A surgical robot, control method and computer readable storage medium

Abstract

The application relates to a surgical robot, a control method and a computer readable storage medium. The surgical robot comprises a master control console, a slave operating device and a control device. The master control console comprises an input device. The slave operating device is configured to mount 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. The control device is configured to: acquire 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; and apply the friction compensation amount to the actuator corresponding to each joint. According to the technical scheme of the application, the friction compensation is performed on each joint. The friction compensation amount is related to the speed of each joint and the linear speed and / or angular speed of the handle, so that the operation experience of the input device can be better improved.

Description

TECHNICAL FIELD

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

[0002] Minimally invasive surgery refers to a surgical procedure performed in the body cavity of a human body by using modern medical instruments such as laparoscopes and thoracoscopes and related equipment. Compared with the traditional surgical procedure, minimally invasive surgery has the advantages of small trauma, light pain and fast recovery. With the progress of science and technology, minimally invasive surgical robot technology has gradually matured and is widely used. The minimally invasive surgical robot usually includes a master control console and a slave operating device. The master control console includes a handle. A doctor sends control commands to the slave operating device by operating the handle to control the surgical instrument on the slave operating device to perform corresponding actions.

[0003] When the doctor manipulates the handle, torque compensation is performed on the joints connected to the handle, so that the doctor's arm fatigue caused by the need to overcome additional resistance such as gravity when operating the handle can be avoided or alleviated, and the doctor's operation experience can be improved. However, the prior art mainly compensates for gravity and does not consider the influence of friction, resulting in unsatisfactory compensation effect. SUMMARY

[0004] To solve the above technical problems, the present application provides a surgical robot, a control method and a computer readable storage medium. By compensating for the friction of each joint, and the friction compensation amount being related to the speed of each joint and the linear speed and / or angular speed of the handle, the operation experience of the input device can be better improved.

[0005] To solve the above technical problems, the present application provides a surgical robot, the surgical robot comprising a master control console, a slave operating device and a control device, the master 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 nearest joint of the plurality of joints, the control device being configured to:

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

[0007] According to the first speed of each joint, determining the linear speed and / or angular speed of the handle;

[0008] According to the first speed of each joint and the linear speed and / or angular speed of the handle, determining the friction compensation amount of each joint;

[0009] Applying the friction compensation amount to the actuator corresponding to each joint.

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

[0011] filtering the first velocities of the joints.

[0012] In one embodiment, when filtering the first velocities of the joints, the control device is configured to:

[0013] obtaining absolute values of the velocities of the joints at the current time;

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

[0015] determining the filtered first velocities of the joints according to the signs of the velocities of the joints and the absolute values of the velocities.

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

[0017] determining a Jacobian matrix of the pose of the input device at the current time according to the first positions of the joints;

[0018] determining the linear and / or angular velocity of the handle according to the Jacobian matrix and the first velocities of the joints.

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

[0020] determining a target friction compensation amount according to the first velocities of the joints;

[0021] determining a first adjustment coefficient of the joints according to the linear and / or angular velocity of the handle;

[0022] determining the friction compensation amount according to the first adjustment coefficient and the target friction compensation amount.

[0023] In one embodiment, the first adjustment coefficient has a linear or nonlinear relationship with the length of the linear velocity of the handle, or the first adjustment coefficient has a linear or nonlinear relationship with the lengths of the linear and angular velocities of the handle.

[0024] In one embodiment, the joints include a plurality of position joints for adjusting the position of the handle and a plurality of orientation joints for adjusting the orientation of the handle, the first adjustment coefficient of the plurality of position joints being associated with linear velocity of the handle, the first adjustment coefficient of the plurality of orientation joints being associated with angular velocity of the handle.

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

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

[0027] obtain a friction compensation parameter corresponding to a friction compensation model of the joint, wherein the friction compensation parameter is determined according to the current of the actuator and the second velocity of each joint before master-slave control is established between the master console and the slave operating device;

[0028] determine the target compensation amount of friction of each joint according to the first velocity of each joint and the friction compensation parameter.

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

[0030] determine the damping amount of each joint according to the linear velocity and the 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 the angular velocity of the handle;

[0031] apply the damping amount to the actuator corresponding to each joint.

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

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

[0034] adjust the damping base amount of each joint 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 a linear speed module of the handle, or the second adjustment coefficient is linearly or nonlinearly related to a linear speed module and an angular speed module of the handle.

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

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

[0038] After master-slave control is established between the master control console and the slave operating device, first positions of the joints are obtained;

[0039] According to the first positions of the joints, gravity compensation amounts and elastic force compensation amounts of the joints are determined.

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

[0041] A sum of the gravity compensation amounts, the elastic force compensation amounts, the friction force compensation amounts and the damping amounts of the joints is obtained as target torques of the joints;

[0042] The target torques of the joints are applied to actuators corresponding to the joints.

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

[0044] After master-slave control is established between the master control console and the slave operating device, first speeds of the joints of the input device are obtained;

[0045] According to the first speeds of the joints, a linear speed and / or an angular speed of the handle are determined;

[0046] According to the first speeds of the joints and the linear speed and / or the angular speed of the handle, friction force compensation amounts of the joints are determined;

[0047] The friction force compensation amounts are applied to actuators of the joints.

[0048] The application further provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the steps of the control method of the surgical robot.

[0049] The surgical robot, the control method and the computer readable storage medium provided by the application, the surgical robot comprises a master control console, a slave operating device and a control device, the master control 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 a distal joint of the plurality of joints, and the control device is configured to: acquire 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; and apply the friction compensation amount to the actuator corresponding to each joint. The technical solution of the application compensates the friction of 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, so that the operation experience of the input device can be better improved. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

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

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

[0056] Figure 7 FIG. 7 is a schematic diagram of the relationship between the first adjustment coefficient and the linear speed of the handle according to an embodiment;

[0057] Figure 8 FIG. 8 is a comparison diagram of the effect before and after filtering the speed of a joint;

[0058] Figure 9(a) and (b) are respectively a schematic diagram of the relationship between the second adjustment coefficient and the linear speed of the handle according to an embodiment;

[0059] Figure 10 is a flowchart of a control method of a surgical robot according to an embodiment;

[0060] Figure 11 is another flowchart of a control method of a surgical robot according to an embodiment. DETAILED DESCRIPTION

[0061] For the purpose of promoting an understanding of the application, the application will be described in greater detail below with reference to the drawings. The preferred embodiments of the application are shown in the drawings. However, the application can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the application to those skilled in the art.

[0062] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can also be present. The term "comprises" as used herein is intended to include one or more elements, components, steps, or combinations thereof. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. The term "each" as used herein means one and more than one.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. In the present application, "each" includes one and more than one.

[0064] A surgical robot according to an embodiment of the present application is shown in FIG. 1. Figure 1As shown, the surgical robot includes a master console 20, a slave operating device 10, and a control device. The master console 20 is remotely connected to the slave operating device 10, and a surgeon S can remotely operate the slave operating device 10 on the master console 20. The master console 20 is configured to send a control signal to the slave operating device 10 according to the operation of the surgeon S and display an image acquired by the slave operating device 10. The surgeon S can observe a three-dimensional image of the patient's body provided by the image system through the master console 20. The surgeon S can control the slave operating device 10 to perform an operation, such as surgery or image acquisition, by observing the three-dimensional image of the patient's body.

[0065] The slave operating device 10 includes a plurality of mechanical arms 11. In an embodiment, the surgical robot further includes a gas blowing device, a lumen set, and one or more cannulas (not shown in the figure). The lumen set fluidly connects the cannula to the gas blowing device. The one or more cannulas are connected to the distal end of the plurality of mechanical arms 11 and are inserted into the body cavity of the patient P lying on the operating table T.

[0066] In an embodiment, the surgeon S can control the working mode of the gas blowing device through the master console 20, such as injecting gas in the gas source into the body cavity of the patient P to form an artificial pneumoperitoneum or sucking gas from the body cavity of the patient P. The assistant A installs or replaces the surgical instrument 40 on the mechanical arm 11 according to the surgical condition. The surgeon S, the assistant A, and the anesthetist B form a basic surgical team. The surgical instrument 40 can be a surgical instrument for performing a surgical operation, such as an electric cauter, a forceps, a stapler, an ultrasonic knife, etc., or an image device (such as an endoscope) for acquiring an image or other surgical tools.

[0067] The master console 20 is also remotely connected to an electronic equipment cart 30, which is remotely connected to the slave operating device 10. The electronic equipment cart 30 can include an energy generating device, an image signal processing device, and the above-mentioned gas blowing device, etc. In the embodiment, the master console 20 remotely communicates with the slave operating device 10 and the electronic equipment cart 30 in a wired Ethernet communication mode, but the remote communication is not limited to the wired Ethernet communication, and can be other wired modes, such as but not limited to serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication modes, such as but not limited to WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0068] In an embodiment, as shown in FIG. 2, the master console 20 includes a display device 21, a control device 22, and a communication device 23. The display device 21 is configured to display the image acquired by the slave operating device 10. The control device 22 is configured to send a control signal to the slave operating device 10 according to the operation of the surgeon S. The communication device 23 is configured to remotely communicate with the slave operating device 10 and the electronic equipment cart 30. Figure 2As shown, the main control 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. The display device 21 displays images acquired by the imaging system. The armrest 22 provides support for the operator's arm and / or hand, allowing for more comfortable operation of the input device 24. The observation device 21 is used to observe the images displayed on the display device 21. Depending on actual needs, the armrest 22 or the observation device 21 can be omitted, allowing for direct observation. The operator controls the movement of surgical instruments on the secondary operating device 10 via the input device 23. The control signal processing system 25 of the main control console 20 processes the input signals from the input device 22 and sends control commands to the secondary operating device 10. The secondary operating device 10 responds to the control commands from the main control console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located within the secondary operating device 10, for example, in its base. The control signal processing system 25 can be a single device integrated with the aforementioned control device.

[0069] In some embodiments, such as Figure 3 As shown, the operating device 10 includes multiple robotic arms 11 and a controller 250. The multiple robotic arms 11 can have the same configuration or different configurations, and multiple surgical instruments are mounted on the multiple robotic arms 11. Specifically, the first instrument 310, the second instrument 320, the third instrument 330, and the imaging device 340 among the multiple surgical instruments are detachably mounted on the multiple robotic arms 11. In some other embodiments, the instruments and the imaging device among the multiple surgical instruments can be interchanged with the mounted robotic arms 11.

[0070] The controller 250 is configured to control the joint movements of the drive robotic arm 11 and the movements of surgical instruments in response to control signals from the main control console 20 or the slave operating device 10. The controller 250 may be housed in the base of the slave operating device 10; in some embodiments, the controller 250 may also be housed on each of the robotic arms 11. It is understood that the controller 250 may also be housed in the main control console 20. In some embodiments, the controller 250 and the control signal processing system 25 described above are the same control device, or the controller 250 and the control signal processing system 25 are different control devices respectively housed in the slave operating device 10 and the main control console 20, or the controller 250 and the aforementioned control device may be a single device.

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

[0072] As shown in Figure 4 , the instrument 40 includes an instrument cassette 41, an elongated 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 operating device 10, the instrument cassette 41 has a transmission device (not shown) therein, the transmission device includes a plurality of transmission units (e.g., winches), the plurality of transmission units are connected to the end effector 43 through a plurality of cables, the plurality of transmission units are respectively coupled to a plurality of driving units (e.g., motors) of the mechanical arm 11 and are driven by the driving units. The driving units receive control instructions from a control device and drive the end effector 43 to move by driving the transmission units to move according to the control instructions, the control device can be arranged in the master console 20 or in the slave operating device 10. For example, the driving units drive the transmission units to rotate to wind / unwind the cables to control the end effector 43 to move. The end effector 43 can perform actions of a plurality of Cartesian degrees of freedom, such as translation (including lateral translation and / or longitudinal translation), pitch, yaw, etc. It can be understood that the translation and the pitch, the translation and the yaw can move independently or simultaneously. The end effector 43 is used to perform operations related to surgical operations, and the end effector 43 can be an electrocautery, a forceps, a stapler, a scissors, an ultrasonic knife, a camera, an imaging device, etc. according to different requirements of the surgical operations, wherein the camera or the imaging device is used to acquire images inside the human body.

[0073] Please refer to Figure 5 and Figure 6 , the input device 23 can include a connecting piece 101, a base 12, an operating assembly 15, and at least one driving arm, the connecting piece 101, the base 12, the at least one driving arm, and the operating assembly 15 are rotationally connected in sequence. The end of the connecting piece 101 away from the base 12 is connected to the relevant components of the master operating table 120. The operating assembly 15 is configured to receive operations of an operator, and the operating assembly 15 can include a handle 151, and a user performs relevant operations on the input device 23 by grasping the handle 151 to send control commands to the slave operating device 10.

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

[0075] This embodiment uses two drive arms as an example. The two drive arms are the first arm 13 and the second arm 14. The second arm 14 is rotatably connected to the first arm 13. The end of the first arm 13 away from the second arm 14 is rotatably connected to the base 12. The end of the second arm 14 away from the first arm 13 is rotatably connected to the operating component 15. The rotation of the first arm 13 and the second arm 14 provides the operating component 15 with at least two degrees of freedom of movement.

[0076] In this embodiment, the base 12 rotates relative to the connector 101 along a first axis A1, the first arm 13 rotates relative to the base 12 along a second axis A2, and the second arm 14 rotates relative to the first arm 13 along a third axis A3. The first axis A1 is perpendicular to the second axis A2 and the third axis A3, and the second axis A2 and the third axis A3 are parallel, thus allowing the rotation of the base 12, the first arm 13, and the second arm 14 to enable the movement of the operating component 15 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 torque that balances the gravitational torque 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 rotating parts 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 first rotating portion and a second rotating portion. For example, the first rotating portion is disposed on the first mounting plate 123, and the second rotating portion is disposed on the arm turntable 132 of the first arm 13. The first elastic mechanism 202 is coupled between the body turntable of the base 12 and the first rotating mechanism 201 to generate a torque in the first degree of freedom that balances the gravitational torque of the parallelogram mechanism, allowing the user to easily drag the input device 23 in the first degree of freedom.

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

[0080] obtain the first position and the first speed of each joint of the input device;

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

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

[0083] The elastic force compensation amount is used to compensate for the spring force of the physical spring in the mechanical structure of the input device, solving the problem that the mechanical spring cannot compensate for gravity in any posture. By adding the friction force 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 force compensation on each joint of the input device, the compensation effect can be improved.

[0084] In the present embodiment, each joint has a corresponding compensation model, and the compensation model includes a gravity compensation model, an elastic force compensation model and a friction force 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, redundant terms caused by coupling and invalid terms caused by special configurations can be effectively eliminated, the compensation model is more accurate, and the calculation amount of the solution is smaller.

[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] obtain the gravity compensation parameter of the gravity compensation model corresponding to each joint;

[0087] determine the gravity compensation amount of each joint 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] wherein F grav,j is the gravity of the connecting rod j, is the Jacobian vector of joint i, and τ grav,iis the torque of the gravity of all the links on joint i, n represents the degree of freedom of the master manipulator, H j is the component related to the joint angle, m j is the mass of the link, p 0,j is the mass center position of the link. Thus, formula (2) can express that the gravity wrench of a single link in the joint coordinate system can be decomposed into the product of two components, i.e., the configuration component related to the joint position and the gravity parameter component related to the mass and the mass center, and the gravity parameter component is determined when the gravity compensation model is established, i.e., 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] obtain the elastic force compensation parameter corresponding to the elastic force compensation model of each joint;

[0094] determine the elastic force compensation amount of each joint 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] wherein, is the velocity of joint i. a i and b i are parameters related to the spring force, which are parameters determined when the elastic force compensation model is established.

[0098] In one embodiment, when determining the friction force compensation amount of each joint according to the first velocity 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] determine the friction force compensation amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0101] wherein the linear velocity is the translational velocity of the handle, which is irrelevant to the attitude of the handle, and the angular velocity of the handle is the attitude change velocity of the handle. By performing the friction force compensation on each joint, the operation experience of the input device can be better improved, and meanwhile, the friction force 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 compensation effect of the friction force is adapted to different working conditions of the input device, and the stability of the operation is improved.

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

[0103] determine a Jacobian matrix of the pose of the input device at the current time according to the first positions of the joints;

[0104] determine the linear and / or angular velocity of the handle according to the Jacobian matrix and the first velocities of the joints.

[0105] wherein the Jacobian matrix is used to map the velocity in the joint space to the velocity in the operational space, and the Jacobian matrix has m rows and n columns: m is the degree of freedom of the operational 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 force compensation amount of the joints according to the first velocities of the joints and the linear and / or angular velocity of the handle, the control device is configured to:

[0107] determine a target friction force compensation amount of the joints according to the first velocities of the joints;

[0108] determine a first adjustment coefficient of the joints according to the linear and / or angular velocity of the handle;

[0109] determine the friction force compensation amount of the joints according to the first adjustment coefficient and the target friction force compensation amount.

[0110] wherein after determining the target friction force compensation amount of the joints, the actual friction force compensation amount of the joints is determined by adaptively adjusting the target friction force compensation amount according to the first adjustment coefficient determined according to the linear and / or angular velocity of the handle, so as to 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 friction force compensation amount of the joints, the control device is configured to:

[0112] obtain a friction force compensation parameter corresponding to a friction force compensation model of the joints;

[0113] determine the target friction force compensation amount of the joints according to the first velocities of the joints and the friction force compensation parameter.

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

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

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

[0117]

[0118] wherein k fric is a first adjustment coefficient, for calculating the target compensation amount of the friction force, is the speed 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 In one embodiment, the Coulomb friction coefficient k cou,i and the viscous friction coefficient k vis,i may be the same or different, which ensures the mutual independence of the friction force compensation models of each joint and improves the accuracy of the friction force compensation model.

[0119] In one embodiment, the first adjustment coefficient has a linear relationship or a nonlinear relationship with the linear speed module 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 amount of friction compensation 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, which effectively improves the operating experience and the precision of operation.

[0122] In one embodiment, such as Figure 7 As shown, when the linear velocity of the controller is less than a first threshold, the first adjustment coefficient is a first fixed value. When the linear velocity of the controller is greater than the first threshold but less than a second threshold, the first adjustment coefficient increases with the increase of the linear velocity of the controller, where, for example... Figure 7 As shown in (a), the first adjustment coefficient can be linearly related to the linear velocity modulus of the handle, or as... Figure 7 As shown in (b), the first adjustment coefficient can also have a non-linear relationship with the linear velocity modulus of the handle. When the linear velocity of the handle is greater than the second threshold, the first adjustment coefficient becomes a second fixed value. Based on the above relationship, when the operator is operating quickly, the friction compensation can be increased to improve the handle's lightness and make it more suitable for rapid operation; when the operator is operating with precision, the friction compensation can be decreased to improve the handle's stability and make it more suitable for precision operation.

[0123] In one embodiment, the first adjustment coefficient may also have a linear or non-linear relationship with the angular velocity modulus of the handle. The relationship between the first adjustment coefficient and the angular velocity modulus of the handle can be referenced. Figure 7 The relationships shown are not elaborated further.

[0124] In one embodiment, the first adjustment coefficient may also be linearly or non-linearly related to the linear velocity and angular velocity magnitude of the handle. Specifically, each joint of the input device includes multiple position joints for adjusting the handle position and multiple attitude joints for adjusting the handle posture. The multiple position joints may be, for example, [missing information - likely related to the previous embodiment]. Figure 6 The base 12, first arm 13, and second arm 14 shown can all have multiple posture joints that are joints within the operating assembly 15. 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. This allows for more precise friction compensation. 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 found in [reference needed]. Figure 7 The relationships shown are not elaborated further.

[0125] In one embodiment, to prevent noise effects when the joint speed is close to zero, the control device is configured to: before determining the linear speed and / or angular speed of the handle based on the first speed of each joint.

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

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

[0128] obtain an absolute value of the speed of each joint at the current time;

[0129] when the absolute value of the speed of the joint is greater than or equal to a preset threshold, the sign of the speed of the joint is consistent with the sign of the speed at the current time; when the absolute value of the speed of the joint is less than the preset threshold, the sign of the speed of the joint is consistent with the sign of the speed at the last time;

[0130] determine the filtered first speed of each joint according to the sign of the speed of the joint and the absolute value of the speed.

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

[0132]

[0133]

[0134] wherein, is the joint angular velocity at the k+1 time, threshold is the speed threshold, η k is the joint speed sign at the k time, η k+1 is the joint speed sign at the k+1 time. Based on the above filtering function, the sign and the absolute value of the joint speed can be processed separately. When the absolute value of the current time speed of the joint is greater than the set threshold, the sign of the joint speed is consistent with the current time, otherwise it is consistent with the last time, that is, when the absolute value of the speed of the joint is less than the set threshold, the sign of the joint speed remains unchanged, and the absolute value of the filtered speed is the absolute value of the speed at the time. The filtering effect of the joint speed is shown in Figure 8 , and this method can avoid the back and forth jumping of the compensation direction when the joint speed 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 speed and angular speed of the handle, or determine the damping amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle;

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

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

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

[0140] According to the linear speed and angular speed of the handle, the damping base amount of each joint is determined, or according to the first speed of each joint, the damping base amount of each joint is determined; and according to the linear speed and / or angular speed of the handle, a second adjustment coefficient of the damping base amount is determined.

[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 speed damping and angular speed damping of the handle are calculated according to the linear speed and angular speed of the handle, and are mapped to the joint space of the input device to obtain the damping base amount of each joint. After the damping base amount of the joint is determined, the actual application amount of the damping to the joint is determined by adaptively adjusting the damping base amount according to the second adjustment coefficient determined according to the linear speed and / or angular speed of the handle, 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 represented as:

[0144]

[0145]

[0146] wherein k damp is the second adjustment coefficient, ω is the angular speed of the handle, v is the linear speed of the handle, k ω and k v are the damping coefficients of the angular speed and the linear speed respectively, J b is the Jacobian matrix of the input device, for calculating the damping base amount. Thus, the damping base amount of each joint is associated with the linear speed and angular speed of the handle, which can make the calculation of the damping base amount more accurate.

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

[0148]

[0149] wherein, is the speed of joint i, so that the damping base amount of each joint is associated with the first speed of each joint, and the calculation is simple.

[0150] In one embodiment, the second adjustment coefficient has a linear or non-linear 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 applied adaptively to each joint, which will effectively improve the operating experience and the accuracy of operation.

[0153] In one embodiment, such as Figure 9 As shown, when the controller's linear velocity is less than the third threshold, the second adjustment coefficient decreases as the controller's linear velocity increases, where, for example... Figure 9 As shown in (a), the second adjustment coefficient is linearly related to the linear velocity modulus of the handle, or, as... Figure 9 As shown in (b), the second adjustment coefficient has a non-linear relationship with the linear velocity modulus of the handle; when the linear velocity of the handle is greater than the third threshold, the second adjustment coefficient becomes the third fixed value. Based on the above relationship, when the operator is operating quickly, the damping can be reduced to improve the handle's lightness, making the handle more suitable for rapid operation; when the operator is operating with precision, the damping can be increased to improve the handle's stability, making the handle more suitable for precision operation.

[0154] In one embodiment, the second adjustment coefficient may also have a linear or non-linear relationship with the angular velocity modulus of the handle. The relationship between the second adjustment coefficient and the angular velocity modulus of the handle can be referenced. Figure 9 The relationships shown are not elaborated further.

[0155] In one embodiment, the second adjustment coefficient may also be linearly or non-linearly related to the linear velocity and angular velocity of the handle. Specifically, each joint of the input device includes multiple position joints for adjusting the handle's position and multiple posture joints for adjusting the handle's attitude. The second adjustment coefficients of the multiple position joints are related to the linear velocity of the handle, and the second adjustment coefficients of the multiple posture joints are related to the angular velocity of the handle. This allows for more precise friction compensation. The relationship between the second adjustment coefficients of the multiple position joints and the linear velocity of the handle, and the relationship between the second adjustment coefficients of the multiple posture joints and the angular velocity of the handle, can be found in [reference needed]. Figure 9 The relationships shown are not elaborated further.

[0156] By combining the first adjustment coefficient and the relationship between the second adjustment coefficient and the linear speed and / or angular speed of the handle, the friction compensation amount and the damping amount 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 to improve the lightness of the handle, making the handle more suitable for quick operation. When the operator is operating finely, the friction compensation amount can be reduced and the damping amount can be increased to improve the stability of the handle, making the handle more suitable for fine operation.

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

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

[0159] Apply the target torque of each joint 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, and torque compensation of the joint is realized.

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

[0162] 1. The torque compensation of each joint is realized by a pure control method, which has high flexibility and strong adaptability compared to the method of using counterweights or springs, and does not require adjustment of the mechanical structure before use;

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

[0164] 3. Friction compensation is performed 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;

[0165] 4. The damping amount is adaptively adjusted, which works together with the friction compensation amount to better improve the stability of the handle during use. By adaptively adjusting the friction compensation amount and the damping amount according to the movement speed of the handle, the lightness of the handle during quick operation can be ensured, and the stability of the handle during fine operation can also be ensured;

[0166] 5. The filter function of the joint speed is used to improve the stability of the friction compensation.

[0167] The application also provides a control method of a surgical robot. The surgical robot comprises a master control console, a slave operating device and a control device. The master control console comprises an input device. The slave operating device is configured to mount 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 connected to the most proximal joint of the plurality of joints. As shown in Figure 10 The control method comprises the following steps:

[0168] In step S1, after the master-slave control is established between the master control console and the slave operating device, the first positions and the first speeds of the joints of the input device are obtained.

[0169] In step S2, the gravity compensation amount and the elastic force compensation amount of each joint are determined according to the first positions of the joints, and the friction force compensation amount of each joint is determined according to the first speeds of the joints.

[0170] In step S3, the gravity compensation amount, the elastic force compensation amount and the friction force compensation amount are applied to the actuators corresponding to the joints.

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

[0172] In step S2, the determination of the gravity compensation amount of each joint according to the first positions of the joints comprises the following steps:

[0173] The gravity compensation parameters corresponding to the gravity compensation model of each joint are obtained. The gravity compensation parameters are determined according to the current of the actuator and the second positions and the second speeds of the joints before the master-slave control is established between the master control console and the slave operating device.

[0174] The gravity compensation amount of each joint is determined according to the first positions of the joints and the gravity compensation parameters.

[0175] In step S2, the determination of the elastic force compensation amount of each joint according to the first positions of the joints comprises the following steps:

[0176] The elastic force compensation parameters corresponding to the elastic force compensation model of each joint are obtained. The elastic force compensation parameters are determined according to the second positions and the current of the actuator before the master-slave control is established between the master control console and the slave operating device.

[0177] The elastic force compensation amount of each joint is determined according to the first positions of the joints and the elastic force compensation parameters.

[0178] In an embodiment, before the determination of the friction force compensation amount of each joint according to the first speeds of the joints, the method further comprises the following steps:

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

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

[0181] obtain the absolute value of the speed of each joint at the current time;

[0182] when the absolute value of the speed of the joint is greater than or equal to a preset threshold, the sign of the speed of the joint is consistent with the sign of the speed at the current time; when the absolute value of the speed of the joint is less than the preset threshold, the sign of the speed of the joint is consistent with the sign of the speed at the last time;

[0183] determine the filtered first speed of each joint according to the sign of the speed of the joint and the absolute value of the speed.

[0184] In one embodiment, as shown in FIG. 2, in step S2, determining the friction compensation amount of each joint according to the first speed of each joint comprises: Figure 11

[0185] determining the linear speed and / or angular speed of the handle according to the first speed of each joint;

[0186] 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.

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

[0188] determining the Jacobian matrix of the pose of the input device at the current time according to the first position of each joint;

[0189] determining the linear speed and / or angular speed of the handle according to the Jacobian matrix and the first speed of each joint.

[0190] In one embodiment, 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 comprises:

[0191] determining the target friction compensation amount according to the first speed of each joint;

[0192] determining the first adjustment coefficient of each joint according to the linear speed and / or angular speed of the handle;

[0193] determining the friction compensation amount according to the first adjustment coefficient and the target friction compensation amount.

[0194] ​In one embodiment, the first adjustment coefficient is linearly or nonlinearly related to a speed norm of the handle, or the first adjustment coefficient is linearly or nonlinearly related to a linear speed and an angular speed norm of the handle.

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

[0196] obtaining a friction compensation parameter corresponding to the friction compensation model of each joint, wherein the friction compensation parameter is determined according to the second speed and the current of the actuator before the master-slave control is established between the master console and the slave operating device;

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

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

[0199] determining a linear speed and an angular speed of the handle according to the first speed of each joint;

[0200] determining a damping amount of each joint according to the linear speed and the angular speed of the handle, or determining a damping amount of each joint according to the first speed of each joint and the linear speed and / or the angular speed of the handle;

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

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

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

[0204] adjusting the damping base amount of the handle 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 a speed norm of the handle, or the second adjustment coefficient is linearly or nonlinearly related to a linear speed and an angular speed norm of the handle.

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

[0207] obtaining a sum of the gravity compensation amount, the elastic force compensation amount, the friction compensation amount and the damping amount of each joint as a target torque of each joint;

[0208] applying the target torque of each joint to the actuator corresponding to each joint.

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

[0210] The application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the control method of the surgical robot.

[0211] The technical features of the above embodiments can be combined in any way. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the description.

[0212] The technical features of the above embodiments and the combination of any technical features are universal, which not only apply to single-hole surgical robots, but also apply to multi-hole surgical robots, and will not affect or limit the use in mechanical arms with different configurations.

[0213] The above embodiments only express several implementation manners of the application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those skilled in the art, without departing from the concept of the application, several modifications and improvements can be made, which are all within the protection scope of the application. Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A surgical robot, characterized in that, The surgical robot includes a main console, slave operating devices, and a control device. The main console includes an input device. The slave operating devices are configured to mount surgical instruments. The input device is used to control the movement of the surgical instruments. The input device includes multiple joints and a handle. The handle is connected to the nearest joint of the multiple joints. The control device is configured to: After establishing master-slave control between the main control console and the slave operating device, the first speed of each joint of the input device is obtained; Based on the first velocity of each joint, determine the linear velocity and / or angular velocity of the handle; The friction compensation amount of each joint is determined based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle. The friction compensation amount is applied to the actuators corresponding to each joint; When determining the friction compensation amount for each joint based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle, the control device is configured to: The target compensation amount of friction force is determined based on the first velocity of the joint. The first adjustment coefficient of each joint is determined based on the linear velocity and / or angular velocity of the handle; The friction compensation amount is determined based on the first adjustment coefficient and the friction target compensation amount.

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

3. The surgical robot according to claim 2, characterized in that, When filtering the first velocity of each joint, the control device is configured to: Obtain 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 a 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 a preset threshold, the sign of the joint velocity is the same as the sign of the velocity at the previous moment. The first filtered velocity of each joint is determined based on the sign and absolute value of the joint velocity.

4. The surgical robot according to claim 1, characterized in that, When determining the linear velocity and / or angular velocity of the handle based on the first velocities of each joint, the control device is configured to: The Jacobian matrix of the current attitude of the input device is determined based on the first position of each joint; The linear velocity and / or angular velocity of the handle are determined based on the Jacobian matrix and the first velocity of each joint.

5. The surgical robot according to claim 1, characterized in that, The first adjustment coefficient has a linear or non-linear relationship with the linear velocity modulus of the handle, or the first adjustment coefficient has a linear or non-linear relationship with the linear velocity and angular velocity modulus of the handle.

6. The surgical robot as described in claim 5, characterized in that, When the linear velocity of the handle is less than a first threshold, the first adjustment coefficient is a first fixed value; when the linear velocity of the handle is greater than the first threshold but less than a second threshold, the first adjustment coefficient increases as the linear velocity of the handle increases; when the linear velocity of the handle is greater than the second threshold, the first adjustment coefficient is a second fixed value.

7. The surgical robot according to claim 1, characterized in that, Each joint 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 first adjustment coefficient of the plurality of position joints is associated with the linear velocity of the handle, and the first adjustment coefficient of the plurality of posture joints is associated with the angular velocity of the handle.

8. The surgical robot as described in claim 7, characterized in that, When the linear velocity of the handle is less than a first threshold, the first adjustment coefficient is a first fixed value; when the linear velocity of the handle is greater than the first threshold but less than a second threshold, the first adjustment coefficient increases as the linear velocity of the handle increases; when the linear velocity 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 1, characterized in that, When determining the target compensation amount for frictional force at each joint, the control device is configured to: Obtain the friction compensation parameters corresponding to the friction compensation model of each joint, wherein the friction compensation parameters are determined based on the current of the actuator and the second speed of each joint before establishing master-slave control between the master control console and the slave operating device; The target friction compensation amount for each joint is determined based on the first velocity of each joint and the friction compensation parameters.

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

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

12. The surgical robot according to claim 11, characterized in that, The second adjustment coefficient has a linear or non-linear relationship with the linear velocity modulus of the handle, or the second adjustment coefficient has a linear or non-linear 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 velocity of the handle is less than the third threshold, the second adjustment coefficient decreases as the linear velocity of the handle increases; when the linear velocity of the handle is greater than the third threshold, the second adjustment coefficient is a third fixed value.

14. A surgical robot, characterized in that, The surgical robot includes a main console, slave operating devices, and a control device. The main console includes an input device. The slave operating devices are configured to mount surgical instruments. The input device is used to control the movement of the surgical instruments. The input device includes multiple joints and a handle. The handle is connected to the nearest joint of the multiple joints. The control device is configured to: After establishing master-slave control between the main control console and the slave operating device, the first speed of each joint of the input device is obtained; Based on the first velocity of each joint, determine the linear velocity and / or angular velocity of the handle; The friction compensation amount of each joint is determined based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle. The friction compensation amount is applied to the actuators corresponding to each joint; The control device is also configured to: The damping amount of each joint is determined based on the linear velocity and angular velocity of the handle, or the damping amount of each joint is determined based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle. The damping amount is applied to the actuators corresponding to each joint; When determining the damping of each joint, the control device is configured to: The damping base amount of each joint is determined based on the linear velocity and angular velocity of the handle, or the damping base amount of each joint is determined based on the first velocity of each joint; a second adjustment coefficient of the damping base amount is determined based on the linear velocity and / or angular velocity of the handle. The damping base value of each joint is adjusted according to the second adjustment coefficient to obtain the damping value of each joint.

15. The surgical robot according to claim 14, characterized in that, The second adjustment coefficient has a linear or non-linear relationship with the linear velocity modulus of the handle, or the second adjustment coefficient has a linear or non-linear relationship with the linear velocity and angular velocity modulus of the handle.

16. The surgical robot according to claim 15, characterized in that, When the linear velocity of the handle is less than the third threshold, the second adjustment coefficient decreases as the linear velocity of the handle increases; when the linear velocity of the handle is greater than the third threshold, the second adjustment coefficient is a third fixed value.

17. A control method for a surgical robot, characterized in that, The surgical robot includes a main console, slave operating devices, and a control device. The main console includes an input device. The slave operating devices are configured to mount surgical instruments. The input device is used to control the movement of the surgical instruments. The input device includes multiple joints and a handle. The handle is connected to the nearest joint of the multiple joints. The control method includes: After establishing master-slave control between the main control console and the slave operating device, the first speed of each joint of the input device is obtained; Based on the first velocity of each joint, determine the linear velocity and / or angular velocity of the handle; The friction compensation amount of each joint is determined based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle. The friction compensation amount is applied to the actuators of each joint; Based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle, determine the friction compensation amount for each joint, including: The target compensation amount of friction force is determined based on the first velocity of the joint. The first adjustment coefficient of each joint is determined based on the linear velocity and / or angular velocity of the handle; The friction compensation amount is determined based on the first adjustment coefficient and the friction target compensation amount.

18. A control method for a surgical robot, characterized in that, The surgical robot includes a main console, slave operating devices, and a control device. The main console includes an input device. The slave operating devices are configured to mount surgical instruments. The input device is used to control the movement of the surgical instruments. The input device includes multiple joints and a handle. The handle is connected to the nearest joint of the multiple joints. The control method includes: After establishing master-slave control between the main control console and the slave operating device, the first speed of each joint of the input device is obtained; Based on the first velocity of each joint, determine the linear velocity and / or angular velocity of the handle; The friction compensation amount of each joint is determined based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle. The friction compensation amount is applied to the actuators corresponding to each joint; The control method further includes: The damping amount of each joint is determined based on the linear velocity and angular velocity of the handle, or the damping amount of each joint is determined based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle. The damping amount is applied to the actuators corresponding to each joint; Determining the damping of each joint includes: The damping base amount of each joint is determined based on the linear velocity and angular velocity of the handle, or the damping base amount of each joint is determined based on the first velocity of each joint; a second adjustment coefficient of the damping base amount is determined based on the linear velocity and / or angular velocity of the handle. The damping base value of each joint is adjusted according to the second adjustment coefficient to obtain the damping value of each joint.

19. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the control method for the surgical robot as described in claim 17 or 18.

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