Motion control method of robot system, surgical robot, and storage medium

Abstract

The invention relates to the field of medical instruments, and discloses a motion control method of a robot system, a surgical robot and a storage medium, the robot system comprises a mobile station and an input device, the input device comprises an operation handle for remote control, and the mobile station comprises at least one motion arm. The control method comprises the following steps: receiving operation information corresponding to an operation action on an operation handle from the operation handle; and controlling the movement of the mobile station or the at least one movement arm based on the operation information. According to the invention, a user can control the movement of the moving station or the moving arm by operating the operating handle, so that the intuition degree of control can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a motion control method of a robot system, a surgical robot, and a storage medium. Background Art

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery performed by surgical robots, especially single-port laparoscopic surgery, can optimize the surgical method through computer remote control technology.

[0003] During the preoperative preparation process for performing an operation using a surgical robot system, it is necessary to move the mobile station to a position in front of the operating table that is suitable for performing the operation and to move at least one moving arm to a suitable position according to the type of operation, the location of the operation, etc., so that at least one moving arm can be connected to the sheath, and the surgical instruments carried by the moving arm can pass through the sheath into the corresponding position in the human body where the operation is required.

[0004] During preoperative preparation or during surgery, it is usually difficult to intuitively move the position and posture of the mobile station and the motion arm to a position and posture suitable for performing surgery. Summary of the invention

[0005] In some embodiments, the present disclosure provides a motion control method for a robot system, the robot system includes a mobile station and an input device, the input device includes an operating handle for remote control, the mobile station includes at least one motion arm, and the control method includes:

[0006] receiving, from the operating handle, operation information corresponding to an operation action on the operating handle; and

[0007] Based on the operation information, the mobile station or at least one motion arm is controlled to move.

[0008] In some embodiments, the present disclosure further provides a surgical robot, comprising:

[0009] Mobile station, including:

[0010] at least one moving arm, the at least one moving arm being movably disposed on the mobile station;

[0011] An operating handle, used to receive an operation of the operating handle by a user; and

[0012] The controller is communicatively connected with the mobile station and the operating handle, and is configured to be able to execute the motion control method of the robot system as any one of some embodiments of the present disclosure.

[0013] In some embodiments, the present disclosure further provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to execute a motion control method for a robot system as described in any one of some embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0015] Figure 1 A flowchart showing a motion control method for a robot system according to some embodiments of the present disclosure;

[0016] Figure 2 A schematic structural block diagram of a surgical robot according to some embodiments of the present disclosure is shown;

[0017] Figure 3 A schematic diagram showing a surgical robot according to some embodiments of the present disclosure;

[0018] FIG. 4A to FIG. 4D A simplified top view showing at least a partial structure of an operating handle according to some embodiments of the present disclosure;

[0019] Figure 5 A flowchart showing a motion control method for a robot system according to other embodiments of the present disclosure;

[0020] Figure 6 A simplified schematic diagram illustrating control points of a mobile station according to some embodiments of the present disclosure;

[0021] Figure 7 A simplified schematic diagram showing a positioning device in a mobile station according to some embodiments of the present disclosure;

[0022] Figure 8 A flowchart showing a motion control method of a robot system according to some other embodiments of the present disclosure;

[0023] Fig. 9 A simplified schematic diagram showing control points of a motion arm according to some embodiments of the present disclosure;

[0024] Fig.10 A schematic structural diagram of a mobile station according to some other embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0025] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0026] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, or rear end, and the end close to the surgical patient is defined as the distal end, far end, or front end, or front part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0027] In the present disclosure, the term "position" refers to the positioning of an object or a part of an object in three-dimensional space (for example, three translational degrees of freedom can be described using changes in Cartesian X, Y and Z coordinates, such as three translational degrees of freedom along Cartesian X, Y and Z axes, respectively). In the present disclosure, the term "posture" refers to the rotation setting of an object or a part of an object (for example, three rotational degrees of freedom, which can be described using roll, pitch and yaw). In the present disclosure, the term "pose" refers to a combination of the position and pose of an object or a part of an object, for example, it can be described using six parameters of the six degrees of freedom mentioned above. In the present disclosure, the configuration or posture of a moving arm or a part thereof can be represented by a set of joint values ​​of the joints of the moving arm (for example, a one-dimensional matrix composed of these joint values). In the present disclosure, the joint values ​​of the joints can include the angles rotated by the corresponding joints relative to the corresponding joint axes or the distances moved relative to the initial positions. In the present disclosure, a reference coordinate system can be understood as a coordinate system capable of describing the pose of an object. According to the actual positioning requirements, the reference coordinate system can choose to use the origin of the virtual reference object or the origin of the physical reference object as the origin of the coordinate system.

[0028] Figure 1 A flowchart of a motion control method 100 for a robot system according to some embodiments of the present disclosure is shown. Figure 2 1 shows a schematic block diagram of a surgical robot 200 according to some embodiments of the present disclosure. The method 100 may be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, the method 100 may be executed by a robotic system. The robotic system may include a surgical robot system (e.g., Figure 2 The robot system may also include a dedicated or general-purpose robot system for other fields (e.g., manufacturing, machinery, etc.). In some embodiments, the method 100 may be at least partially performed by Figure 2 The method 100 is performed by the controller 230 of the surgical robot 200 shown. In some embodiments, the method 100 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., Figure 2 For example, the controller 230 of the surgical robot 200 may include a processor configured to execute the method 100. In some embodiments, these instructions may be stored on a computer-readable storage medium.

[0029] In some embodiments, the surgical robot 200 may be any suitable surgical robot including a laparoscopic surgical robot. Figure 2As shown, the surgical robot 200 may include a mobile station 210 and an operating handle 220, and may further include a controller 230. The mobile station 210 may include at least one moving arm 211. Figure 3 FIG. 2 is a schematic diagram of a surgical robot 200 according to some embodiments of the present disclosure. Figure 3 As shown, at least one motion arm 211 may be movably disposed on the mobile station 210. In some embodiments, at least one motion arm 211 may be a positioning arm of a surgical robot, and the distal end of at least one motion arm 211 may carry at least one surgical instrument ( Figure 3 Not shown, such as clamps, scissors, endoscope, etc.).

[0030] Operating handle( Figure 3 The controller 230 may be configured to receive the user's operation on the operating handle 220. In some embodiments, the operating handle 220 may be held and operated by the user. The controller 230 may be communicated with the mobile station 210 and the operating handle 220, respectively. In some embodiments, the controller 230 may be disposed in any suitable position in the mobile station 210 or in the surgical robot 200.

[0031] In some embodiments, the operating handle 220 may be a mechanical handle, for example, the operating handle 220 may include a base and a rocker. In some embodiments, the rocker may be provided on the base and may be used to receive user operations. The user may control the movement of the mobile station or at least one motion arm by operating the rocker. In some embodiments, the operating handle 220 may also include at least one button or key, etc., at least one button or key may be provided on the base or the rocker, and at least one button or key may be used to receive user operations. The user may control the movement of the mobile station or at least one motion arm by operating at least one button or key, or select a control mode or control dimension, etc. by operating at least one button or key.

[0032] In some embodiments, the operating handle 220 may also be a virtual handle, such as an input interface. The input interface may include at least one button, and the user may control the movement of the mobile station or at least one moving arm by operating the at least one button. In some embodiments, the input interface may be provided on a display screen, and the display screen may be provided on a base, or provided in a main control station 240 of the surgical robot 200 or in any suitable position in the surgical robot 200.

[0033] like Figure 3As shown, the surgical robot 200 may further include a main control station 240, and the main control station 240 may include at least one main operator 241. The at least one main operator 241 may be used to receive the user's operation on the at least one main operator 241. The main control station 240 may be connected to the mobile station 210 for communication. During surgery, the mobile station 210 is usually located at the patient's side, and the user may issue a control instruction by operating the at least one main operator 241 of the main control station 240 to control at least one surgical instrument carried by the mobile station 210 to perform a surgical operation on the patient.

[0034] like Figure 1 As shown, in step 110, operation information corresponding to the operation action on the operation handle 220 is received from the operation handle 220. Those skilled in the art will appreciate that the operation action on the operation handle 220 may be an action of a user (e.g., a medical staff, etc.) holding the operation handle 220 and operating the operation handle 220.

[0035] FIG. 4A to FIG. 4D 2 is a simplified top view showing at least a portion of the structure of the operating handle 220 according to some embodiments of the present disclosure. FIG. 4A to FIG. 4D As shown, in some embodiments, the operating handle 220 may be a mechanical handle, 2201 may be a joystick of the operating handle 220, and 2202 may be a base in the operating handle 220 for receiving the joystick. In some embodiments, the operating handle 220 may be a virtual handle, 2201 may be a virtual joystick, and 2202 may be used to indicate the movable range of the joystick 2201 in the input interface. FIG. 4A to FIG. 4D The positions in are position A to position D respectively.

[0036] like Figure 4A As shown, when the operating handle 220 is not operated, the center of the joystick 2201 (for example, the center projection of the head of the joystick, or the center of the virtual joystick) is at the center of 2202. The operation action of the operating handle 220 may include left and right movement. For example, the user may hold the joystick 2201 of the operating handle and perform a rightward movement operation, so that the joystick 2201 moves from the center to the left. Figure 4A The position A shown in FIG. Figure 4B The operation of the operating handle 220 may also include moving up and down. For example, the user may move the rocker 2201 of the operating handle upward so that the rocker 2201 moves from Figure 4A The position A shown in FIG. Figure 4D The operation of the operating handle 220 may also include clockwise rotation or counterclockwise rotation. For example, the user may perform a clockwise rotation operation on the rocker 2201 of the operating handle 220 so that the rocker 2201 is rotated as shown in FIG. Figure 4C The position C shown in FIG. Figure 4B The position shown is B. Those skilled in the art can understand that the operation actions on the operation handle 220 are not limited to the various operation actions listed above, and can also include any appropriate operation actions.

[0037] In some embodiments, when the user operates the operating handle 220, the operating handle 220 can generate operation information corresponding to the user's operation in real time. In some embodiments, the operation information may include the movement amount of the operating handle 220 (for example, the movement speed, movement angular velocity, rotation angle, movement distance, etc. of the rocker 2201 of the operating handle 220), the position of the operating handle 220 (for example, the position of the rocker 2201), etc. In some embodiments, the operation information may be based on Figure 4A The operation information of the coordinate system {O} shown in the figure, for example, the position of the operating handle 220 may include the position coordinates of the operating handle 220 in the coordinate system {O}. In some embodiments, the operating handle may also include at least one sensor disposed in the operating handle (for example, in the rocker of the operating handle), for example, a velocity sensor, an accelerometer, a position sensor, a posture sensor, etc. The operation information corresponding to the user's operation may also include data collected by at least one sensor, such as the movement speed and the movement angular velocity of the operating handle.

[0038] In step 110, the robot system (eg, the controller 230 of the surgical robot 200) may receive operation information from the operating handle 220. The controller 230 may be communicatively connected with the operating handle 220 to receive the operation information from the operating handle 220.

[0039] like Figure 1 As shown, in step 120, based on the operation information, the mobile station (eg, the mobile station 210) or at least one motion arm (eg, the motion arm 211) is controlled to move.

[0040] In some embodiments, the method 100 may further include: receiving a selection of a control mode from at least one control mode selection key. The method 100 may further include: performing motion control based on the received control mode. The control mode may include at least one control mode, for example, a mobile station control mode, a motion arm control mode, etc. In some embodiments, the motion arm control mode may include a motion arm position control mode and a motion arm posture control mode. It will be appreciated by those skilled in the art that, in the case of receiving a selection of the mobile station control mode, in step 120, the motion of the mobile station may be controlled based on the operation information; in the case of receiving a selection of the motion arm control mode, in step 120, the motion of the motion arm may be controlled based on the operation information. In some embodiments, at least one control mode selection key may be provided on the operating handle to facilitate the user to select the control mode. For example, the control mode selection key may be a button or a dial provided on the base or the rocker of the operating handle, or a key provided in the input interface of the operating handle. It will be appreciated by those skilled in the art that the implementation form and the location of the control mode selection key are not limited to the above-mentioned ones, and the control mode selection key may be provided in any suitable form and at any suitable location in the operating handle.

[0041] In some embodiments, mobile station 210 (eg, Figure 3 ) may include at least one caster (e.g., Figure 3 casters 214a and 214b shown). Figure 3 As shown, the mobile station 210 may include a base 213. In some embodiments, as shown in FIG. Figure 3 As shown, at least one caster can be disposed at the bottom of the base 213 of the mobile station 210 to enable the mobile station 210 to move. The at least one caster may include at least one active caster. In some embodiments, the at least one active caster may be a front caster of the mobile station 210 (e.g., Figure 3 The caster 214b shown in the figure and the caster disposed opposite to the caster 214b), or the rear caster of the mobile station 210 (such as Figure 3 The controller 230 of the surgical robot 200 may control the movement of at least one active caster included in the mobile station 210 based on the operation information received from the operating handle 220, thereby controlling the movement of the mobile station 210. In some embodiments, the controller 230 of the surgical robot 200 may be in communication connection with at least one active caster to control the movement of the mobile station 210.

[0042] In some embodiments, Figure 3 As shown, the motion arm 211 may include at least one arm body (e.g., Figure 3 In some embodiments, the controller 230 of the surgical robot 200 may control the movement of at least one joint (e.g., joints 2112a to 2112c, etc.) based on the operation information received from the operating handle 220 to achieve the movement of the motion arm 211. In some embodiments, the controller 230 of the surgical robot 200 may be connected to at least one joint of the motion arm 211 to control the movement of the motion arm 211.

[0043] In some embodiments, the method 100 may further include: receiving a trigger signal from the operating handle; and in response to receiving the trigger signal, establishing a control mapping relationship between the operating handle and the movement of the mobile station or at least one moving arm. In some embodiments, the method 100 may further include: receiving a release signal from the operating handle; and in response to receiving the release signal, disconnecting the control mapping relationship between the operating handle and the mobile station or at least one moving arm. Based on this, the controller 230 of the surgical robot 200 controls the movement of the mobile station or at least one moving arm based on the operation information received from the operating handle when the trigger signal is received from the operating handle. In the case where the release signal is received from the operating handle or the trigger signal is not received from the operating handle, the mobile station or the moving arm will not move following the user's operation of the operating handle, thereby helping to avoid the movement of the mobile station or the moving arm due to the user's misoperation.

[0044] In some embodiments, the operating handle may include a trigger, and the controller 230 may receive a trigger signal or a release signal from the trigger in the operating handle. In some embodiments, the trigger in the operating handle may be in any suitable form such as a button, a key, or a dial provided on the operating handle. In some embodiments, the trigger may be provided at a suitable position such as a rocker of the operating handle, a base of the operating handle, or an input interface of the operating handle, so that the user can operate the trigger.

[0045] In some embodiments, when the user keeps pressing, toggling or touching the trigger, the controller 230 can receive a trigger signal from the operating handle, thereby establishing a control mapping relationship between the operating handle and the movement of the mobile station 210 or the movement arm 211; when the user releases the trigger, the controller 230 can receive a release signal from the operating handle (for example, the release signal can be the termination of the continuous trigger signal), thereby disconnecting the control mapping relationship between the operating handle 220 and the movement of the mobile station 210 or the movement arm 211. In some embodiments, when the user presses, toggles or touches the trigger, the controller 230 can receive a trigger signal from the operating handle, thereby establishing a control mapping relationship between the operating handle and the movement of the mobile station 210 or the movement arm 211; when the user presses, toggles or touches the trigger again, the controller 230 can receive a release signal from the operating handle, thereby disconnecting the control mapping relationship between the operating handle and the movement of the mobile station 210 or the movement arm 211.

[0046] Based on the method 100, the user can directly control the movement of the mobile station 210 or at least one motion arm 211 by operating the operating handle 220. Before the operation, the user can operate the operating handle 220 to put the mobile station 210 in place (for example, to put the mobile station 210 in a position close to the operating bed and suitable for performing the operation), or operate the operating handle 220 to put at least one motion arm 211 in place (for example, to put the remote center of motion RCM of the motion arm 211 in the center of the patient's opening, suitable for connecting the surgical instrument to the motion arm 211 and feeding it into the patient's body).

[0047] Figure 5 1 is a flow chart showing a motion control method 500 for a robotic system according to some embodiments of the present disclosure. The method 500 may be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, the method 500 may be implemented or executed by a robotic system (e.g., Figure 2 In some embodiments, the method 500 may be performed at least in part by a surgical robot 200 as shown. Figure 2 The method 500 is performed by the controller 230 of the surgical robot 200 shown. In some embodiments, the method 500 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., Figure 2 For example, the controller 230 of the surgical robot 200 may include a processor configured to execute the method 500. In some embodiments, these instructions may be stored on a computer-readable storage medium.

[0048] like Figure 5 As shown, in step 510, a target velocity and / or a target angular velocity of a control point of the mobile station is determined based on the operation information. Figure 6 FIG. 4 is a simplified schematic diagram showing a control point c1 of a mobile station 210 according to some embodiments of the present disclosure. Figure 6 As shown, at least one active caster of the mobile station 210 may include a first caster and a second caster (eg, Figure 6 In some embodiments, as shown in FIG. Figure 6 As shown, the at least one active caster of the mobile station 210 may be a pair of front casters of the mobile station 210. In some embodiments, the rear casters ( Figure 6 In some embodiments, the control point of the mobile station 210 may include the midpoint of the first caster 214b and the second caster 214c (e.g. Figure 6 Point c1) is shown.

[0049] In some embodiments, the target speed and / or target angular velocity of the control point of the mobile station determined based on step 510 may be the target speed and / or target angular velocity of the control point of the mobile station in the coordinate system of the control point of the mobile station. In some embodiments, the coordinate system of the control point of the mobile station may be as follows: Figure 6 The coordinate system {c1} is shown. Figure 6 As shown, the mobile station control point coordinate system {c1} may take the control point c1 of the mobile station 210 as the origin, and may also include a longitudinal coordinate axis (not shown in the figure) along the vertical direction and a first transverse coordinate axis (e.g., Figure 6 x-axis shown) and a second horizontal coordinate axis (e.g., Figure 6 In some embodiments, the second horizontal coordinate axis (e.g., Figure 6 The y-axis shown in FIG. 1 may take the moving direction of the mobile station 210 as the positive direction. Those skilled in the art will appreciate that the coordinate system used to determine the movement of the control point of the mobile station is not limited to the coordinate system shown in FIG. Figure 6 The mobile station control point coordinate system {c1} shown may be any suitable coordinate system.

[0050] The casters of the mobile station 210 can only move on the ground. Based on this, for example, when the four casters included in the mobile station 210 are all active casters and the four active casters are all universal wheels, the movement of the control point of the mobile station 210 may include movement in three degrees of freedom: along the Figure 6 The linear motion of the x-axis and y-axis of the coordinate system {c1} shown in the figure, and the rotational motion around the longitudinal coordinate axis (along the vertical direction, not shown in the figure). Based on this, in step 510, the target motion of the control point of the mobile station (including the target velocity and / or target angular velocity of the control point of the mobile station) can be determined as t c1 =[v c1x vc1y 00 0ω c1z ] T .

[0051] In some embodiments, the two front casters included in the mobile station 210 may be active casters, and both active casters are directional casters. Based on this, the mobile station 210 can achieve movement in two degrees of freedom, including along the Figure 6 The target motion of the mobile station 210 can be t c1 =[0 v c1y 0 0 0 ω c1z ] T .

[0052] In some embodiments, the operation information may include the movement speed and / or angular velocity of the operating handle. In some embodiments, in step 510, the controller 230 of the surgical robot 200 may map the movement speed and / or angular velocity of the operating handle to the target speed and / or target angular velocity of the control point of the mobile station in a certain proportion.

[0053] In some embodiments, the operation information may include the movement direction and / or rotation direction of the operating handle. In some embodiments, in step 510, the controller 230 of the surgical robot 200 may determine the direction of the target speed and / or target angular velocity of the control point of the mobile station based on the movement direction and / or rotation direction of the operating handle, and further determine the magnitude of the target speed and / or target angular velocity of the control point of the mobile station to be a preset value.

[0054] In some embodiments, the operating handle 220 may include a rocker (e.g., FIG. 4A to FIG. 4D The operation information may include the position of the joystick 2201. In some embodiments, the joystick 2201 may be a rotatable joystick to facilitate the user to operate the joystick. The method 500 may also include: determining the target speed and / or target angular speed of the control point of the mobile station based on the position of the joystick. For example, when the position coordinates of the joystick 2201 in the coordinate system {O} are (x, y), the target speed of the control point of the mobile station may be determined based on the position of the joystick by the following formula (1):

[0055] v c1 =[v c1x v c1y 0] T =[k 1 xk 2 y 0] T (1)

[0056] Among them, v c1 is the target velocity of the control point of the mobile station (e.g., the target velocity of the control point of the mobile station in the coordinate system of the control point of the mobile station), v c1x is the target speed of the mobile station on the x-axis (e.g., Figure 6 The component on the x-axis of the mobile station control point coordinate system {c1} shown, v c1y is the target speed of the mobile station on the y-axis (e.g., Figure 6 The component on the y-axis of the mobile station control point coordinate system {c1} shown, k 1 is the first speed proportional coefficient of the mobile station, k 2 is the second speed proportional coefficient of the mobile station, k 1 and k 2 The dimension is meter per second and k 1 and k 2 Both are greater than zero.

[0057] For example, when a user Figure 4A The positive direction of the x-axis in the coordinate system {O} shown in FIG. 1 operates the joystick of the operating handle (for example, moves the joystick to a position as shown in FIG. Figure 4B In the case of the position B shown in the figure, the controller controls the movement of the mobile station using the target speed of the mobile station determined by formula (1), so that the mobile station can move in the positive direction of the x-axis of the coordinate system {c1}. When the user operates the joystick along the y-axis in the coordinate system {O}, the mobile station can be moved in the direction of the y-axis in the coordinate system {c1}. In addition, when the user operates the joystick in the same direction, the farther the position of the joystick is from the center point O (for example, the larger the value of the horizontal coordinate x of the position coordinate of the joystick), the larger the value of the determined target speed is, and the faster the mobile station moves. Based on this, the user can intuitively control the linear motion of the mobile station by operating the handle.

[0058] like Figure 4C As shown, the angle between the line connecting the center points O of the joysticks 2201 and 2202 and the positive direction of the y-axis of the coordinate system {O} is α. In some embodiments, the target angular velocity of the control point of the mobile station can be determined based on the position of the joystick by the following formula (2):

[0059]

[0060] Among them, ω c1z is the target angular velocity of the mobile station's control point about the z-axis (e.g., Figure 6 The component of the z-axis of the mobile station control point coordinate system {c1} shown, k 3 is the angular velocity proportional coefficient of the mobile station, k 3 The dimension is 1 / second and k 3Those skilled in the art will appreciate that the angle α may be determined based on the position coordinates (x, y) of the joystick, for example, by using an inverse trigonometric function to determine the angle α based on the position coordinates (x, y) of the joystick.

[0061] For example, when the user performs a clockwise rotation operation on the joystick 2201 (for example, from Figure 4C The position C shown is rotated to Figure 4B When the mobile station is at position B shown in FIG. 1 , the controller uses the target angular velocity of the mobile station determined by formula (2) to control the movement of the mobile station, so that the mobile station can rotate around the z-axis of the coordinate system {c1} and follow the following formula: Figure 6 In addition, when the user rotates the joystick in the same direction, the greater the rotation angle, the greater the angular velocity of the mobile station, and the faster the mobile station moves. Based on this, the user can intuitively control the rotation of the mobile station by operating the handle.

[0062] For example, the user operates the joystick 2201 to make the joystick 2201 be in a position such as Figure 4C The position coordinates (x 1 ,y 1 ), the controller can determine the movement amount of the mobile station as t by using the above formulas (1) and (2): c1 =[k 1 x 1 k 2 y 1 0 0 0 k 3 α] T .

[0063] In some embodiments, a blocking mechanism may be provided in the operating handle to prevent the joystick from being rotated to a position where the angle between the joystick and the positive direction of the y-axis of the coordinate system {O} is π, or the virtual joystick may be set to be unable to be rotated to a position where the angle between the joystick and the positive direction of the y-axis of the coordinate system {O} is π. Based on this, the angular velocity of the mobile station may be prevented from jumping. When the user wants to control the mobile station to rotate, the user may operate the joystick 2201 from Figure 4D Position D is shown for clockwise or counterclockwise rotation.

[0064] like Figure 5 As shown, in step 520, a motion control instruction of the mobile station is generated based on the target speed and / or target angular velocity of the control point of the mobile station. In step 520, the controller 230 may generate a motion control instruction for controlling the motion of the mobile station. In some embodiments, the mobile station (e.g., the mobile station 210) may include at least one active caster (e.g., Figure 6The first caster 214b and the second caster 214c shown in the figure), and at least one caster motor for driving at least one active caster (not shown in the figure, which can be set in the mobile station 210 at a position close to the active caster). In some embodiments, generating the motion control instruction of the mobile station may include: generating a drive control instruction for at least one caster motor of the mobile station.

[0065] In some embodiments, method 500 may further include: determining a target speed of at least one active caster based on a target speed and / or target angular speed of a control point of the mobile station; and determining a drive control instruction of at least one caster motor based on the target speed and radius of the at least one active caster.

[0066] In some embodiments, for example, when the two front casters of the mobile station 210 are active casters and directional casters, the relationship between the movement amount (for example, the movement speed and / or the movement angular velocity) of the control point of the mobile station and the movement amount (for example, the movement speed and / or the movement angular velocity) of the caster motor of the mobile station can be described by the following formula (3):

[0067]

[0068] Among them, v c1 is the moving speed of the control point of the mobile station, ω c1 is the angular velocity of the control point of the mobile station, v cr For the right active caster of the mobile station (e.g. Figure 6 The moving speed of the caster 214b) shown, v cl For the left active caster of the mobile station (e.g. Figure 6 The moving speed of the caster 214c) shown in FIG. 2 is the distance between the left active caster and the right active caster. c1 and ω c1 It can be the moving speed and moving angular velocity of the control point of the mobile station in the coordinate system of the control point of the mobile station. According to formula (3), in some embodiments, based on the target speed v of the control point of the mobile station c1 and / or target angular velocity ω c1 , the target speed of at least one active caster can be determined using the following formula (4):

[0069]

[0070] Among them, v cr For the right active caster of the mobile station (e.g. Figure 6 The target speed, v, of the caster 214b) is shown cl For the left active caster of the mobile station (e.g. Figure 6 The target speed of caster 214c) is shown.

[0071] In some embodiments, after determining the target speed of at least one active caster, the motion control instruction of at least one active caster can be determined using the following formulas (5) and (6), and then the drive control instruction of the caster motor for driving the active caster can be determined based on the motion control instruction of at least one active caster:

[0072]

[0073]

[0074] Among them, rpm cl is the motion control instruction of the left active caster (such as RPM (revolutions per minute) instruction), v cl is the target speed of the left active caster, rpm cr is the motion control instruction of the right active caster (for example, RPM instruction), v cr is the target speed of the right active caster, r wheel is the radius of the active caster.

[0075] like Figure 5 As shown, in step 530, the mobile station is controlled to move based on the motion control instruction of the mobile station. For example, in step 530, the controller 230 of the surgical robot 200 can use the motion control instruction of the active caster (for example, the motion control instruction rpm of the left active caster obtained by formula (5) and formula (6)) cl and the motion control command rpm of the right active caster cr ) controls the active caster movement of the mobile station so that the control point of the mobile station moves at a target speed and / or a target angular velocity (for example, the target speed v determined by formula (1) and formula (2) c1x 、v c1y and the target angular velocity ω c1z ) movement, thereby enabling the mobile station to move following the user's operation of the operating handle.

[0076] In some embodiments, the user can operate the operating handle to control the movement of the mobile station while observing the mobile station, and determine how to operate the operating handle subsequently according to the movement of the mobile station. In some embodiments, the user can hold the operating handle (e.g., a wired operating handle or a wireless operating handle) and stand near the mobile station to observe the mobile station, or observe the mobile station by viewing the image captured by the image acquisition device (e.g., set in the operating room) in the display of the surgical robot, etc.

[0077] In some embodiments, the user moves the mobile station into position by operating the operating handle, for example, to a position near the operating table suitable for connecting the moving arm to the sheath. After the user moves the mobile station into position by operating the operating handle, the control mode of the surgical robot can be switched to the moving arm control mode by at least one mode selection device provided on the operating handle to adjust the position of the moving arm.

[0078] The user can determine whether the mobile station has moved to the position in a variety of ways. In some embodiments, the mobile station may include at least one positioning device for the user to determine whether the mobile station is in position. Figure 7 A simplified schematic diagram of a positioning device in a mobile station according to some embodiments of the present disclosure is shown. Figure 7 As shown, the mobile station may include a column 720, a beam 730, and a positioning device (e.g., a first positioning device 740 and a second positioning device 750) disposed in the mobile station. In some embodiments, the positioning device may be a laser positioning device or other types of positioning devices. The positioning device may be disposed on the lower surface of the beam 730, and the positioning device may be located on the center line of the beam 730. In some embodiments, as shown in FIG. Figure 7 As shown, the first positioning device 740 projects a circular cursor downward, and the second positioning device 750 projects a cross cursor downward.

[0079] In some embodiments, whether the mobile station is in place can be determined based on the distance between the projection of the first positioning device 740 or the second positioning device 750 on the patient on the operating bed 710 and the patient's opening. For example, when the center of the cross-shaped cursor projected on the patient by the second positioning device 750 is located at the patient's opening or relatively close to the opening, it can be determined that the mobile station is in place. In some embodiments, the user can directly check next to the mobile station whether the center of the cross-shaped cursor is located at the patient's opening to determine whether the mobile station is in place. In some embodiments, the mobile station can also include an image acquisition device, which can be disposed below the crossbeam 730, for example, disposed at Figure 7 The position between the first positioning device 740 and the second positioning device 750 indicated in Figure 7a. The camera optical axis of the image acquisition device can be vertically downward so that the cursor projected by the first positioning device 740 and / or the second positioning device 750 falls within the field of view of the first image acquisition device. Based on this, the user can view the cursor projected by the first positioning device 740 and / or the second positioning device 750 in the display of the surgical robot, and determine whether the mobile station is in place based on the cursor position.

[0080] Figure 8800 is a flowchart of a motion control method 800 for a robotic system according to some embodiments of the present disclosure. The method 800 may be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, the method 800 may be implemented or executed by a robotic system (e.g., Figure 2 In some embodiments, the method 800 may be performed at least in part by a surgical robot 200 as shown. Figure 2 The controller 230 of the surgical robot 200 shown in FIG. 8 is executed. In some embodiments, the method 800 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., Figure 2 For example, the controller 230 of the surgical robot 200 may include a processor configured to execute the method 800. In some embodiments, these instructions may be stored on a computer-readable storage medium.

[0081] like Figure 8 As shown, in step 810, based on the operation information, a target velocity and / or a target angular velocity of a control point of at least one motion arm is determined. Fig. 9 A simplified schematic diagram showing the control points of the motion arm 910 according to some embodiments of the present disclosure. Fig. 9 As shown, the moving arm 910 is disposed on the mobile station 900. The mobile station 900 may further include a base 920, a column 930 disposed on the base 920, and a beam 940 disposed on the column 930. Fig. 9 As shown, the mobile station 900 may include a lifting joint J1 , and the motion arm 910 may include joints J2 to J6 . In some embodiments, the surgical robot 200 may include the mobile station 900 .

[0082] In some embodiments, Fig. 9 As shown, the control point of the motion arm may include the point where the sheath enters the abdomen, such as the remote center of motion (RCM), and the RCM point may be as follows: Fig. 9 The origin of the coordinate system {RCM} shown in FIG. Fig. 9 As shown, the rotation axis of the joint J4, the rotation axis of the joint J5 and the rotation axis of the joint J6 intersect at the remote center of motion (RCM) point, as shown in FIG. Fig. 9 The origin of the coordinate system {RCM} is shown. Those skilled in the art will appreciate that during surgery, the remote motion center may be located at an opening of the patient (e.g., an abdominal inlet, etc.), and the motion arm carries the surgical instrument to move the surgical instrument around the RCM to adjust the position or perform a surgical operation.

[0083] In some embodiments, the target speed and / or target angular velocity of the control point of the moving arm determined based on step 810 may be the target speed and / or target angular velocity of the control point of the moving arm in the coordinate system of the moving arm control point. In some embodiments, the coordinate system of the moving arm control point may be as follows: Fig. 9 The coordinate system {RCM} shown in FIG. 1 may have the remote motion center of the motion arm as its origin, and the coordinate system {RCM} may also include a longitudinal coordinate axis extending from the proximal end to the distal end (eg, Fig. 9 The coordinate system {RCM} shown has a coordinate axis y) and a first transverse coordinate axis and a second transverse coordinate axis (eg Fig. 9 The coordinate system {RCM} shown has coordinate axis x and coordinate axis z). Those skilled in the art will appreciate that the motion arm control point coordinate system is not limited to the coordinate system {RCM} described above, but may be any suitable coordinate system, for example, a coordinate system having the remote motion center of the motion arm as the origin and including a vertical coordinate axis along the vertical direction and two horizontal coordinate axes perpendicular to the vertical coordinate axis.

[0084] In some embodiments, the control point of the motion arm may include a sheath fixing point. For example, the sheath is fixedly connected to the end of the motion arm through a sheath fixing clamp to form a sheath fixing point. In this way, the sheath fixing point may be the center of the end of the sheath fixing clamp. For example, the sheath fixing point may be as follows: Fig. 9 The origin of the {TRB} coordinate system shown.

[0085] In some embodiments, the operation information may include the movement speed and / or the movement angular velocity of the operating handle. In step 810, the controller 230 of the surgical robot 200 may map the movement speed and / or the movement angular velocity of the operating handle to the target speed and / or the target angular velocity of the control point of at least one moving arm in a certain proportion. In some embodiments, the operation information may include the movement direction and / or the rotation direction of the operating handle. In step 810, the controller 230 of the surgical robot 200 may determine the direction of the target speed and / or the target angular velocity of the control point of at least one moving arm based on the movement direction and / or the rotation direction of the operating handle, and further determine the magnitude of the target speed and / or the target angular velocity of the control point of at least one moving arm to be a preset value.

[0086] In some embodiments, the operating handle 220 may include a rocker (e.g., FIG. 4A to FIG. 4D The operation information may include the position of the joystick 2201. The method 800 may further include: determining a target velocity and / or a target angular velocity of a control point of at least one motion arm based on the position of the joystick.

[0087] In some embodiments, the operating handle 220 may further include at least one control dimension selection key. The control dimension selection key may be a button or dial set on the base or joystick of the operating handle, a key set in the input interface, or set at any suitable position in the operating handle 220 in any other suitable form. The user can select the motion dimension of the control point movement of the control arm by operating the control dimension selection key. In some embodiments, the method 800 may further include: receiving a selection of the control dimension from the at least one control dimension selection key. The control point of at least one motion arm (for example, Fig. 9 The RCM point of the motion arm 910 shown in the figure can move in six degrees of freedom in space, and the movement amount of the control point of the motion arm can be expressed as t c2 =[v c2 T ω c2 T ] T Indicates that v c2 =[v c2x v c2y v c2z ] T ,ω c2 =[ω c2x ω c2y ω c2z ] T Based on this embodiment, the movement of the control point of the motion arm in six degrees of freedom can be controlled by an operating handle (eg, a rocker of the operating handle).

[0088] In some embodiments, the control dimension may include a translation dimension and a rotation dimension. In some embodiments, the controller 230 of the surgical robot 200 may determine a target velocity v of the control point of the motion arm based on the position of the rocker in response to receiving a selection of the translation dimension. c2 or in response to receiving a selection of a rotation dimension, determining a target angular velocity ω of the control point of the motion arm based on the position of the rocker c2 .

[0089] For example, when the controller 230 receives a selection of a translation dimension, and the position coordinates of the joystick 2201 in the coordinate system {O} are (x, y), the controller 230 can determine the control point of the motion arm based on the position of the joystick by using the following formulas (7) and (8) (for example, Fig. 9 The target speed v of the control point RCM of the moving arm 910 is shown c2 (For example, the target speed v c2 The component v on the x-axis of the motion arm control point coordinate system {RCM} c2x and the component v on the y-axis c2y ):

[0090] vc2x =k 4 x (7)

[0091] v c2y =k 5 y (8)

[0092] Among them, k 4 is the first velocity proportional coefficient of the moving arm, k 5 is the second velocity proportional coefficient of the moving arm, k 4 and k 5 The dimension is meter per second and k 4 and k 5 Both are greater than zero.

[0093] For example, when a user Figure 4A The positive direction of the x-axis in the coordinate system {O} shown in FIG. 1 operates the joystick of the operating handle (for example, moves the joystick to a position as shown in FIG. Figure 4B In the case of position B), the controller uses the target velocity v of the moving arm determined by formula (7) c2x Controlling the motion of the moving arm can make the moving arm move in the positive direction of the x-axis of the coordinate system {RCM}. When the user operates the joystick along the y-axis in the coordinate system {O}, the moving arm can be moved along the y-axis in the coordinate system {RCM}. In addition, when the user operates the joystick along the x-axis or y-axis in the coordinate system {O}, the farther the position of the joystick is from the center point O (for example, the greater the value of the horizontal coordinate x or the vertical coordinate y of the position coordinate of the joystick), the determined target speed v c2x or v c2y The larger the value, the faster the motion arm moves. Based on this, the user can intuitively control the linear motion of the control point of the motion arm through the operating handle, thereby intuitively adjusting the position of the control point of the motion arm.

[0094] In some embodiments, the joystick (eg, FIG. 4A to FIG. 4D The rocker 2201 shown can move up and down (e.g., Figure 4A In some embodiments, if a selection of a translation dimension is received, the controller 230 of the surgical robot 200 may also determine a target speed v of a control point of at least one moving arm based on the up and down movement of the joystick. c2 In the coordinate system of the motion arm control point (for example Fig. 9 The component v on the z-axis in the coordinate system {RCM}) shown c2z For example, the controller 230 may determine v in response to the joystick moving upward. c2z The direction is along the positive direction of the z-axis in the coordinate system {RCM} of the motion arm control point, and v is determined c2zThe controller 230 can also determine v in response to the downward movement of the joystick. c2z The direction is along the negative direction of the z-axis in the coordinate system {RCM} of the motion arm control point, and determine v c2z Based on this, the user can pull up the joystick to raise the control point of the motion arm, or push the joystick downward to lower the control point of the motion arm.

[0095] In some embodiments, the input interface of the operating handle may further include a pair of control buttons, which may be provided, for example, next to the virtual joystick of the input interface. In some embodiments, if a selection of a translation dimension is received, the controller 230 may determine the velocity component v of the control point of the moving arm along the z-axis of the moving arm control point coordinate system {RCM} based on the received selection of the control button. c2z For example, the controller 230 may determine v in response to receiving a selection of a forward control key. c2z The direction is along the positive direction of the z-axis in the coordinate system {RCM} of the motion arm control point, and v is determined c2z The controller 230 may also determine v in response to receiving a selection of a negative control key. c2z The direction is along the negative direction of the z-axis in the coordinate system {RCM} of the motion arm control point, and determine v c2z The size of is a preset value. Based on this, the user can press the positive control button to raise the control point of the motion arm, or press the negative control button to lower the control point of the motion arm. Based on this, the user can intuitively control the lifting and lowering of the control point of the motion arm by operating the operating handle.

[0096] For example, the controller 230 receives a selection of a rotation dimension, and when the position coordinates of the joystick 2201 in the coordinate system {O} are (x, y), the controller 230 can determine the target angular velocity ω of the control point RCM of the motion arm based on the position of the joystick. c2 Those skilled in the art will appreciate that the angular velocity of the control point RCM referred to in the present application should be understood as the angular velocity of the coordinate system {RCM} with RCM as the origin. For example, the target angular velocity ω is determined by the following formulas (9) and (10): c2 The component ω around the x-axis of the coordinate system {RCM} of the motion arm control point c2x and the component about the z-axis ω c2z :

[0097] ω c2x =k 7 y (9)

[0098] ω c2z =k 8 x (10)

[0099] Among them, k 7 is the first angular velocity proportional coefficient of the moving arm, k 8 is the second angular velocity proportional coefficient of the moving arm, k 7 and k 8 The dimension is radian / second and k 7 and k 8 Both are greater than zero.

[0100] For example, when a user Figure 4A The y-axis in the coordinate system {O} shown in FIG. 1 is used to operate the joystick of the operating handle (for example, to move the joystick to a position as shown in FIG. Figure 4D In the case of the position D shown in the figure, the controller uses the target angular velocity ω of the moving arm determined by formula (9) c2x Controlling the motion of the moving arm can make the moving arm rotate around the x-axis of the coordinate system {RCM}, so that the moving arm performs pitch motion. When the user operates the joystick along the x-axis in the coordinate system {O}, the moving arm can be rotated around the z-axis in the coordinate system {RCM}, so that the moving arm performs yaw motion. In addition, when the user operates the joystick along the x-axis or y-axis in the coordinate system {O}, the farther the position of the joystick is from the center point O (for example, the larger the value of the horizontal coordinate x or the vertical coordinate y of the position coordinate of the joystick), the greater the target angular velocity ω is determined. c2z or c2x The larger the value of , the faster the motion arm rotates. Based on this, the user can intuitively control the pitch motion or yaw motion of the control point of the motion arm by operating the operating handle, thereby intuitively adjusting the posture of the control point of the motion arm.

[0101] In some embodiments, the joystick (eg, FIG. 4A to FIG. 4D The rocker 2201 shown can move up and down (e.g., Figure 4A In some embodiments, if a selection of a rotation dimension is received, the controller 230 of the surgical robot 200 may also determine a target angular velocity ω of the control point of the motion arm based on the up and down movement of the joystick. c2 The component ω of the y-axis in the coordinate system {RCM} of the motion arm control point c2y For example, the controller 230 may determine ω in response to the joystick moving upward. c2y The direction is the clockwise direction around the y-axis in the coordinate system {RCM} of the motion arm control point, and determine ω c2y The controller 230 can also determine ω in response to the rocker moving downward. c2y The direction is counterclockwise around the y-axis in the coordinate system {RCM} of the motion arm control point, and ω is determined c2yThe size of is a preset value. Based on this, the user can pull up the joystick to make the motion arm rotate clockwise around the y-axis of the coordinate system {RCM}, or push the joystick down to make the motion arm rotate counterclockwise around the y-axis of the coordinate system {RCM}.

[0102] In some embodiments, the input interface of the operating handle may further include a pair of control buttons, which may be provided, for example, next to the virtual joystick of the input interface. In some embodiments, if a selection of a rotation dimension is received, the controller 230 may determine the angular velocity component ω of the motion arm around the y-axis of the motion arm control point coordinate system {RCM} based on the received selection of the control button. c2y For example, the controller 230 may determine ω in response to receiving a selection of a forward control button. c2y The direction is the clockwise direction around the y-axis in the coordinate system {RCM} of the motion arm control point, and determine ω c2y The controller 230 may also determine ω in response to receiving a selection of a negative control button. c2y The direction is counterclockwise around the y-axis in the coordinate system {RCM} of the motion arm control point, and ω is determined c2y The size of is a preset value. Based on this, the user can press the positive control button to make the motion arm roll clockwise, or press the negative control button to make the motion arm roll counterclockwise. Based on this, the user can intuitively control the roll of the motion arm by operating the operating handle.

[0103] like Figure 8 As shown, in step 820, a motion control instruction for at least one motion arm is generated based on the target velocity and / or target angular velocity of the control point of at least one motion arm. In step 820, the controller 230 may generate a motion control instruction for controlling the motion of at least one motion arm.

[0104] In some embodiments, Fig. 9 As shown, the mobile station 900 may include a motion arm 910, a base 920, a column 930, and a beam 940. The mobile station 900 and the motion arm 910 may include at least one joint, such as Fig. 9 The joints J1 to J6 are shown. Fig. 9 The motion arm 910 shown in the figure, generating the motion control instruction of at least one motion arm may include: determining at least one joint (for example, Fig. 9 In some embodiments, each joint motor (not shown) in at least one joint motor can be arranged at the joint it drives.

[0105] In some embodiments, Fig. 9 As shown, the motion arm 910 may include at least one arm body, for example, Fig. 9 The first horizontal arm B1, the second horizontal arm B2, the first arc arm B3, the second arc arm B4 and the third arc arm B5 are shown. Fig. 9 As shown, the proximal ends and distal ends of the multiple arms are respectively connected in rotation in sequence to form a joint, and the rotation axes of the first arc arm B3, the second arc arm B4 and the third arc arm B5 intersect at the remote motion center. Fig. 9 As shown, at least one joint included in the mobile station 900 and the motion arm 910 may include: a lifting joint J1 of the mobile station 900, a first cross arm rotation joint J2 of the motion arm 910, a second cross arm rotation joint J3, a first arc arm rotation joint J4, a second arc arm rotation joint J5 and a third arc arm rotation joint J6. Among them, the lifting joint J1 is arranged in the main column 930 and connected to the main cross beam 940, and is used to make the main cross beam 940 rise and fall, thereby making the control point of the motion arm 910 change the lifting position; the first cross arm rotation joint J2 is connected between the main cross beam 940 and the first cross arm B1; the second cross arm rotation joint J3 is connected between the first cross arm B1 and the second cross arm B2; the first arc arm rotation joint J4 is connected between the second cross arm B2 and the first arc arm B3; the second arc arm rotation joint J5 is connected between the first arc arm B3 and the second arc arm B4; the third arc arm rotation joint J6 is connected between the second arc arm B4 and the third arc arm B5. For the motion arm 910, when the remote motion center RCM remains stationary, the first arc arm B3, the second arc arm B4 and the third arc arm B5 can move arbitrarily in the motion space, for example, they can be converted between fully folded, fully unfolded and intermediate positions.

[0106] In some embodiments, the method 800 may further include: determining the joint values ​​and joint speeds of the lifting joint J1 of the mobile station 900, the first cross-arm rotation joint J2 of the moving arm 910, and the second cross-arm rotation joint J3 of the moving arm based on the target speed of the control point of the moving arm 910; and determining the driving control instructions for the joint motors for driving the lifting joint J1 of the mobile station, the first cross-arm rotation joint J2 of the moving arm, and the second cross-arm rotation joint J3 of the moving arm based on the joint values ​​and joint speeds of the lifting joint J1 of the mobile station, the first cross-arm rotation joint J2 of the moving arm, and the second cross-arm rotation joint J3 of the moving arm. Based on this, the controller 230 of the surgical robot 200 can drive the lifting joint J1 of the mobile station 900, the first cross-arm rotation joint J2 of the moving arm, and the second cross-arm rotation joint J3 of the moving arm based on the target speed of the control point of the moving arm 910, thereby adjusting the position of the control point of the moving arm 910.

[0107] Fig.10FIG. 6 is a schematic diagram showing the structure of a mobile station 600 according to some other embodiments of the present disclosure. Fig.10 As shown, the mobile station 600 may include a motion arm 610. The motion arm 610 may include at least one joint, for example, Fig.10 The joints 6111-6161 are shown. Fig.10 The motion arm 610 shown, generating the motion control instruction of the motion arm may also include: determining the joint value and joint speed of at least one joint (e.g., joints 6111 to 6161) based on the target speed and / or target angular speed of the control point of the motion arm 610; and determining the drive control instruction of at least one joint motor based on the joint value and joint speed of at least one joint. In some embodiments, each joint motor (not shown in the figure) in at least one joint motor may be arranged at the joint driven by it. The controller 230 of the surgical robot 200 may drive at least one joint motor based on the drive control instruction of at least one joint motor, so that at least one joint motor drives the corresponding joint to realize the determined joint value and joint speed, based on which, the control point of the motion arm can reach the target speed and / or target angular speed, thereby realizing the control of the motion of the motion arm.

[0108] The target velocity and target angular velocity of the control point of the moving arm are expressed as t c2 =[v c2 T ω c2 T ] T , using the differential kinematics model, we can get formula (11) as follows:

[0109]

[0110] in, is the Jacobian matrix, J vi represents the partial derivative of the control point velocity vector with respect to the velocity of the i-th joint, J ωi represents the partial derivative of the control point angular velocity vector with respect to the i-th joint velocity, represents the joint velocity of the i-th joint. The i-th joint can include the 1st to 6th joints, which can be Fig.10 The joints 6111 to 6161 are shown. For example, J v1 Represents the target velocity vector v of the control point c2 right Fig.10 The partial derivative of the joint velocity of joint 6111, J ω1 represents the target angular velocity vector ω of the control point c2 right Fig.10 The partial derivative of the joint velocity of joint 6111, J v2 Represents the target velocity vector v of the control point c2 right Fig.10 The partial derivative of the joint velocity of joint 6121, J ω2 represents the target angular velocity vector ω of the control point c2 right Fig.10 The partial derivative of the joint velocity of joint 6121 is shown, express Fig.10 The joint velocity of joint 6111 is shown, express Fig.10 The joint velocity of joint 6121 is shown, and the same applies to other joints.

[0111] After determining the target velocity and target angular velocity of the control point of the motion arm, the joint value and joint velocity of at least one joint can be calculated by Jacobian pseudo-inverse. In some embodiments, the joint value and joint velocity of at least one joint can be determined based on the target velocity and / or target angular velocity of the control point of the motion arm by the following formula (12) and formula (13):

[0112]

[0113]

[0114] Among them, q is the joint value vector of at least one joint, is the joint velocity vector of at least one joint, J + is the pseudo-inverse matrix of the Jacobian matrix J.

[0115] In some embodiments, Fig.10 As shown, the motion arm 610 may include at least one arm body, such as Fig.10 The first horizontal arm 611, the second horizontal arm 612, the vertical arm 613, the first arc arm 614, the second arc arm 615 and the third arc arm 616 are shown. Fig.10As shown, at least one joint included in the motion arm 610 may include: a first cross arm rotation joint 6111, a second cross arm rotation joint 6121, a lifting joint 6131, a first arc arm rotation joint 6141, a second arc arm rotation joint 6151 and a third arc arm rotation joint 6161. Among them, the first cross arm rotation joint 6111 is used to connect the first cross arm 611 and the main cross beam 620 of the mobile station 600; the second cross arm rotation joint 6121 is used to connect the second cross arm 612 and the first cross arm 611; the lifting joint 6131 is set on the vertical arm 613, and is used to realize the lifting and lowering of the control point of the motion arm; the first arc arm rotation joint 6141 is used to connect the vertical arm 613 and the first arc arm 614; the second arc arm rotation joint 6151 is used to connect the first arc arm 614 and the second arc arm 615; the third arc arm rotation joint 6161 is used to connect the second arc arm 615 and the third arc arm 616. Those skilled in the art will appreciate that the robotic arm applicable to the motion control method of the robot system provided in the present disclosure is not limited to the above-mentioned robotic arm 610 or 910, and the structure of the applicable robotic arm is not limited to the structure of the robotic arm 610 or 910, but may be a robotic arm of any suitable structure.

[0116] In some embodiments, the method 900 may further include: determining the joint values ​​and joint speeds of the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 of the moving arm 610 based on the target speed of the control point of the moving arm 610; and determining the driving control instructions for driving the joint motors of the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 of the moving arm 601 based on the joint values ​​and joint speeds of the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 of the moving arm 601. Based on this, the controller 230 of the surgical robot 200 can drive the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 of the moving arm 610 to move based on the target speed of the control point of the moving arm 610, thereby adjusting the position of the control point of the moving arm 610.

[0117] In some embodiments, method 800 may also include: determining the joint values ​​and joint velocities of the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint (for example, joints 6141-6161 of the motion arm 610 or joints J4-J6 of the motion arm 910) of the motion arm based on the target angular velocity of the control point of the motion arm (for example, the motion arm 610 or the motion arm 910); and determining the drive control instructions for the joint motors of the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm based on the joint values ​​and joint velocities of the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm. Based on this, the controller 230 of the surgical robot 200 can drive the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint (for example, joints 6141-6161 of the moving arm 610 or joints J4-J6 of the moving arm 910) of the moving arm based on the target angular velocity of the control point of the moving arm (for example, the moving arm 610 or the moving arm 910), thereby adjusting the posture of the control point of the moving arm.

[0118] In some embodiments, for example, when the control point of the motion arm is a fixed point of the sheath tube, when determining the target angular velocity ω of the control point of the motion arm c2 In the case of c2 Determine the drive control instructions of the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint (for example, the joints 6141-6161 of the motion arm 610 or the joints J4-J6 of the motion arm 910); and based on the target speed v c2 =0 determines the drive control instructions of the first three joints of the motion arm (for example, joints 6111-6131 of the motion arm 610 or joints J1-J3 of the motion arm 910). Based on this, the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm move to achieve the target angular velocity ω of the control point of the motion arm. c2 At the same time, the front three joints of the motion arm can move in coordination so that the position of the control point of the motion arm does not change. In some embodiments, when determining the target speed v of the control point of the motion arm c2 In the case of c2 Determine the drive control instructions for the first three joints of the motion arm; and based on the target angular velocity ω c2 = 0 determines the drive control instructions of the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm. Thus, the control point of the motion arm is moved at the target speed v c2 The movement occurs without changing the pose of the motion arm (eg, the control points of the motion arm).

[0119] like Figure 8As shown, at least one motion arm is controlled to move based on the motion control instruction of at least one motion arm in step 830. For example, in step 830, the controller 230 of the surgical robot 200 may control at least one joint motor in the motion arm with the drive control instruction of at least one joint motor in the motion arm, so that at least one joint in the motion arm moves at a target speed and / or a target angular velocity, thereby enabling the motion arm to move following the user's operation of the operating handle.

[0120] In some embodiments, the user can operate the operating handle to control the movement of the moving arm while observing the moving arm, and determine how to operate the operating handle later according to the movement of the moving arm. In some embodiments, the user can hold the operating handle and stand near the end of the moving arm to observe the position of the control point of the moving arm and determine whether the control point of the moving arm is in place.

[0121] In some embodiments, the mobile station may include an image acquisition device. For example, the image acquisition device may be disposed on a distal arm body (eg, Fig. 9 The third arc arm B5 shown) provides a distal end of the platform (eg, Fig. 9 In some embodiments, the camera optical axis of the image acquisition device (eg, Fig. 9 The straight line p shown can be drawn from the camera reference point of the image acquisition device (e.g., Fig. 9 The position indicated by 9a in FIG. 9a) points to the remote motion center of the motion arm (such as Fig. 9 The origin of the coordinate system {RCM} shown). The user can judge whether the control point of the moving arm is in place by observing the field of view provided by the image acquisition device in the display of the surgical robot. In some embodiments, the display can also display at least one auxiliary line while displaying the field of view of the image acquisition device, and the user can judge whether the moving arm is in place with the help of at least one auxiliary line. For example, the user can judge that the moving arm has moved into place when observing that at least one auxiliary line displayed in the display coincides with the auxiliary line on the inner wall of at least one channel provided by the sheath. When at least one auxiliary line displayed in the display coincides with the auxiliary line on the inner wall of at least one channel provided by the sheath (at this time, the end of the sheath can be extended into the opening of the patient), it means that in this state, the surgical instrument carried by the distal end of the moving arm can enter the patient's body through the channel provided by the sheath, thereby indicating that the moving arm is in place.

[0122] The user can determine whether the height of the control point of the motion arm is in place or appropriate in a variety of ways. In some embodiments, the user can determine whether the height of the control point of the motion arm is in place or appropriate in a variety of ways. Figure 7 The first positioning device 740 and the second positioning device 750 shown in the figure determine whether the height of the moving arm is appropriate. Fig. 9 The lifting joint J1 shown or Fig.10 During the lifting and lowering of the lifting joint 6131 shown in the figure, the distances between the first positioning device 740 and the second positioning device 750 and the operating table are different, and the sizes of the cursors projected on the patient on the operating table are also different. Based on this, during the process of adjusting the height of the control point of the moving arm, if it is observed that the circular cursor projected on the patient by the first positioning device 740 is tangent to the cross-shaped cursor projected by the second positioning device 750 (at a position such as Figure 7 By looking at the status of the circular cursor and the cross cursor shown in FIG. 1 , it can be determined that the control point of the moving arm is at a suitable height.

[0123] In some embodiments, when the surgical robot is in the motion arm control mode and it is difficult for the user to move the motion arm into position by operating the operating handle, the user can switch back to the mobile station control mode and further adjust the posture of the mobile station, and then switch to the motion arm control mode again to adjust the posture of the control point of the motion arm until the control point is in position.

[0124] Some embodiments of the present disclosure also provide a surgical robot 200 . Figure 3 FIG. 2 is a schematic diagram of a surgical robot 200 according to some embodiments of the present disclosure. Figure 3 As shown, the surgical robot 200 may include a mobile station 210, an operating handle ( Figure 3 not shown) and a controller ( Figure 3 (not shown). Figure 3 As shown, the mobile station 210 may include at least one motion arm 211, and at least one motion arm 211 may be movably arranged on the mobile station 210. The mobile station 210 and the operating handle may be connected to the controller in communication, for example, by wired transmission or wireless transmission. The operating handle may be used to receive the user's operation on the operating handle. The operating handle may be held by the user and operated. The controller may be configured to be able to execute the motion control method of the robot system (e.g., method 100, 500, 800, etc.) as in any of some embodiments of the present disclosure. In some embodiments, the controller may be arranged in any suitable position in the mobile station 210 or in the surgical robot 200. In some embodiments, the controller may be connected to the mobile station 210 and the operating handle in communication, respectively, to receive operation information from the operating handle and control the movement of the mobile station 210 or at least one motion arm 211. In some embodiments, the user may hold the operating handle and perform operations to control the movement of the mobile station 210 or at least one motion arm 211 arranged on the mobile station 210.

[0125] In some embodiments, Figure 3As shown, the surgical robot 200 may further include a main control station 240. The main control station 240 may be connected to the mobile station 210 for communication. The main control station 240 and the mobile station 210 may be connected via wired transmission or wireless transmission. The mobile station 210 is usually located at the patient's side, responding to the control instructions of the main control station 240 to perform surgery on the patient.

[0126] The main control station 240 may include at least one main operator 241. The at least one main operator 241 is disposed on the main control station 240 and is used to receive an operation of the at least one main operator 241 by a user. Figure 3 As shown, in some embodiments, at least one main operator 241 may include a left main operator 241a for receiving operations of the user's left hand and a right main operator 241b for receiving operations of the user's right hand. During surgery, the user can control at least one surgical instrument carried by the mobile station 210 to perform a surgical operation by operating at least one main operator 241 in the main control station 240.

[0127] In some embodiments, at least one motion arm 211 may include at least one joint (e.g., Fig.10 The motion arm 610 shown may include joints 6111-6161) and at least one joint motor for driving at least one joint (not shown in the figure, each joint motor may be arranged at the joint driven by the joint motor), and the controller 230 may be connected to the at least one joint motor for communication. Based on this, the controller can determine the drive control instructions for driving at least one joint motor based on the operation information received from the operating handle, thereby realizing the control of the movement of at least one motion arm.

[0128] In some embodiments, the mobile station 210 may further include at least one lifting joint (eg, Fig.10 The motion arm 610 shown includes a lifting joint 6131) and at least one joint motor for driving at least one lifting joint (not shown in the figure, which can be set at the lifting joint). The controller 230 can be connected to the at least one joint motor for communication. Based on this, the controller can determine the drive control instructions for driving at least one joint motor based on the operation information received from the operating handle, thereby adjusting the position (for example, height) of the control point of at least one motion arm.

[0129] In some embodiments, the mobile station 210 may also include at least one active caster (e.g., Figure 6The controller 230 may be connected to the at least one caster motor in communication with the at least one caster motor so that the at least one caster motor drives the at least one active caster to rotate, thereby controlling the movement of the mobile station.

[0130] In some embodiments, the operating handle may further include at least one control mode selection key, and the at least one control mode selection key may be used to receive a user's selection of a mobile station control mode or a motion arm control mode. At least one control mode selection key is disposed on the operating handle to facilitate receiving the user's operation. In some embodiments, at least one control mode selection key may be disposed at any suitable location such as a base of the operating handle, a rocker, or an input interface. In some embodiments, at least one control mode selection key may be in any suitable form such as a button or a key. In some embodiments, the user may select different control modes by pressing buttons or keys corresponding to different control modes.

[0131] In some embodiments, the operating handle may further include a trigger. The trigger may be used to receive the user's operation on the trigger and generate a trigger signal or a release signal based on the user's operation. The controller of the surgical robot 200 may be connected to the trigger in communication to receive a trigger signal or a release signal from the trigger, thereby establishing or disconnecting a control mapping relationship between the operating handle and the movement of the mobile station 210 or at least one motion arm 211. The trigger is provided on the operating handle to facilitate receiving the user's operation. In some embodiments, the trigger may be provided at any suitable position such as a base of the operating handle, a rocker, or an input interface. In some embodiments, the trigger may be in any suitable form such as a button or a key. In some embodiments, the user may trigger the operating handle to establish a control mapping relationship between the movement of the mobile station 210 or the motion arm 211 by maintaining a press, maintaining a toggle, or maintaining a touch of the trigger, and may also disconnect the control mapping relationship between the movement of the operating handle and the mobile station 210 or the motion arm 211 by releasing the trigger. In some embodiments, the user can trigger the operation handle to establish a motion control mapping relationship with the mobile station 210 or the motion arm 211 by pressing, toggling or touching the trigger, and can also disconnect the motion control mapping relationship between the operation handle and the mobile station 210 or the motion arm 211 by pressing, toggling or touching the trigger again. Those skilled in the art can understand that the user operation that causes the trigger to generate a trigger signal or a mapping signal is not limited to the above-listed ones, and can also include any appropriate method.

[0132] Those skilled in the art will appreciate that the surgical robot 200 provided in this embodiment may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0133] In some embodiments, the present disclosure provides a computer-readable storage medium, which can be used to store at least one instruction. When the at least one instruction is executed by a computer, the computer causes the computer to execute any one of the motion control methods of a robot system in some embodiments of the present disclosure (for example, methods 100, 500a, 500b, 800).

[0134] In some embodiments, a computer readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0135] Through the above description of the implementation method, the technical personnel in the relevant field can clearly understand that the present disclosure can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware. Based on such an understanding, the technical solution of the present disclosure can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium. In some embodiments, the computer-readable storage medium may include, but is not limited to: a portable computer disk, a hard disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other solid-state memory technology, a CD-ROM, a digital versatile disk (DVD), HD-DVD, a blue-ray (Blue-Ray) or other optical storage device, a tape, a disk storage or other magnetic storage device, or any other medium that can be used to store the required information and can be accessed by a computer, on which a computer executable instruction is stored, and when the computer executable instruction is run in a machine (such as a computer device), the machine executes the control method of the present disclosure. It should be understood that the computer device may include a personal computer, a server or a network device, etc.

[0136] In some embodiments, when the user operates the operating handle, the controller of the surgical robot can identify the user's operating intention based on the operating information received from the operating handle, thereby correspondingly controlling the mobile station or at least one motion arm of the surgical robot. Based on this, the user can operate the operating handle to control the movement of the mobile station or the motion arm, so that the mobile station or the motion arm can be moved to a position convenient for performing surgery in a convenient and intuitive manner.

[0137] In some embodiments, the controller 230 of the surgical robot 200 controls the movement of the mobile station or at least one motion arm based on the operation information received from the operating handle 220 (e.g., the trigger of the operating handle 220) when a trigger signal is received from the operating handle. When a release signal is received from the operating handle or no trigger signal is received, the mobile station or at least one motion arm will not move following the user's operation of the operating handle, thereby facilitating the movement of the mobile station or the motion arm following the user's erroneous operation.

[0138] In some embodiments, the operating handle of the surgical robot system may include a rotatable joystick, thereby facilitating the user to operate the joystick.

[0139] In some embodiments, a blocking mechanism may be provided in the operating handle so that the joystick cannot be rotated to a position where the angle between the joystick and the positive direction of the y-axis of the coordinate system {O} is π, or the virtual joystick is set to be unable to be rotated to a position where the angle between the joystick and the positive direction of the y-axis of the coordinate system {O} is π. Based on this, it is possible to prevent the mobile angular velocity of the mobile station or the mobile velocity or the mobile angular velocity of the moving arm from jumping when the user rotates the joystick of the operating handle.

[0140] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A motion control method for a robot system, the robot system comprising a mobile station and an input device, the input device comprising an operating handle for remote control, the mobile station comprising at least one motion arm, the control method comprising: receiving, from the operating handle, operation information corresponding to an operation action on the operating handle; as well as Based on the operation information, the movement of the mobile station or the at least one motion arm is controlled.

2. The motion control method of the robot system according to claim 1, characterized in that: The operating handle includes at least one control mode selection key, and the method further includes: A selection of a mobile station control mode or a motion arm control mode is received from the at least one control mode selection key.

3. The motion control method of the robot system according to claim 1, characterized in that: Also includes: determining a target velocity and / or a target angular velocity of a control point of the mobile station or a control point of the at least one motion arm based on the operation information; generating a motion control instruction for the mobile station or the at least one motion arm based on a target velocity and / or a target angular velocity of a control point of the mobile station or a control point of the at least one motion arm; as well as Based on the motion control instruction of the mobile station or the at least one motion arm, the movement of the mobile station or the at least one motion arm is controlled.

4. The motion control method of the robot system according to claim 3, characterized in that: The operating handle includes a rocker, and the operating information includes the position of the rocker; the control method further includes: Based on the position of the joystick, a target speed and / or a target angular speed of a control point of the mobile station or a control point of the at least one motion arm is determined.

5. The motion control method of the robot system according to claim 4, characterized in that: The operating handle includes at least one control dimension selection key, and the method further includes: A selection of a control dimension is received from the at least one control dimension selection key.

6. The control method according to claim 3, characterized in that: The mobile station includes at least one active caster and at least one caster motor for driving the at least one active caster, and the control method further includes: determining a target speed of the at least one active caster based on a target speed and / or a target angular speed of a control point of the mobile station; and Based on the target speed and radius of the at least one active caster, a driving control instruction of the at least one caster motor is determined.

7. The control method according to claim 6, characterized in that: The at least one active caster includes a first caster and a second caster that are symmetrically arranged, and the control point of the mobile station includes a midpoint between the first caster and the second caster.

8. The control method according to claim 3, characterized in that: The motion arm, or the motion arm and the mobile station, comprises at least one joint and at least one joint motor for driving the at least one joint, and the control method further comprises: determining a joint value and a joint speed of the at least one joint based on a target speed and / or a target angular speed of a control point of the motion arm; and Based on the joint value and the joint speed of the at least one joint, a driving control instruction of the at least one joint motor is determined.

9. The control method according to claim 8, characterized in that: The at least one joint comprises: a lifting joint of the mobile station; and The first cross arm rotation joint, the second cross arm rotation joint, the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm; or The at least one joint comprises: The motion arm comprises a first cross arm rotation joint, a second cross arm rotation joint, a lifting joint, a first arc arm rotation joint, a second arc arm rotation joint and a third arc arm rotation joint.

10. The control method according to claim 9, characterized in that: Also includes: Determine the joint values ​​and joint speeds of the lifting joint of the mobile station, the first cross-arm rotation joint, and the second cross-arm rotation joint of the mobile arm based on the target speed of the control point of the motion arm; as well as Determine a driving control instruction for driving the joint motors of the lifting joint of the mobile station, the first cross-arm rotation joint of the motion arm, and the second cross-arm rotation joint based on the joint values ​​and joint speeds of the lifting joint of the mobile station, the first cross-arm rotation joint of the motion arm, and the second cross-arm rotation joint; or Determining joint values ​​and joint speeds of a first cross-arm rotation joint, a second cross-arm rotation joint, and a lifting joint of the motion arm based on a target speed of a control point of the motion arm; as well as Determine a drive control instruction for driving the joint motors of the first cross arm rotation joint, the second cross arm rotation joint, and the lifting joint of the motion arm based on the joint values ​​and joint speeds of the first cross arm rotation joint, the second cross arm rotation joint, and the lifting joint of the motion arm; or Determining joint values ​​and joint velocities of a first arc-arm rotation joint, a second arc-arm rotation joint, and a third arc-arm rotation joint of the motion arm based on a target angular velocity of a control point of the motion arm; as well as Based on the joint values ​​and joint velocities of the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm, the drive control instructions for the joint motors driving the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the motion arm are determined.

11. The motion control method of the robot system according to claim 4, characterized in that: Also includes: receiving a trigger signal from the operating handle; as well as In response to receiving the trigger signal, a control mapping relationship between the operating handle and the mobile station or the at least one motion arm is established.

12. The motion control method of the robot system according to claim 11, characterized in that: Also includes: receiving a release signal from the operating handle; as well as In response to receiving the release signal, the control mapping relationship between the operating handle and the mobile station or the at least one motion arm is disconnected.

13. A surgical robot, characterized in that: include: Mobile station, including: at least one moving arm, the at least one moving arm being movably disposed on the mobile station; An operating handle, used to receive an operation of the operating handle by a user; and The controller is communicatively connected with the mobile station and the operating handle, and is configured to be able to execute the motion control method of the robot system according to any one of claims 1-12.

14. The surgical robot according to claim 13, characterized in that: The mobile station includes at least one active caster and at least one caster motor for driving the at least one active caster, and the controller is communicatively connected with the at least one caster motor.

15. The surgical robot according to claim 13, characterized in that: The at least one motion arm comprises at least one joint and at least one joint motor for driving the at least one joint, and the controller is communicatively connected with the at least one joint motor; and / or The mobile station includes at least one lifting joint and at least one joint motor for driving the at least one lifting joint, and the controller is communicatively connected with the at least one joint motor.

16. The surgical robot according to claim 13, characterized in that: The operating handle includes at least one control mode selection key for receiving a user's selection of a mobile station control mode or a motion arm control mode.

17. A computer-readable storage medium, characterized in that: Used to store at least one instruction, which, when executed by a computer, causes the computer to execute the motion control method for a robot system according to any one of claims 1 to 12.

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