Surgical robot motion trail determination method, device and equipment and medium

Abstract

The embodiment of the invention discloses a method, a device and equipment for determining the motion trail of a surgical robot and a medium. The method comprises the steps that the target sliding table position of the surgical robot and the target butt joint position of a puncture outfit assembly are obtained; based on the target sliding table position and the target docking position, determining a target movement track of the surgical robot, so that the surgical robot executes the target movement track; determining a current motion state of the surgical robot based on a current joint torque and a preset joint torque threshold value when the surgical robot executes the target motion track; and if the current motion state is a collision motion state, stopping the current motion of the surgical robot, and updating the target sliding table position based on the current sliding table position corresponding to the current motion state. Through the technical scheme of the embodiment of the invention, the target motion track of the surgical robot is accurately and conveniently determined, so that effective track adjustment is carried out in time.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of medical equipment, and in particular to a method, device, equipment and medium for determining a motion trajectory of a surgical robot. Background Art

[0002] With the development of technology, surgical robots have been gradually applied to modern medicine and have become one of the important means to improve surgical accuracy and reduce surgical risks. In the actual operation process, when doctors operate the robotic arm of the surgical robot, they need to avoid collisions between the robotic arm and the surrounding environment or their own robotic arm, so as to ensure the normal operation of the robotic arm and the normal progress of the operation.

[0003] At present, sensor detection is usually used to detect collisions of the robotic arms of surgical robots to avoid collisions. However, in order to effectively avoid collisions of robotic arms, this method of using sensor detection requires the use of high-precision sensors, which greatly increases the cost of collision detection, and it is impossible to make effective trajectory adjustments in time when a collision occurs. Summary of the invention

[0004] Embodiments of the present invention provide a method, device, equipment and medium for determining the motion trajectory of a surgical robot, so as to accurately and conveniently determine the target motion trajectory of the surgical robot, thereby making effective trajectory adjustments in a timely manner.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining a motion trajectory of a surgical robot, comprising:

[0006] Obtaining a target slide position of the surgical robot and a target docking position of the puncture assembly;

[0007] Determining a target motion trajectory of the surgical robot based on the target slide position and the target docking position so that the surgical robot executes the target motion trajectory;

[0008] Determining a current motion state of the surgical robot based on a current joint torque and a preset joint torque threshold when the surgical robot executes a target motion trajectory;

[0009] If the current motion state is a collision motion state, the current motion of the surgical robot is stopped, and the target slide position is updated based on the current slide position corresponding to the current motion state.

[0010] In a second aspect, an embodiment of the present invention further provides a device for determining a motion trajectory of a surgical robot, the device comprising:

[0011] A position acquisition module, used to acquire a target slide position of the surgical robot and a target docking position of the puncture assembly;

[0012] A target motion trajectory determination module, used to determine the target motion trajectory of the surgical robot based on the target slide position and the target docking position, so that the surgical robot executes the target motion trajectory;

[0013] A current motion state determination module, used to determine the current motion state of the surgical robot based on the current joint torque and a preset joint torque threshold when the surgical robot executes the target motion trajectory;

[0014] The position updating module is used to stop the current movement of the surgical robot if the current movement state is a collision movement state, and to update the target slide position based on the current slide position corresponding to the current movement state.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0016] one or more processors;

[0017] A memory for storing one or more programs;

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the motion trajectory of a surgical robot provided in any embodiment of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for determining a motion trajectory of a surgical robot as provided in any embodiment of the present invention.

[0020] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which, when executed by a processor, implements a method for determining a motion trajectory of a surgical robot as provided in any embodiment of the present invention.

[0021] The technical solution of the embodiment of the present invention is to obtain the target slide position of the surgical robot and the target docking position of the puncture assembly; determine the target motion trajectory of the surgical robot based on the target slide position and the target docking position, so that the surgical robot executes the target motion trajectory; in the process of the surgical robot executing the target motion trajectory, determine the current motion state of the surgical robot based on the current joint torque and the preset joint torque threshold when the surgical robot executes the target motion trajectory; if the current motion state is a collision motion state, stop the current motion of the surgical robot, and update the target slide position based on the current slide position corresponding to the current motion state, so as to determine the updated target motion trajectory of the surgical robot based on the updated target slide position and the target docking position, and then perform effective trajectory adjustments in time when a collision occurs, and enable the surgical robot to continue to move according to the updated target motion trajectory to complete the accurate docking of the slide and the puncture assembly.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a method for determining a motion trajectory of a surgical robot provided in Embodiment 1 of the present invention;

[0025] Figure 2 is a structural example diagram of a surgical robot involved in Embodiment 1 of the present invention;

[0026] Figure 3 is a structural example diagram of a mechanical arm involved in Embodiment 1 of the present invention;

[0027] Figure 4 is a flow chart of a method for determining a motion trajectory of a surgical robot provided in Embodiment 2 of the present invention;

[0028] Figure 5 This is an example diagram of a slide table and a puncture device assembly docking involved in the second embodiment of the present invention;

[0029] Figure 6This is a structural example diagram of a trocar clamping seat involved in the second embodiment of the present invention;

[0030] Figure 7 is an example diagram of a three-dimensional space coordinate system involved in the second embodiment of the present invention;

[0031] Figure 8 is an exemplary diagram of the internal structure of a slide table involved in the second embodiment of the present invention;

[0032] Fig. 9 It is a schematic diagram of the lengths and angles of various parts involved in the second embodiment of the present invention;

[0033] Fig.10 It is a structural schematic diagram of a surgical robot motion trajectory determination device provided by Embodiment 3 of the present invention;

[0034] Fig.11 It is a structural schematic diagram of an electronic device for implementing the method for determining the motion trajectory of a surgical robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] Embodiment 1

[0038] Figure 1A flowchart of a method for determining a motion trajectory of a surgical robot is provided for the first embodiment of the present invention. This embodiment is applicable to the case of determining a target motion trajectory of a surgical robot. The method can be performed by a surgical robot motion trajectory determination device. The surgical robot motion trajectory determination device can be implemented in the form of hardware and / or software. The surgical robot motion trajectory determination device can be configured in an electronic device. Figure 1 As shown, the method includes:

[0039] S110, obtaining a target slide position of the surgical robot and a target docking position of the puncture assembly.

[0040] Among them, the abdominal trocar is a surgical instrument used to establish an artificial channel into the body cavity in minimally invasive surgery (especially laparoscopic surgery). It is usually composed of a trocar assembly and a puncture needle. The clinical use of the abdominal trocar is to first make a small incision on the patient's skin, then pass the puncture needle through the assembly, and then drive the assembly through the skin opening to penetrate the abdomen into the body cavity. Once entering the body cavity, the puncture needle can be removed, leaving the assembly as a channel for the instrument to enter and exit the body cavity. With the assistance of a surgical robot, the surgical instruments used to perform surgery on the patient are hooked to the end effector of the surgical robot arm, and the doctor remotely controls the operation of the instrument. The trocar assembly needs to be installed at the end of the surgical arm slide to support the surgical instruments or laparoscopes inserted into the patient's abdominal cavity. The target slide position may refer to the end position of the slide of the target robot arm in the surgical robot where the trocar assembly needs to be hooked. The target docking position may refer to the position to be hooked where the trocar assembly is placed. Figure 2 A structural example diagram of a surgical robot is given. Figure 2 The surgical robot is equipped with four mechanical arms, each of which includes a positioning arm, a surgical arm and a surgical arm slide. The surgical arm slide is where the abdominal puncture device is installed. Figure 3 A structural example diagram of a robotic arm is given, see Figure 3 The robot arm includes six active joints. Among them, joints 1, 4, 5 and 6 are used for rotational motion, and joints 2 and 3 are used for linear motion. The compound motion of each active joint provides the required degree of freedom to reach any position within the preset motion space of the surgical robot.

[0041] Specifically, the target docking position of the puncture assembly is determined according to the preset placement position of the puncture assembly. A position sensor can also be pre-installed inside each puncture assembly, so that the target docking position of the puncture assembly can be obtained through the position sensor, and during the operation, the position sensor can also be used to determine whether the puncture assembly is offset, further improving the accuracy and safety of the operation. The base position information of the surgical robot and the posture information of each active joint are obtained, and then the base position information and the posture information of each active joint are used to calculate the slide position of the actuator end from the base position, that is, the target slide position. A position sensor can also be pre-installed inside each slide, so that the target slide position can be obtained through the position sensor.

[0042] It should be noted that the automatic docking operation of the surgical robot in the embodiment of the present invention relies on six active positioning joints (active joints) and a puncture assembly that can be fully positioned in space to perform trajectory planning and automatic docking. No operational intervention by medical staff is required, and simple, fast, accurate and efficient automatic docking can be achieved.

[0043] On the basis of the above technical scheme, "obtaining the target slide position of the surgical robot and the target docking position of the puncture assembly" may include: obtaining the target docking position of the puncture assembly and the initial slide position and preset motion space range of the surgical robot; based on the initial slide position and the preset motion space range, determining the slide motion space range of the end of the robotic arm of the surgical robot; based on the target docking position and the slide motion space range, determining the target slide position of the surgical robot.

[0044] The initial slide position may refer to the position of the slide before the doctor's surgical task begins. The preset motion space range may refer to the accessible space of the surgical robot. The slide motion space range may refer to the accessible space of the slide in the surgical robot.

[0045] Specifically, the target docking position of the puncture assembly and the initial slide position and preset motion space range of the surgical robot are obtained. The preset motion space range and initial slide position of the surgical robot are used to deduce the slide motion space range of the end of the robotic arm of the surgical robot. If the target docking position is within the slide motion space range, indicating that the slide can reach the target docking position, the acquired target docking position is determined as the target slide position of the surgical robot. If the target docking position is not within the slide motion space range, indicating that the slide cannot reach the target docking position, the position needs to be adjusted. For example, the slide motion space range can be used to adjust the target docking position of the puncture assembly so that the puncture assembly is within the slide motion space range. The slide motion space range can also be used to adjust the initial slide position of the surgical robot so that the puncture assembly is within the slide motion space range.

[0046] S120. Determine a target motion trajectory of the surgical robot based on the target slide position and the target docking position, so that the surgical robot executes the target motion trajectory.

[0047] The target motion trajectory may refer to a smooth motion curve determined according to the starting position and the reaching position. For example, the target motion trajectory may be, but is not limited to, a smooth curve with the shortest motion duration.

[0048] Specifically, based on the knowledge of the target slide position and the target docking position, mathematical optimization techniques (such as Bezier curves or spline curves) are used to generate multiple smooth motion trajectories, and based on the motion duration corresponding to each generated motion trajectory, the motion curve with the shortest motion duration is determined, and the motion curve is determined as the target motion trajectory of the surgical robot, so that the surgical robot can execute the target motion trajectory.

[0049] S130 . Determine the current motion state of the surgical robot based on the current joint torque and a preset joint torque threshold when the surgical robot executes the target motion trajectory.

[0050] Among them, the current joint torque may refer to the joint torque corresponding to each movement moment in the process of the surgical robot executing the target motion trajectory. The preset joint torque threshold may refer to the expected joint torque corresponding to each movement moment in the process of the surgical robot normally executing the target motion trajectory, which is determined in advance based on the target motion trajectory simulation. Normal execution may refer to the situation where the surgical robot executes the target motion trajectory without collision. The current motion state may refer to the state information corresponding to the current motion moment in the process of the surgical robot executing the target motion trajectory. For example, the current motion state may include a normal motion state and a collision motion state.

[0051] Specifically, a preset joint torque threshold value corresponding to each motion moment determined by the pre-simulation is obtained. During the process of the surgical robot executing the target motion trajectory, the current joint torque of the surgical robot at each motion moment is detected and compared with the preset joint torque threshold value, and the current motion state of the surgical robot is determined based on the comparison result.

[0052] On the basis of the above technical solution, "determining the current motion state of the surgical robot based on the current joint torque and the preset joint torque threshold when the surgical robot executes the target motion trajectory" may include: if the current joint torque when the surgical robot executes the target motion trajectory is greater than the preset joint torque threshold, the collision motion state is determined as the current motion state of the surgical robot; if the current joint torque when the surgical robot executes the target motion trajectory is less than or equal to the preset joint torque threshold, the normal motion state is determined as the current motion state of the surgical robot.

[0053] Specifically, if the current joint torque of the surgical robot when executing the target motion trajectory is greater than the preset joint torque threshold, it indicates that the surgical robot needs to use a torque exceeding the preset joint torque threshold when moving according to the target motion trajectory, that is, the motion is hindered, and the collision motion state is determined as the current motion state of the surgical robot. If the current joint torque of the surgical robot when executing the target motion trajectory is less than or equal to the preset joint torque threshold, indicating that the motion is not hindered, the normal motion state is determined as the current motion state of the surgical robot. There is no need to use sensors for real-time position monitoring, saving costs, and using torque to monitor each active joint further improves the accuracy and efficiency of collision judgment.

[0054] On the basis of the above technical solution, the method also includes: determining, based on the target motion trajectory and the second dynamics model, a preset joint torque threshold corresponding to each motion moment during the movement of the surgical robot along the target motion trajectory.

[0055] Among them, the second dynamic model is constructed based on the preset mechanical arm dynamics equation corresponding to the surgical robot.

[0056] Specifically, the target motion trajectory is discretized to obtain a plurality of motion trajectory points, and the position information of each motion trajectory point and the second dynamic model are used to determine the preset joint torque threshold corresponding to each motion moment during the movement of the surgical robot along the target motion trajectory.

[0057] For example, the position information, velocity information and acceleration information of the motion trajectory points reached by each active joint can be substituted into the second dynamic model to calculate the preset joint torque threshold of each active joint. The joint torque calculation formula is as follows:

[0058]

[0059] Where Γ is the preset mechanical arm dynamic equation corresponding to the surgical robot. τ C is the preset joint torque threshold. They are the position information, velocity information and acceleration information of each active joint. The velocity information can be the first-order derivative result of the position information. The acceleration information can be the second-order derivative result of the position information.

[0060] S140: If the current motion state is a collision motion state, the current motion of the surgical robot is stopped, and the target slide position is updated based on the current slide position corresponding to the current motion state.

[0061] Specifically, if the current motion state is a collision motion state, indicating that the currently executed target motion trajectory needs to be adjusted, the current motion of the surgical robot is stopped, so that the continued motion is stopped in time when a collision occurs to avoid mechanical damage to the surgical robot, and the target slide position is updated based on the current slide position corresponding to the current motion state, so as to determine the updated target motion trajectory of the surgical robot based on the updated target slide position and the target docking position of the puncture assembly, so that the surgical robot continues to dock according to the updated target motion trajectory, and then adjusts the target motion trajectory in time, that is, adjusts to obtain a new surgical robot control strategy to ensure completion of the docking task.

[0062] For example, if the current motion state is a normal motion state throughout the entire process of the surgical robot executing the target motion trajectory, it indicates that the surgical robot completes the docking of the slide and the puncture assembly without collision, thereby completing the docking in the shortest time and further improving the docking efficiency.

[0063] It should be noted that the technical solution of the embodiment of the present invention can respond to collision events in real time to reduce the mechanical structure impact of the surgical robot, extend the service life of the equipment, improve the safety of surgery, and avoid harm to the patient. At the same time, no additional sensors are added to the surgical arm, and only the joint power module is relied on to detect collisions, which reduces the structural complexity and cost of the system.

[0064] The technical solution of the embodiment of the present invention is to obtain the target slide position of the surgical robot and the target docking position of the puncture assembly; determine the target motion trajectory of the surgical robot based on the target slide position and the target docking position, so that the surgical robot executes the target motion trajectory; in the process of the surgical robot executing the target motion trajectory, determine the current motion state of the surgical robot based on the current joint torque and the preset joint torque threshold when the surgical robot executes the target motion trajectory; if the current motion state is a collision motion state, stop the current motion of the surgical robot, and update the target slide position based on the current slide position corresponding to the current motion state, so as to determine the updated target motion trajectory of the surgical robot based on the updated target slide position and the target docking position, and then perform effective trajectory adjustments in time when a collision occurs, and enable the surgical robot to continue to move according to the updated target motion trajectory to complete the accurate docking of the slide and the puncture assembly.

[0065] Embodiment 2

[0066] Figure 4This is a flowchart of a method for determining the motion trajectory of a surgical robot provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment describes in detail the process of determining the target motion trajectory of the surgical robot. The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here.

[0067] like Figure 4 As shown, the method includes:

[0068] S410, obtaining a target slide position of the surgical robot and a target docking position of the puncture assembly.

[0069] in, Figure 5 An example diagram of the docking of a slide and a trocar assembly is given. Figure 5 The puncture assembly also includes a puncture clamping seat and a puncture sleeve. The slide needs to be docked with the puncture clamping seat. Figure 6 A structural example diagram of a trocar holder is given. Figure 6 There are two upper and lower cavities inside the puncture clamp seat, and the middle is separated by magnetic isolation material. The upper cavity is equipped with a main control board for positioning, a wireless charging coil and a high-temperature resistant battery. The lower cavity is equipped with a magnet. The puncture clamp seat is sealed and waterproof as a whole. The main control chip, charging and discharging IC chip, IMU inertial measurement element and IMU attitude solution chip are integrated on the main control board. The wireless charging coil is electrically connected to the main control board, and is electrically connected to the high-temperature resistant battery through the charging and discharging IC chip. The main control chip is integrated with Bluetooth transceiver function. The IMU inertial measurement element can detect the spatial angle of the current element in three-dimensional space, such as the angle in the three directions of XYZ. Figure 7 An example diagram of a three-dimensional space coordinate system is given. For example, the rotation angle of the XY axis can be solved based on the current component of gravity acceleration g, and the current rotation angle of the Z axis can be detected based on the geomagnetic field. The IMU attitude solution chip can convert the electrical analog signal detected by the IMU inertial measurement element into a digital signal and transmit it to the main control chip. Figure 8 An example diagram of the internal structure of a slide is given. Figure 8 A Hall recognition plate is provided at the end of the slide, a Bluetooth receiving circuit board (equivalent to a Bluetooth receiving module) and a Bluetooth antenna array are provided inside the slide, and the array includes at least 3 antennas, at least 2 of which are perpendicular to the slide, and 1 antenna is placed at the puncture device clamping mechanism, pointing to the puncture device position. All antennas are connected to the Bluetooth receiving circuit board.

[0070] Specifically, the Bluetooth module of the main control chip inside the puncture component adopts the ble (Bluetooth LowEnerge) communication standard to connect and communicate with the Bluetooth receiving module inside the slide. The main control chip inside the puncture component is set as the Bluetooth service (Service) end, and the surgical arm slide is set as the client (Client) end. The puncture component can broadcast a service identifier (Service ID) and two feature identifiers (IDs), one of which is used to send feedback on the puncture component model and other functional instructions, and the other feature ID is used to send the spatial angle collected by the current IMU. The main control method of the puncture cannula is that the Service end broadcasts the Service ID and two feature IDs at a low frequency. When the Client end is connected, the device model identification command is sent, and the current puncture component model is identified based on the data fed back by the Service end. Subsequently, the spatial posture of the puncture cannula is collected, the Client end sends an instruction to collect the spatial posture, and the Service end is used to send the CharID of the spatial posture to start high-frequency broadcasting and send the spatial angle of the current puncture component.

[0071] For example, the phase of the Bluetooth signal received by each antenna inside the slide Phase Difference The incident angle θ of the Bluetooth signal received by each antenna i . Through the phase difference Analyze and generate multiple incident angles θ of the Bluetooth signal received by the Bluetooth antenna array i ,in Then find the complementary angle θ of the incident angle i , where λ is the wavelength of the Bluetooth signal. Fig. 9 A schematic diagram of the lengths and angles of various parts is given. Fig. 9 , the Bluetooth signal transmission point is P, the end of antenna 1 is A, the end of antenna 2 is B, the end of antenna 3 is C, point O is the clamped part of the puncture assembly, AB=L1, BC=L2, OC+L3, the angles between the Bluetooth signal and antenna 1, antenna 2, and antenna 3 are θ1, θ2, and θ3 respectively. According to the cosine theorem, the following results can be obtained.

[0072] ∠APB=θ1-θ2

[0073] ∠BAD=θ2

[0074] AB=L1;BC=L2

[0075] AD=AB / cos(∠BAD)

[0076] AP=AD / sin(∠APB)

[0077] PC=AP 2 +AC2 -2AP×AC×cos(∠APC)

[0078]

[0079] Through the above method, the spatial rotation angle and spatial three-dimensional coordinates of the puncture device assembly can be obtained at the slide end. The surgical arm has at least 6 degrees of freedom, which can realize the positioning of the slide holding part (target slide position) to the puncture device clamping seat position (target docking position) and hold it. A Hall recognition plate is provided at the end of the surgical arm slide, and a magnet is provided in the cavity under the puncture device clamping seat. When the Hall recognition plate detects the magnet signal, it is determined that the current puncture device is successfully clamped, and the surgical arm Client sends a command to stop high-frequency broadcasting, and the puncture device stops broadcasting high-frequency signals.

[0080] It should be noted that the combination of IMU and Bluetooth can realize the 6-DOF position positioning of the trocar in space and automatic docking. Relying on ble communication technology, Bluetooth positioning can be achieved with extremely low power consumption, and the trocar Service end broadcasts ble ID at a low frequency under normal conditions, which can further reduce power consumption and increase the battery life of the trocar. The use of wireless charging modules and high-temperature resistant batteries can realize the reuse of the trocar sleeve.

[0081] S420: Determine a candidate motion trajectory of the surgical robot based on the target slide position and the target docking position.

[0082] The motion trajectory to be selected may refer to a motion trajectory to be screened for motion duration and motion acceleration.

[0083] Specifically, based on knowing the target slide position and the target docking position, a plurality of smooth motion trajectories are generated by using mathematical optimization techniques (such as Bezier curves or spline curves).

[0084] On the basis of the above technical solution, "determining the candidate motion trajectory of the surgical robot based on the target slide position and the target docking position" may include: determining the candidate motion trajectory of the surgical robot based on the target slide position and the target docking position; determining the candidate rotation angle corresponding to each active joint of the surgical robot when the surgical robot executes the candidate motion trajectory; determining the candidate motion trajectory of the surgical robot based on the candidate rotation angle corresponding to each active joint and a preset rotation angle threshold.

[0085] The candidate motion trajectory may refer to the motion trajectory to be screened for rotation angle. The candidate rotation angle may refer to the rotation angle actually achieved by each active joint when each joint of the surgical robot executes the candidate motion trajectory. The preset rotation angle threshold may refer to the rotation angle limit of each active joint in the robotic arm of the surgical robot.

[0086] Specifically, trajectory planning can be achieved using a cubic polynomial. Two position constraints are set, including a starting position constraint and a docking position constraint. The starting position constraint corresponds to the target slide position. The docking position constraint corresponds to the target docking position. Two speed constraints are set, including a starting speed constraint and a docking speed constraint. The starting speed constraint corresponds to the departure speed of the target slide position. The docking speed constraint corresponds to the arrival speed of the target docking position. The cubic polynomial includes an expression between position and time, an expression between speed and time, and an expression between acceleration and time. The cubic polynomial is solved based on multiple constraints to obtain parameter values ​​of each parameter in the polynomial, and the parameter values ​​are brought back to the expression between position and time to obtain the candidate motion trajectory of the surgical robot. The candidate rotation angle corresponding to each active joint when the surgical robot executes the candidate motion trajectory is determined. If the candidate rotation angle is greater than a preset rotation angle threshold, the candidate motion trajectory corresponding to the candidate rotation angle is eliminated. If the candidate rotation angle is less than or equal to the preset rotation angle threshold, the candidate motion trajectory corresponding to the candidate rotation angle is retained, and the candidate motion trajectory is determined as the candidate motion trajectory of the surgical robot.

[0087] On the basis of the above technical solution, "determining the candidate rotation angle corresponding to each active joint when the surgical robot executes the candidate motion trajectory" may include: discretizing the candidate motion trajectory to obtain the candidate space point coordinates corresponding to the candidate motion trajectory; converting the candidate space point coordinates into the candidate rotation angle corresponding to each active joint in the surgical robot through DH coordinate transformation.

[0088] The candidate space point coordinates may refer to the space coordinates corresponding to the candidate space points obtained by discretizing the candidate motion trajectory.

[0089] Specifically, under the premise of ensuring that the discrete accuracy is sufficient to fit the curve, the candidate motion trajectory is discretized to obtain candidate space points (N1, N2...Nn), and the spatial position corresponding to each candidate space point is determined. DH coordinate transformation can be used to transform the spatial coordinates into the rotation angle when each active joint is located at the candidate space point. The candidate space point coordinates can be transformed using a pre-constructed DH matrix or posture transformation matrix to obtain the candidate rotation angle corresponding to each active joint in the surgical robot.

[0090] Exemplarily, the DH matrix fixes a coordinate system on each link of the robot, and then uses a 4×4 homogeneous transformation matrix to describe the spatial relationship between two adjacent links. The position and posture of the end effector relative to the base coordinate system can be finally derived through successive transformations, so that the candidate rotation angle corresponding to each active joint can be determined based on the position information of each active joint.

[0091] It should be noted that the above method of determining the candidate motion trajectory can be understood as first determining the range of optional solutions, and then using restrictions such as the rotation angle to filter out invalid solutions, thereby obtaining valid solutions, and using the valid solutions to form the candidate motion trajectory of the surgical robot.

[0092] S430: Determine the duration and acceleration of the selected movement corresponding to the surgical robot based on the first dynamics model and the selected movement trajectory.

[0093] Among them, the first dynamic model is constructed based on the velocity Jacobian matrix. In robotics and dynamics analysis, the velocity Jacobian matrix can refer to a matrix that describes the relationship between joint velocity and end effector velocity. It contains the degree of influence of joint velocity on end effector velocity and can be used to calculate the influence of changes in joint velocity on end effector velocity.

[0094] Specifically, the selected motion trajectory is input into the first dynamics model to determine the corresponding selected motion duration and selected motion acceleration when the surgical robot executes the selected motion trajectory.

[0095] S440: Determine a target motion trajectory of the surgical robot based on the duration of the selected motion and the acceleration of the selected motion, so that the surgical robot executes the target motion trajectory.

[0096] Among them, the screening conditions for the selected motion trajectory can be determined based on business needs. For example, the target motion trajectory requires the shortest duration of the selected motion and the smallest acceleration of the selected motion to avoid sudden changes in motion direction or acceleration during the motion process, thereby reducing the impact on the driving components and mechanical structures.

[0097] On the basis of the above technical solution, the motion time parameters (motion duration and / or motion acceleration, etc.) of the surgical arm can be simulated and calculated. According to the working space limitation and dynamic constraints (joint maximum torque threshold and rod stiffness threshold) of the surgical arm, the simulation calculation obtains the estimated time required for the swing position under multiple candidate motion trajectories, and the candidate motion trajectory corresponding to the shortest time among all solutions is selected as the optimal solution. The simulation model adopts a simplified model to improve the computational efficiency so that the solution can be completed within the preoperative positioning time. At the same time, the simulation model can be animated so that the doctor can intuitively see the movement process of the robotic arm (including the surgical arm and the positioning arm).

[0098] S450 . Determine the current motion state of the surgical robot based on the current joint torque and the preset joint torque threshold when the surgical robot executes the target motion trajectory.

[0099] S460: If the current motion state is a collision motion state, the current motion of the surgical robot is stopped, and the target slide position is updated based on the current slide position corresponding to the current motion state.

[0100] The technical solution of the embodiment of the present invention determines the selected motion trajectory of the surgical robot based on the target slide position and the target docking position; determines the corresponding selected motion duration and selected motion acceleration of the surgical robot when executing each selected motion trajectory based on the first dynamic model constructed by the velocity Jacobian matrix and the selected motion trajectory, thereby screening out the target motion trajectory of the surgical robot from the selected motion trajectories based on the selected motion duration and the selected motion acceleration, further improving the accuracy of determining the target motion trajectory and improving the efficiency of the surgical robot in completing the docking of the slide and the puncture assembly.

[0101] Exemplarily, an embodiment of the present invention provides an optional surgical robot motion trajectory determination process, including: constructing a dynamic model in the control system of the surgical arm, which model can calculate the relationship between the output of each joint torque sensor and the actual motion state of the surgical arm; by real-time monitoring the output of the torque sensor, detecting the deviation from the expected motion pattern, so as to determine whether a collision event occurs; once a collision is detected, immediately calling the inverse Jacobian matrix calculation method to calculate the direction and magnitude of the collision force to evaluate the severity of the collision; based on the collision result, triggering a safety stop mechanism in the control program or urgently starting a trajectory re-planning program to avoid potential further collision risks; in the trajectory re-planning stage, generating a new obstacle avoidance trajectory based on the collision point position, collision force direction, and dynamic constraints, which trajectory avoids the collision point and ensures the smoothness of the trajectory; repeating the above trajectory planning process.

[0102] The following is an embodiment of a surgical robot motion trajectory determination device provided in an embodiment of the present invention. The device and the surgical robot motion trajectory determination method of the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the surgical robot motion trajectory determination device, please refer to the embodiment of the above-mentioned surgical robot motion trajectory determination method.

[0103] Embodiment 3

[0104] Fig.10 This is a schematic diagram of the structure of a surgical robot motion trajectory determination device provided by Embodiment 3 of the present invention. Fig.10 As shown, the device includes: a position acquisition module 1010, a target motion trajectory determination module 1020, a current motion state determination module 1030 and a position update module 1040.

[0105] Among them, the position acquisition module 1010 is used to obtain the target slide position of the surgical robot and the target docking position of the puncture assembly; the target motion trajectory determination module 1020 is used to determine the target motion trajectory of the surgical robot based on the target slide position and the target docking position, so that the surgical robot executes the target motion trajectory; the current motion state determination module 1030 is used to determine the current motion state of the surgical robot based on the current joint torque and the preset joint torque threshold when the surgical robot executes the target motion trajectory; the position update module 1040 is used to stop the current motion of the surgical robot if the current motion state is a collision motion state, and update the target slide position based on the current slide position corresponding to the current motion state.

[0106] The technical solution of the embodiment of the present invention is to obtain the target slide position of the surgical robot and the target docking position of the puncture assembly; determine the target motion trajectory of the surgical robot based on the target slide position and the target docking position, so that the surgical robot executes the target motion trajectory; in the process of the surgical robot executing the target motion trajectory, determine the current motion state of the surgical robot based on the current joint torque and the preset joint torque threshold when the surgical robot executes the target motion trajectory; if the current motion state is a collision motion state, stop the current motion of the surgical robot, and update the target slide position based on the current slide position corresponding to the current motion state, so as to determine the updated target motion trajectory of the surgical robot based on the updated target slide position and the target docking position, and then perform effective trajectory adjustments in time when a collision occurs, and enable the surgical robot to continue to move according to the updated target motion trajectory to complete the accurate docking of the slide and the puncture assembly.

[0107] Based on the above technical solution, the position acquisition module 1010 is specifically used to: obtain the target docking position of the puncture assembly and the initial slide position and preset motion space range of the surgical robot; determine the slide motion space range of the end of the robotic arm of the surgical robot based on the initial slide position and the preset motion space range; determine the target slide position of the surgical robot based on the target docking position and the slide motion space range.

[0108] Based on the above technical solution, the target motion trajectory determination module 1020 may include:

[0109] A submodule for determining a motion trajectory to be selected, used to determine a motion trajectory to be selected of the surgical robot based on a target slide position and a target docking position;

[0110] A submodule for determining the parameters of a selected motion, used to determine the duration of a selected motion and the acceleration of a selected motion corresponding to the surgical robot based on the first dynamics model and the selected motion trajectory; the first dynamics model is constructed based on the velocity Jacobian matrix;

[0111] The target motion trajectory determination submodule is used to determine the target motion trajectory of the surgical robot based on the selected motion duration and the selected motion acceleration.

[0112] Based on the above technical solution, the submodule for determining the motion trajectory to be selected may include:

[0113] A candidate motion trajectory determination unit, used to determine a candidate motion trajectory of the surgical robot based on a target slide position and a target docking position;

[0114] A candidate rotation angle determination unit, used to determine a candidate rotation angle corresponding to each active joint when the surgical robot executes a candidate motion trajectory;

[0115] The candidate motion trajectory determination unit is used to determine the candidate motion trajectory of the surgical robot based on the candidate rotation angle corresponding to each active joint and the preset rotation angle threshold.

[0116] Based on the above technical solution, the candidate rotation angle determination unit is specifically used to: obtain the candidate space point coordinates corresponding to the candidate motion trajectory by discretizing the candidate motion trajectory; and convert the candidate space point coordinates into candidate rotation angles corresponding to each active joint in the surgical robot through DH coordinate transformation.

[0117] Based on the above technical solution, the current motion state determination module 1030 is specifically used for: if the current joint torque of the surgical robot when executing the target motion trajectory is greater than the preset joint torque threshold, the collision motion state is determined as the current motion state of the surgical robot; if the current joint torque of the surgical robot when executing the target motion trajectory is less than or equal to the preset joint torque threshold, the normal motion state is determined as the current motion state of the surgical robot.

[0118] On the basis of the above technical solution, the device also includes: based on the target motion trajectory and the second dynamic model, determining the preset joint torque threshold corresponding to each motion moment during the movement of the surgical robot along the target motion trajectory; wherein the second dynamic model is constructed based on the preset robotic arm dynamics equation corresponding to the surgical robot.

[0119] The surgical robot motion trajectory determination device provided in the embodiment of the present invention can execute the surgical robot motion trajectory determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the surgical robot motion trajectory determination method.

[0120] It is worth noting that in the above-mentioned embodiment of determining the motion trajectory of the surgical robot, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0121] Embodiment 4

[0122] Fig.11 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0123] like Fig.11 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0124] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0125] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining the motion trajectory of a surgical robot.

[0126] In some embodiments, the method for determining the motion trajectory of the surgical robot may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the motion trajectory of the surgical robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for determining the motion trajectory of the surgical robot by any other appropriate means (e.g., by means of firmware).

[0127] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0128] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0129] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0130] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0131] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0132] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0133] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the method for determining the motion trajectory of a surgical robot provided in any embodiment of the present application.

[0134] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, and the programming language includes an object-oriented programming language, such as Java, Smalltalk, C++, and also includes a conventional procedural programming language, such as "C" language or similar programming language. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). The program product and the method for determining the motion trajectory of the surgical robot disclosed in each embodiment of the present application belong to the same inventive concept, so it is not repeated here.

[0135] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0136] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining the motion trajectory of a surgical robot, characterized in that: include: Obtaining a target slide position of the surgical robot and a target docking position of the puncture assembly; Determining a target motion trajectory of the surgical robot based on the target slide position and the target docking position so that the surgical robot executes the target motion trajectory; Determining a current motion state of the surgical robot based on a current joint torque and a preset joint torque threshold when the surgical robot executes a target motion trajectory; If the current motion state is a collision motion state, the current motion of the surgical robot is stopped, and the target slide position is updated based on the current slide position corresponding to the current motion state.

2. The method according to claim 1, characterized in that The step of obtaining the target slide position of the surgical robot and the target docking position of the puncture assembly includes: Obtaining the target docking position of the trocar assembly and the initial slide position and preset motion space range of the surgical robot; Determining the sliding table motion space range of the end of the robotic arm of the surgical robot based on the initial sliding table position and the preset motion space range; The target slide position of the surgical robot is determined based on the target docking position and the slide motion space range.

3. The method according to claim 1, characterized in that The step of determining a target motion trajectory of the surgical robot based on the target slide position and the target docking position includes: Determining a candidate motion trajectory of the surgical robot based on the target slide position and the target docking position; Based on the first dynamics model and the selected motion trajectory, determining the selected motion duration and the selected motion acceleration corresponding to the surgical robot; the first dynamics model is constructed based on the velocity Jacobian matrix; Based on the duration of the selected movement and the acceleration of the selected movement, a target movement trajectory of the surgical robot is determined.

4. The method according to claim 3, characterized in that: The step of determining a candidate motion trajectory of the surgical robot based on the target slide position and the target docking position includes: Determining a candidate motion trajectory of the surgical robot based on the target slide position and the target docking position; Determining a candidate rotation angle corresponding to each active joint when the surgical robot executes the candidate motion trajectory; Based on the candidate rotation angle corresponding to each active joint and the preset rotation angle threshold, the candidate motion trajectory of the surgical robot is determined.

5. The method according to claim 4, characterized in that The determining of the candidate rotation angle corresponding to each active joint when the surgical robot executes the candidate motion trajectory includes: Obtaining coordinates of candidate space points corresponding to the candidate motion trajectory by discretizing the candidate motion trajectory; The candidate space point coordinates are converted into candidate rotation angles corresponding to each active joint in the surgical robot through DH coordinate transformation.

6. The method according to claim 1, characterized in that The determining of the current motion state of the surgical robot based on the current joint torque and the preset joint torque threshold when the surgical robot executes the target motion trajectory includes: If the current joint torque of the surgical robot when executing the target motion trajectory is greater than a preset joint torque threshold, the collision motion state is determined as the current motion state of the surgical robot; If the current joint torque of the surgical robot when executing the target motion trajectory is less than or equal to a preset joint torque threshold, the normal motion state is determined as the current motion state of the surgical robot.

7. The method according to claim 1, characterized in that The method further comprises: Based on the target motion trajectory and the second dynamics model, determining a preset joint torque threshold corresponding to each motion moment during the movement of the surgical robot along the target motion trajectory; Among them, the second dynamic model is constructed based on the preset mechanical arm dynamic equation corresponding to the surgical robot.

8. A device for determining the motion trajectory of a surgical robot, characterized in that: The device comprises: A position acquisition module, used to acquire a target slide position of the surgical robot and a target docking position of the puncture assembly; A target motion trajectory determination module, used to determine the target motion trajectory of the surgical robot based on the target slide position and the target docking position, so that the surgical robot executes the target motion trajectory; A current motion state determination module, used to determine the current motion state of the surgical robot based on the current joint torque and a preset joint torque threshold when the surgical robot executes the target motion trajectory; The position updating module is used to stop the current movement of the surgical robot if the current movement state is a collision movement state, and to update the target slide position based on the current slide position corresponding to the current movement state.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the motion trajectory of a surgical robot as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for determining the motion trajectory of a surgical robot as described in any one of claims 1 to 7 is implemented.

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