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 position and speed of each joint of the input device; determine the gravity compensation amount and the elastic force compensation amount of each joint according to the position of each joint, and determine the friction force compensation amount of each joint according to the speed of each joint; and apply the gravity compensation amount, the elastic force compensation amount and the friction force compensation amount to the actuator corresponding to each joint. According to the technical scheme of the application, the gravity compensation, the elastic force compensation and the friction force compensation are respectively performed on each joint. The compensation effect is more comprehensive and accurate, and the operation experience of the input device is effectively improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to a surgical robot, a control method, and a computer-readable storage medium. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. With the advancement of technology, minimally invasive surgical robot technology has gradually matured and is widely used. A minimally invasive surgical robot typically includes a main control console and slave operating devices. The main control console includes a handle, through which the surgeon sends control commands to the slave operating devices, controlling the surgical instruments on the slave operating devices to perform corresponding actions.

[0003] When doctors manipulate a handpiece, torque compensation at the joints connecting the handpiece can prevent or reduce arm fatigue caused by the additional resistance from gravity, thus improving the doctor's experience. However, current technologies primarily compensate for gravity without considering the effects of other resistances, resulting in less than ideal compensation effects. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a surgical robot, a control method, and a computer-readable storage medium, which performs gravity compensation, elasticity compensation, and friction compensation on each joint, resulting in more comprehensive and accurate compensation and effectively improving the user experience of the input device.

[0005] To address the aforementioned technical problems, this application provides a surgical robot, comprising a main control console, slave operating devices, and a control device. The main control console includes an input device, the slave operating devices are configured to mount surgical instruments, and the input device is used to control the movement of the surgical instruments. The input device includes multiple joints, a handle, and a force compensation mechanism. The handle is connected to the nearest joint of the multiple joints, and the force compensation mechanism is used to compensate for gravity on the input device. The control device is configured to:

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

[0007] Based on the first position of each joint, the gravity compensation amount and elasticity compensation amount of each joint are determined, and based on the first velocity of each joint, the friction compensation amount of each joint is determined.

[0008] The gravity compensation, elasticity compensation, and friction compensation are applied to the actuators corresponding to each joint.

[0009] 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. The compensation models of different joints are relatively independent of each other.

[0010] In one embodiment, when determining the gravity compensation amount for each joint based on its first position, the control device is configured to:

[0011] Obtain gravity compensation parameters corresponding to the gravity compensation model of each joint, wherein the gravity compensation parameters are determined based on the current of the actuator and the second position and second speed of each joint before establishing master-slave control between the main control console and the slave operating device;

[0012] The gravity compensation amount of each joint is determined based on the first position of each joint and the gravity compensation parameters.

[0013] In one embodiment, when determining the elastic compensation amount of each joint based on the first position of each joint, the control device is configured to:

[0014] Obtain the elastic compensation parameters of the elastic compensation model corresponding to each joint, wherein the elastic compensation parameters are determined based on the second position and the current of the actuator before establishing master-slave control between the main control console and the slave operating device;

[0015] The elastic compensation amount of each joint is determined based on the first position of each joint and the elastic compensation parameters.

[0016] In one embodiment, before determining the friction compensation amount for each joint based on a first velocity of each joint, the control device is configured to:

[0017] The first velocity of each joint is filtered.

[0018] In one embodiment, when filtering the first velocity of each joint, the control device is configured to:

[0019] Obtain the absolute value of the velocity of each joint at the current moment;

[0020] When the absolute value of the joint velocity is greater than or equal to a preset threshold, the sign of the joint velocity is the same as 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 the same as the sign of the velocity at the previous moment.

[0021] The first filtered velocity of each joint is determined based on the sign and absolute value of the joint velocity.

[0022] In one embodiment, when determining the friction compensation amount for each joint based on a first velocity of each joint, the control device is configured to:

[0023] Based on the first velocity of each joint, determine the linear velocity and / or angular velocity of the handle;

[0024] 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.

[0025] In one embodiment, when determining the linear velocity and / or angular velocity of the handle based on the first velocities of the joints, the control device is configured to:

[0026] The Jacobian matrix of the current attitude of the input device is determined based on the first position of each joint;

[0027] The linear velocity and / or angular velocity of the handle are determined based on the Jacobian matrix and the first velocity of each joint.

[0028] In one embodiment, when determining the friction compensation amount for each joint based on a first velocity of each joint and the linear velocity and / or angular velocity of the handle, the control device is configured to:

[0029] The target compensation amount of friction force is determined based on the first velocity of the joint.

[0030] The first adjustment coefficient of each joint is determined based on the linear velocity and / or angular velocity of the handle;

[0031] The friction compensation amount is determined based on the first adjustment coefficient and the friction target compensation amount.

[0032] In one embodiment, the first adjustment coefficient is linearly or non-linearly related to the velocity modulus of the handle, or the first adjustment coefficient is linearly or non-linearly related to the linear velocity and angular velocity modulus of the handle.

[0033] In one embodiment, when determining the target compensation amount for frictional forces at each joint, the control device is configured to:

[0034] Obtain the friction compensation parameters corresponding to the friction compensation model of each joint, wherein the friction compensation parameters are determined based on the second speed and the current of the actuator before establishing master-slave control between the master control console and the slave operating device;

[0035] The target friction compensation amount for each joint is determined based on the first velocity of each joint and the friction compensation parameters.

[0036] In one embodiment, the control device is further configured to:

[0037] Based on the first velocity of each joint, determine the linear velocity and angular velocity of the handle;

[0038] 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.

[0039] The damping amount is applied to the actuators corresponding to each joint.

[0040] In one embodiment, when determining the damping of each joint, the control device is configured to:

[0041] 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; and a second adjustment coefficient for the damping base amount is determined based on the linear velocity and / or angular velocity of the handle.

[0042] The damping base of the handle is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

[0043] In one embodiment, the second adjustment coefficient is linearly or non-linearly related to the velocity modulus of the handle, or the second adjustment coefficient is linearly or non-linearly related to the linear velocity and angular velocity modulus of the handle.

[0044] In one embodiment, the control device is configured to:

[0045] The sum of the gravity compensation, elasticity compensation, friction compensation, and damping of each joint is obtained as the target torque of each joint.

[0046] The target torque of each joint is applied to the actuator corresponding to each joint.

[0047] This application also provides a control method for a surgical robot. The surgical robot includes a main console, a slave operating device, and a control device. The main console includes an input device. The slave operating device is configured to mount surgical instruments. The input device is used to control the movement of the surgical instruments. The input device includes multiple joints, a handle, and a force compensation mechanism. The handle is connected to the nearest joint of the multiple joints. The force compensation mechanism is used to compensate for gravity on the input device. The control method includes:

[0048] After establishing master-slave control between the main control console and the slave operating device, the first position and first speed of each joint of the input device are obtained.

[0049] Based on the first position of each joint, determine the gravity compensation amount and elasticity compensation amount of each joint, and based on the first velocity of each joint, determine the friction compensation amount of each joint.

[0050] The gravity compensation, elasticity compensation, and friction compensation are applied to the actuators of the corresponding joints.

[0051] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the surgical robot control method described above.

[0052] This application discloses a surgical robot, a control method, and a computer-readable storage medium. 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 and includes multiple joints and a handle. The handle is connected to the nearest joint of the multiple joints. The control device is configured to: acquire the first position and first velocity of each joint of the input device; determine the gravity compensation amount and elasticity compensation amount of each joint based on the first position of each joint; and determine the friction compensation amount of each joint based on the first velocity of each joint; and apply the gravity compensation amount, elasticity compensation amount, and friction compensation amount to the actuators of the corresponding joints. The technical solution of this application performs gravity compensation, elasticity compensation, and friction compensation on each joint separately, resulting in more comprehensive and accurate compensation effects and effectively improving the user experience of the input device. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of a surgical robot according to one embodiment;

[0054] Figure 2 This is a schematic diagram of the main console according to one embodiment;

[0055] Figure 3 This is a schematic diagram of the structure of the operating device according to one embodiment;

[0056] Figure 4 This is a schematic diagram of the structure of a surgical instrument according to one embodiment;

[0057] Figure 5 This is a schematic diagram of the structure of an input device according to one embodiment;

[0058] Figure 6This is a partial structural schematic diagram of an input device according to one embodiment;

[0059] Figure 7 (a) and (b) in the figure are schematic diagrams showing the relationship between the first adjustment coefficient and the linear velocity of the handle according to an embodiment;

[0060] Figure 8 This is a comparison chart showing the effect of filtering the joint velocity before and after filtering.

[0061] Figure 9 (a) and (b) in the figure are schematic diagrams showing the relationship between the second adjustment coefficient and the linear velocity of the handle according to an embodiment;

[0062] Figure 10 This is a flowchart illustrating a control method for a surgical robot according to one embodiment;

[0063] Figure 11 This is another schematic flowchart illustrating a control method for a surgical robot according to one embodiment. Detailed Implementation

[0064] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0065] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used herein are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during the procedure, and "proximal" refers to the end closer to the operator during the procedure.

[0066] 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 invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. In this invention, "each" includes one or more items.

[0067] One embodiment of the surgical robot in this application is as follows: Figure 1 As shown, the surgical robot includes a main console 20, a slave operating device 10, and a control unit. The main console 20 is remotely connected to the slave operating device 10, allowing the surgeon S to remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 based on the surgeon S's operations. The surgeon S can observe three-dimensional images of the patient's body provided by the imaging system through the main console 20. By observing these three-dimensional images, the surgeon S can control the slave operating device 10 to perform relevant operations, such as performing surgery or acquiring images of the patient's body.

[0068] The operating device 10 includes multiple robotic arms 11. In one embodiment, the surgical robot also includes a gas inhalation device, a lumen assembly, and one or more cannulas (not shown), the lumen assembly providing fluid communication between the cannulas and the gas inhalation device. One or more cannulas are attached to the distal ends of the multiple robotic arms 11 and inserted into the body cavity of a patient P lying on an operating table T.

[0069] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via main console 20, such as injecting gas from a gas source into the body cavity of patient P to create an artificial pneumoperitoneum, or aspirating gas from the body cavity of patient P. Assistant A attaches surgical instruments 40 to or removes surgical instruments 40 from robotic arm 11 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical instruments 40 can be surgical instruments used to perform surgical operations, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0070] The main control console 20 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 20 communicates remotely with the slave operating device 10 and the electronic device cart 30 via wired Ethernet communication. However, remote communication is not limited to wired Ethernet communication; it 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.

[0071] In one embodiment, such as Figure 2 As 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.

[0072] 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.

[0073] 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.

[0074] Surgical robots typically also include an imaging system (not shown) that allows the operator to view the surgical site from outside the patient's body. This imaging system typically includes video image acquisition capabilities (e.g., an instrument 40 with image acquisition capabilities) and one or more video display devices for displaying the acquired images. Generally, the instrument 40 with image acquisition capabilities includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) for acquiring images inside the patient's body. These one or more imaging sensors may be positioned distal to the instrument 40 with image acquisition capabilities, and the signals generated by these sensors may be transmitted via cable or wirelessly for processing and display on the video display device.

[0075] like Figure 4 As shown, the instrument 40 includes an instrument housing 41, a long shaft 42, and an end effector 43. The instrument 40 is detachably mounted on the distal end of the robotic arm 11 of the slave operating device 10. The instrument housing 41 contains a transmission device (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the end effector 43 via multiple cables. The multiple transmission units are coupled to multiple drive units (e.g., motors) of the robotic arm 11 and are driven by the drive units. The drive units receive control commands from the control device and, according to the control commands, drive the transmission units to move, thereby driving the end effector 43 to move. The control device can be located in the main control console 20 or in the slave operating device 10. For example, the drive units drive the transmission units to rotate, thereby pulling / retracting the cables to control the motion of the end effector 43. The end effector 43 can perform movements with multiple Cartesian degrees of freedom, such as translation (including lateral and / or longitudinal), pitch, yaw, etc. It is understood that translation and pitch, translation and yaw can move independently or simultaneously. The end effector 43 is used to perform operations related to surgery. Depending on the needs of the surgical operation, the end effector 43 can be an electrocautery device, a clamp, a stapler, scissors, an ultrasonic scalpel, a camera, an imaging device, etc., wherein the camera or imaging device is used to acquire images of the inside of the human body.

[0076] Please see 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 drive arm, which are rotatably connected in sequence. The end of the connector 101 away from the base 12 is connected to a relevant component of the main control panel 120. The operating component 15 is configured to receive operations from the operator and may include a handle 151. The user performs relevant operations on the input device 23 by gripping the handle 151 to send control commands to the slave operating device 10.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] In this embodiment, during the process of the operator operating the handle to control the movement of the surgical instrument, that is, after establishing master-slave control between the main control console 20 and the slave operating device 10, the aforementioned control device is further configured to:

[0083] Acquire the first position and first velocity of each joint of the input device;

[0084] Based on the first position of each joint, determine the gravity compensation amount and elasticity compensation amount of each joint, and based on the first velocity of each joint, determine the friction compensation amount of each joint.

[0085] Gravity compensation, elasticity compensation, and friction compensation are applied to the actuators of each joint.

[0086] The elastic force compensation is used to compensate for the spring force of the physical springs in the mechanical structure of the input device, solving the problem that mechanical springs cannot achieve arbitrary posture compensation when compensating for gravity. By adding friction compensation to each joint, the user experience of the input device can be improved. Thus, by performing gravity compensation, elastic force compensation, and friction compensation on each joint of the input device, the compensation effect can be improved.

[0087] 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 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, effectively eliminating redundant terms caused by coupling and invalid terms caused by special configurations, making the compensation model more accurate and reducing the computational load.

[0088] In one embodiment, when determining the gravity compensation amount for each joint based on its first position, the control device is configured to:

[0089] Obtain the gravity compensation parameters corresponding to the gravity compensation model for each joint;

[0090] The gravity compensation amount for each joint is determined based on the first position of each joint and the gravity compensation parameters.

[0091] In one embodiment, the gravity compensation model for a joint can be represented as follows:

[0092]

[0093]

[0094] Among them, F grav, Let J be the weight of link j. Let τ be the Jacobian vector of joint i. grav, Let n represent the torque exerted by the gravity of all links on joint i, and let n represent the degree of freedom of the master robotic arm. j For components related to the joint angle, m j For the mass of the connecting rod, p 0, Let be the position of the center of mass of the link. Thus, formula (2) can express that the force spin of the gravity of a single link 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 establishing the gravity compensation model, that is, the gravity compensation parameter of the gravity compensation model.

[0095] In one embodiment, when determining the elastic compensation amount of each joint based on the first position of each joint, the control device is configured to:

[0096] Obtain the elastic compensation parameters of the elastic compensation model corresponding to each joint;

[0097] Based on the first position of each joint and the elasticity compensation parameters, the elasticity compensation amount of each joint is determined.

[0098] In one embodiment, the elastic compensation model of a joint can be represented as follows:

[0099] τ spring,i =a i cosθ i +b i sinθ i (3)

[0100] in, Let a be the velocity of joint i. i and b i These are parameters related to the spring force, and are determined when establishing the elastic force compensation model.

[0101] In one embodiment, when determining the friction compensation amount for each joint based on the first velocity of each joint, the control device is configured to:

[0102] Determine the linear velocity and / or angular velocity of the handle based on the first velocity of each joint;

[0103] The friction compensation amount for each joint is determined based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0104] Here, linear velocity is the translational velocity of the handle, independent of its orientation, while angular velocity is the velocity at which the handle's orientation changes. By compensating for friction at each joint, the user experience of the input device can be improved. Furthermore, the amount of friction compensation is related to the initial velocity of each joint and the linear and / or angular velocities of the handle, ensuring that the compensation effect adapts to different operating conditions of the input device and improves operational stability.

[0105] In one embodiment, 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:

[0106] The Jacobian matrix of the input device's attitude at the current moment is determined based on the first position of each joint;

[0107] Based on the Jacobian matrix and the first velocity of each joint, determine the linear velocity and / or angular velocity of the handle.

[0108] The Jacobian matrix is ​​used to map the velocity in the joint space to the velocity in the operating space. The Jacobian matrix has m rows and n columns: m is the degree of freedom in the operating space (usually the input device has 6 degrees of freedom), and n is the degree of freedom in the joint space (or the number of joints).

[0109] In one embodiment, 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:

[0110] The target compensation amount for friction force is determined based on the first velocity of the joint.

[0111] Determine the first adjustment factor for each joint based on the linear velocity and / or angular velocity of the handle;

[0112] The friction compensation amount is determined based on the first adjustment coefficient and the target friction compensation amount.

[0113] In this process, after determining the target friction compensation amount of the joint, the target friction compensation amount is adaptively adjusted by a first adjustment coefficient determined based on the linear velocity and / or angular velocity of the handle, thereby determining the actual friction compensation amount of the joint. This can improve the adaptability and stability of the input device under different operating conditions (such as fast operation or fine operation).

[0114] In one embodiment, when determining the target compensation amount for frictional forces at each joint, the control device is configured to:

[0115] Obtain the friction compensation parameters corresponding to the friction compensation model for each joint;

[0116] Based on the first velocity and friction compensation parameters of each joint, the target friction compensation amount for each joint is determined.

[0117] In one embodiment, before establishing a master-slave control connection between the master console 20 and the slave operating device 10, the control device acquires 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 each joint based on the second position of the joint and the current of the actuator; and determines the friction compensation parameters of the friction compensation model corresponding to each joint based on the second speed of each joint and the current of the actuator.

[0118] In one embodiment, before establishing a master-slave control connection between the master console 20 and the slave operating device 10, the input device 23 can operate automatically according to a pre-set excitation program. During the automatic operation of the input device 23, the control device acquires the current of the actuator and the second position and second speed of each joint. In one embodiment, the control device (second control device) used to acquire the current of the actuator and the second position and second speed of each joint before establishing a master-slave control connection between the master console 20 and the slave operating device 10 is different from the control device used to acquire the first position and first speed of each joint of the input device after establishing master-slave control between the master console and the slave operating device. In one embodiment, the control device used to acquire the current of the actuator and the second position and second speed of each joint can be mounted on the surgical robot or can be an external device.

[0119] In one embodiment, the friction compensation model for each joint can be expressed as:

[0120]

[0121] Where, k fric The first adjustment factor is... Used to calculate the target compensation amount for friction force. Let k be the velocity of joint i. cou, Let k be the Coulomb friction coefficient of joint i. vis,i Let k be the viscous friction coefficient of joint i. cou, and k vis,i The friction compensation model for each joint is obtained in advance; therefore, the k values ​​for different joints are... cou,i and k vis,i The models can be the same or different, ensuring the independence of the friction compensation models for each joint and improving the accuracy of the friction compensation models.

[0122] In one embodiment, the first adjustment coefficient has a linear or non-linear relationship with the linear velocity modulus of the handle, which can be specifically expressed as follows:

[0123] k fric =f(|v|) (5)

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] The first velocity of each joint is filtered.

[0130] In one embodiment, when filtering the first velocity of each joint, the control device is configured to:

[0131] Obtain the absolute value of the velocity of each joint at the current moment;

[0132] When the absolute value of the joint velocity is greater than or equal to a preset threshold, the sign of the joint velocity is the same as 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 the same as the sign of the velocity at the previous moment.

[0133] The first filtered velocity of each joint is determined based on the sign and absolute value of the joint velocity.

[0134] Specifically, the filtering function for joint velocity can be expressed as follows:

[0135]

[0136]

[0137] in, Let η be the joint angular velocity at time k+1, thh be the velocity threshold, and η be the joint angular velocity at time k+1. k Let η be the symbol for the joint velocity at time k. k+1 Let represent the sign of the joint velocity at time k+1. Based on the filtering function described above, the sign and absolute value of the joint velocity can be processed separately. When the absolute value of the joint velocity at the current time is greater than a set threshold, the sign of the joint velocity remains the same as at the current time; otherwise, it remains the same as at the previous time. 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 time. The filtering effect of the joint velocity is as follows: Figure 8 As shown, this method can avoid back-and-forth jumping in the compensation direction when the joint speed fluctuates near zero.

[0138] In one embodiment, the compensation model for each joint further includes a damping model, and the control device is further configured to:

[0139] The damping of each joint is determined based on the linear velocity and angular velocity of the handle, or based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0140] Damping is applied to the actuators of each joint.

[0141] 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 operating conditions of the input device and the stability of operation is improved.

[0142] In one embodiment, when determining the damping of each joint, the control device is configured to:

[0143] Determine the basic damping amount of each joint based on the linear velocity and angular velocity of the handle, or determine the basic damping amount of each joint based on the first velocity of each joint; determine the second adjustment factor of the basic damping amount based on the linear velocity and / or angular velocity of the handle.

[0144] The damping baseline of each joint is adjusted according to the second adjustment factor to obtain the damping value of each joint.

[0145] Specifically, the linear velocity damping and angular velocity damping of the handle are calculated based on its linear and angular velocities, and then mapped to the joint space of the input device to obtain the basic damping values ​​for each joint. After determining the basic damping values ​​of the joints, the basic damping values ​​are adaptively adjusted using a second adjustment coefficient determined based on the linear velocity and / or angular velocity of the handle. This determines the actual amount of damping applied to the joints, improving the adaptability and stability of the input device under different operating conditions (such as rapid or precise operation).

[0146] In one embodiment, the damping model of each joint can be expressed as:

[0147]

[0148]

[0149] Where, k damp This is the second adjustment factor. ω is the angular velocity of the handle, v is the linear velocity of the handle, and k... ω and k v The damping coefficients J for angular velocity and linear velocity, respectively. b The Jacobian matrix of the input device, Used to calculate the basic damping values. Therefore, the basic damping values ​​of each joint are related to the linear and angular velocities of the handle, allowing for more accurate calculations of the basic damping values.

[0150] Alternatively, the damping model for each joint can also be expressed as:

[0151]

[0152] in, Let the velocity be the velocity of joint i. Thus, the basic damping quantity of each joint is related to the first velocity of each joint, which is easy to calculate.

[0153] 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:

[0154] k damp =g(|v|) (11)

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 can be adaptively adjusted to improve the adaptability and stability of the input device under different operating conditions. For example, when the operator is operating quickly, the friction compensation can be increased and the damping can be decreased to improve the handle's lightness and make it more suitable for quick operation. When the operator is operating with precision, the friction compensation can be decreased and the damping can be increased to improve the handle's stability and make it more suitable for precision operation.

[0160] In one embodiment, the control device is configured to:

[0161] The sum of the gravity compensation, elasticity compensation, friction compensation, and damping of each joint is obtained as the target torque of each joint.

[0162] The target torque for each joint is applied to the actuator corresponding to each joint.

[0163] By calculating the sum of each compensation and damping quantity, the target torque of each joint is output, thereby achieving torque compensation for the joint.

[0164] The technical solution of this application has the following technical effects:

[0165] 1. The torque compensation of each joint is achieved by pure control, which is more flexible and adaptable than the method of using counterweights or springs, and no adjustment of the mechanical structure is required before use;

[0166] 2. The compensation model consists of compensation models for each driving joint. The compensation model for a single joint includes a gravity compensation model, an elastic compensation model, and a friction compensation model, making the model more accurate.

[0167] 3. Friction compensation has been applied to each joint, and the amount of friction compensation is related to the speed of each joint and the linear velocity and / or angular velocity of the handle, which can better improve the user experience of the input device.

[0168] 4. An adaptive damping amount has been added, 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 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.

[0169] 5. Use a joint velocity filtering function to improve the stability of friction compensation.

[0170] This application also provides a control method for a surgical robot. The surgical robot includes a main control console, slave operating devices, and a control device. The main control 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, and the handle is connected to the nearest joint of the multiple joints. Figure 10 As shown, the control methods include:

[0171] Step S1: After establishing master-slave control between the master console and the slave operating device, obtain the first position and first speed of each joint of the input device;

[0172] Step S2: Determine the gravity compensation amount and elasticity compensation amount of each joint based on the first position of each joint, and determine the friction compensation amount of each joint based on the first velocity of each joint.

[0173] Step S3: Apply gravity compensation, elasticity compensation, and friction compensation to the actuators of the corresponding joints.

[0174] 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. The compensation models of different joints are relatively independent of each other.

[0175] In one embodiment, step S2, determining the gravity compensation amount for each joint based on its first position, includes:

[0176] Obtain the gravity compensation parameters corresponding to the gravity compensation model of each joint. The gravity compensation parameters are determined based on the current of the actuator and the second position and second speed of each joint before establishing master-slave control between the master console and the slave operating device.

[0177] The gravity compensation amount for each joint is determined based on the first position of each joint and the gravity compensation parameters.

[0178] In one embodiment, step S2, determining the elastic compensation amount of each joint based on the first position of each joint, includes:

[0179] Obtain the elastic compensation parameters corresponding to the elastic compensation model of each joint. The elastic compensation parameters are determined based on the second position and the current of the actuator before establishing master-slave control between the master control console and the slave operating device.

[0180] Based on the first position of each joint and the elasticity compensation parameters, the elasticity compensation amount of each joint is determined.

[0181] In one embodiment, before determining the frictional compensation amount for each joint based on the first velocity of each joint, the method further includes:

[0182] The first velocity of each joint is filtered.

[0183] In one embodiment, when filtering the first velocity of each joint, the control device is configured to:

[0184] Obtain the absolute value of the velocity of each joint at the current moment;

[0185] When the absolute value of the joint velocity is greater than or equal to a preset threshold, the sign of the joint velocity is the same as 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 the same as the sign of the velocity at the previous moment.

[0186] The first filtered velocity of each joint is determined based on the sign and absolute value of the joint velocity.

[0187] In one embodiment, such as Figure 11 As shown, in step S2, the friction compensation amount for each joint is determined based on the first velocity of each joint, including:

[0188] Step S21: Determine the linear velocity and / or angular velocity of the handle based on the first velocity of each joint;

[0189] Step S22: Determine the friction compensation amount of each joint based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0190] In one embodiment, determining the linear velocity and / or angular velocity of the handle based on the first velocity of each joint includes:

[0191] The Jacobian matrix of the input device's attitude at the current moment is determined based on the first position of each joint;

[0192] Based on the Jacobian matrix and the first velocity of each joint, determine the linear velocity and / or angular velocity of the handle.

[0193] In one embodiment, 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 includes:

[0194] The target compensation amount for friction force is determined based on the first velocity of the joint.

[0195] Determine the first adjustment factor for each joint based on the linear velocity and / or angular velocity of the handle;

[0196] The friction compensation amount is determined based on the first adjustment coefficient and the target friction compensation amount.

[0197] In one embodiment, the first adjustment coefficient is linearly or non-linearly related to the velocity modulus of the handle, or the first adjustment coefficient is linearly or non-linearly related to the linear velocity and angular velocity modulus of the handle.

[0198] In one embodiment, determining the target frictional compensation amount for each joint includes:

[0199] Obtain the friction compensation parameters corresponding to the friction compensation model of each joint. The friction compensation parameters are determined based on the second speed and the current of the actuator before establishing master-slave control between the master control console and the slave operating device.

[0200] The target friction compensation amount for each joint is determined based on the first velocity and friction compensation parameters of each joint.

[0201] In one embodiment, the method further includes:

[0202] Based on the initial velocity of each joint, determine the linear velocity and angular velocity of the handle;

[0203] The damping of each joint is determined based on the linear velocity and angular velocity of the handle, or based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0204] Damping is applied to the actuators of each joint.

[0205] In one embodiment, determining the damping of each joint includes:

[0206] 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; and a second adjustment factor is determined based on the linear velocity and / or angular velocity of the handle to determine the damping base amount.

[0207] The damping baseline of the handle is adjusted according to the second adjustment factor to obtain the damping of each joint.

[0208] In one embodiment, the second adjustment coefficient is linearly or non-linearly related to the velocity modulus of the handle, or the second adjustment coefficient is linearly or non-linearly related to the linear velocity and angular velocity modulus of the handle.

[0209] In one embodiment, the method further includes:

[0210] The sum of the gravity compensation, elasticity compensation, friction compensation, and damping of each joint is obtained as the target torque of each joint.

[0211] The target torque for each joint is applied to the actuator corresponding to each joint.

[0212] 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.

[0213] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the surgical robot control method described above.

[0214] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0215] The technical features and combinations of any technical features described in the above embodiments are universal, applicable not only to single-port surgical robots but also to multi-port surgical robots, and neither affecting nor limiting their use in robotic arms with different configurations.

[0216] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by 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, a handle, and a force compensation mechanism. The handle is connected to the nearest joint of the multiple joints. The force compensation mechanism is used to compensate for gravity on the input device. The control device is configured to: After establishing master-slave control between the main control console and the slave operating device, the first position and first speed of each joint of the input device are obtained; Based on the first position of each joint, the gravity compensation amount and elasticity compensation amount of each joint are determined, and based on the first velocity of each joint, the friction compensation amount of each joint is determined. The gravity compensation, elasticity compensation, and friction compensation are 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, the control device is configured to: 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. 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, 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. The compensation models of different joints are relatively independent of each other.

3. The surgical robot according to claim 1, characterized in that, When determining the gravity compensation amount for each joint based on its first position, the control device is configured to: Obtain gravity compensation parameters corresponding to the gravity compensation model of each joint, wherein the gravity compensation parameters are determined based on the current of the actuator and the second position and second speed of each joint before establishing master-slave control between the master control console and the slave operating device; The gravity compensation amount of each joint is determined based on the first position of each joint and the gravity compensation parameters.

4. The surgical robot according to claim 3, characterized in that, When determining the elastic compensation amount of each joint based on its first position, the control device is configured to: Obtain the elastic compensation parameters of the elastic compensation model corresponding to each joint, wherein the elastic compensation parameters are determined based on the second position and the current of the actuator before establishing master-slave control between the main control console and the slave operating device; The elastic compensation amount of each joint is determined based on the first position of each joint and the elastic compensation parameters.

5. The surgical robot according to claim 1, characterized in that, Before determining the friction compensation amount for each joint based on the first velocity of each joint, the control device is configured to: The first velocity of each joint is filtered.

6. The surgical robot according to claim 5, 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.

7. 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.

8. The surgical robot according to claim 1, characterized in that, The first adjustment coefficient has a linear or non-linear relationship with the 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.

9. The surgical robot according to claim 3, 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 second speed and the current of the actuator 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: Based on the first velocity of each joint, determine the linear velocity and angular velocity of the handle; 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; and a second adjustment coefficient for the damping base amount is determined based on the linear velocity and / or angular velocity of the handle. The damping base of the handle 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 has a linear or non-linear relationship with the 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 10, characterized in that, The control device is configured to: The sum of the gravity compensation, elasticity compensation, friction compensation, and damping of each joint is obtained as the target torque of each joint. The target torque of each joint is applied to the actuator corresponding to each joint.

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, a handle, and a force compensation mechanism. The handle is connected to the nearest joint of the multiple joints. The force compensation mechanism is used to compensate for gravity on the input device. The control device is configured to: After establishing master-slave control between the main control console and the slave operating device, the first position and first speed of each joint of the input device are obtained; Based on the first position of each joint, the gravity compensation amount and elasticity compensation amount of each joint are determined, and based on the first velocity of each joint, the friction compensation amount of each joint is determined. The gravity compensation, elasticity compensation, and friction compensation are applied to the actuators corresponding to each joint. The control device is also configured to: Based on the first velocity of each joint, determine the linear velocity and angular velocity of the handle; 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; and a second adjustment coefficient for the damping base amount is determined based on the linear velocity and / or angular velocity of the handle. The damping base of the handle is adjusted according to the second adjustment coefficient to obtain the damping amount 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 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 14, characterized in that, The control device is configured to: The sum of the gravity compensation, elasticity compensation, friction compensation, and damping of each joint is obtained as the target torque of each joint. The target torque of each joint is applied to the actuator corresponding to each joint.

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, a handle, and a force compensation mechanism. The handle is connected to the nearest joint of the multiple joints. The force compensation mechanism is used to compensate for gravity on the input device. The control method includes: After establishing master-slave control between the main control console and the slave operating device, the first position and first speed of each joint of the input device are obtained. Based on the first position of each joint, determine the gravity compensation amount and elasticity compensation amount of each joint, and based on the first velocity of each joint, determine the friction compensation amount of each joint. The gravity compensation, elasticity compensation, and friction compensation are applied to the actuators of the corresponding joints. Based on the first velocity of each joint, the friction compensation amount of each joint is determined, including: 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. 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, a handle, and a force compensation mechanism. The handle is connected to the nearest joint of the multiple joints. The force compensation mechanism is used to compensate for gravity on the input device. The control method includes: After establishing master-slave control between the main control console and the slave operating device, the first position and first speed of each joint of the input device are obtained; Based on the first position of each joint, the gravity compensation amount and elasticity compensation amount of each joint are determined, and based on the first velocity of each joint, the friction compensation amount of each joint is determined. The gravity compensation, elasticity compensation, and friction compensation are applied to the actuators corresponding to each joint. The control method further includes: Based on the first velocity of each joint, determine the linear velocity and angular velocity of the handle; 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; and a second adjustment coefficient for the damping base amount is determined based on the linear velocity and / or angular velocity of the handle. The damping base of the handle is adjusted according to the second adjustment coefficient to obtain the damping amount 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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