the above steps is the same as the working process of the above control device, and will not be repeated here.

[0210] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the surgical robot as described above are implemented.

[0211] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0212] The various technical features of the above-described embodiments and the combination of any technical features are universal, and are applicable not only to single-hole surgical robots but also to multi-hole surgical robots. Furthermore, they will neither affect nor limit their use in robotic arms with different configurations.

[0213] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A surgical robot, characterized in that: The surgical robot comprises a main console, a slave operating device and a control device, wherein the main console comprises an input device, the slave operating device is configured to install a surgical instrument, the input device is used to control the movement of the surgical instrument, the input device comprises a plurality of joints and a handle, the handle is connected to the most proximal joint of the plurality of joints, and the control device is configured to: After establishing master-slave control between the master control console and the slave operating device, obtaining a first speed of each joint of the input device; Determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint; Determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle; The friction force compensation amount is applied to the actuator corresponding to each of the joints.

2. The surgical robot according to claim 1, characterized in that: Before determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to: The first speed of each joint is filtered.

3. The surgical robot according to claim 2, characterized in that: When filtering the first speed of each joint, the control device is configured to: Obtaining the absolute value of the velocity of each joint at the current moment; When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; When the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment; According to the sign and the absolute value of the velocity of the joint, the first velocity of each joint after filtering is determined.

4. The surgical robot according to claim 1, characterized in that: When determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to: Determine a Jacobian matrix of the posture of the input device at the current moment according to the first positions of the joints; The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

5. The surgical robot according to claim 1, characterized in that: When determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle, the control device is configured to: determining a target compensation amount of friction force according to a first speed of the joint; Determining a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle; The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

6. The surgical robot according to claim 5, characterized in that: The first adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity modulus of the handle, or the first adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity and angular velocity modulus of the handle.

7. The surgical robot according to claim 5, characterized in that: The joints include multiple position joints for adjusting the position of the handle and multiple posture joints for adjusting the posture of the handle. The first adjustment coefficients of the multiple position joints are associated with the linear velocity of the handle, and the first adjustment coefficients of the multiple posture joints are associated with the angular velocity of the handle.

8. The surgical robot according to claim 6 or 7, characterized in that: When the linear speed of the handle is less than a first threshold, the first adjustment coefficient is a first fixed value; when the linear speed of the handle is greater than the first threshold and less than a second threshold, the first adjustment coefficient increases as the linear speed of the handle increases; when the linear speed of the handle is greater than the second threshold, the first adjustment coefficient is a second fixed value.

9. The surgical robot according to claim 5, characterized in that: When determining the target compensation amount of friction force of each joint, the control device is configured to: Acquiring friction compensation parameters of the friction compensation model corresponding to each joint, wherein the friction compensation parameters are determined according to the current of the actuator and the second speed of each joint before establishing master-slave control between the master console and the slave operating device; The friction target compensation amount of each joint is determined according to the first speed of each joint and the friction compensation parameter.

10. The surgical robot according to any one of claims 1 to 9, characterized in that: The control device is also configured to: Determining the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle; The damping amount is applied to the actuator corresponding to each of the joints.

11. The surgical robot according to claim 10, characterized in that: When determining the damping amount of each joint, the control device is configured to: Determine the damping base amount of each joint according to the linear velocity and angular velocity of the handle, or determine the damping base amount of each joint according to the first velocity of each joint; determine the second adjustment coefficient of the damping base amount according to the linear velocity and / or angular velocity of the handle; The damping base amount of each joint is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

12. The surgical robot according to claim 11, characterized in that: The second adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity modulus of the handle, or the second adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity and angular velocity modulus of the handle.

13. The surgical robot according to claim 12, characterized in that: When the linear speed of the handle is less than a third threshold, the second adjustment coefficient decreases as the linear speed of the handle increases; when the linear speed of the handle is greater than the third threshold, the second adjustment coefficient is a third fixed value.

14. The surgical robot according to claim 10, characterized in that: The control device is also configured to: After establishing master-slave control between the master console and the slave operating device, obtaining the first position of each joint; According to the first position of each joint, a gravity compensation amount and an elastic force compensation amount of each joint are determined.

15. The surgical robot according to claim 14, characterized in that: The control device is configured to: Obtaining the sum of the gravity compensation amount, elastic force compensation amount, friction force compensation amount and damping amount of each joint as the target torque of each joint; The target torque of each joint is applied to the actuator corresponding to each joint.

16. A method for controlling a surgical robot, characterized in that: The surgical robot comprises a main console, a slave operating device and a control device, wherein the main console comprises an input device, the slave operating device is configured to install a surgical instrument, the input device is used to control the movement of the surgical instrument, the input device comprises a plurality of joints and a handle, the handle is connected to the most proximal joint of the plurality of joints, and the control method comprises: After establishing master-slave control between the master control console and the slave operating device, obtaining a first speed of each joint of the input device; Determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint; Determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle; The friction force compensation amount is applied to the actuator of each joint.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the control method of the surgical robot as claimed in claim 16 are implemented.

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