Surgical robot master-slave mapping reconstruction method, device, equipment and medium

Abstract

The invention discloses a surgical robot master-slave mapping reconstruction method, device and equipment and a medium, and the method comprises the steps: obtaining a historical mechanical arm joint angle and a historical surgical instrument joint angle in response to a surgical instrument replacement operation, and determining a to-be-selected mechanical arm compensation angle corresponding to a mechanical arm; the safety angle range of the mechanical arm is determined, and posture compensation is conducted on the mechanical arm based on the to-be-selected mechanical arm compensation angle and the safety angle range; zeroing operation is conducted on the replaced current surgical instrument hung on the tail end joint of the mechanical arm, an instrument rotation joint moves to a memory angle after zeroing, and the current surgical instrument joint angle is determined; and based on the current mechanical arm joint angle and the current surgical instrument joint angle, master-slave mapping between the master manipulator and the slave manipulator is established. According to the technical scheme, master-slave mapping reconstruction of the surgical robot is achieved, the posture of a master manipulator and the posture of a surgical instrument do not need to be changed, and the surgical safety of a patient is improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device, equipment and medium for reconstructing master-slave mapping of a surgical robot. Background Art

[0002] At present, endoscopic surgical robots are high-end products in the medical industry. When doctors are performing operations, the construction of the master-slave mapping of the surgical robot is the key to determining the doctor's surgical status.

[0003] At present, the traditional master-slave mapping reconstruction method of surgical robots usually involves the surgical robot inserting the instrument and then changing the posture of the master operator to match the surgical instrument on the slave operator, or the surgical instrument on the slave operator changes its posture to match the master operator. However, in the traditional master-slave mapping reconstruction method of surgical robots, since the surgical instrument is inside the patient's body, the posture change of the surgical instrument will reduce the safety of the patient's surgery, and the posture change of the master operator will affect the doctor's surgical state, affecting the doctor's operation and the continuity of the surgery. Summary of the invention

[0004] The present invention provides a surgical robot master-slave mapping reconstruction method, device, equipment and medium to achieve master-slave mapping reconstruction of an endoscopic surgical robot after replacing surgical instruments, without changing the posture of the master operator and the posture of the surgical instrument, thereby ensuring the doctor's operation and the continuity of the operation and improving the safety of the patient's operation.

[0005] In a first aspect, an embodiment of the present invention provides a surgical robot master-slave mapping reconstruction method, comprising:

[0006] In response to a surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot, and obtain the historical robotic arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm;

[0007] Determine a candidate robotic arm compensation angle corresponding to the robotic arm based on the historical robotic arm joint angles and the historical surgical instrument joint angles;

[0008] Determine a safe angle range of the mechanical arm based on the first position information of the mechanical arm, a preset safety distance, and the second position information of the mirror holding arm adjacent to the mechanical arm;

[0009] Based on the selected robot arm compensation angle and the safety angle range, performing posture compensation on the robot arm, and determining a current robot arm joint angle corresponding to the robot arm;

[0010] Performing a zeroing operation on the replaced current surgical instrument on the end of the robotic arm, and determining a current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles;

[0011] A master-slave mapping between the master operator and the slave operator is established based on the current robot arm joint angle and the current surgical instrument joint angle.

[0012] In a second aspect, an embodiment of the present invention further provides a surgical robot master-slave mapping reconstruction device, comprising:

[0013] A historical angle acquisition module is used to disconnect the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot in response to a surgical instrument replacement operation in the endoscopic surgical robot, and to acquire the historical robotic arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm;

[0014] A compensation angle determination module, used to determine a candidate robotic arm compensation angle corresponding to the robotic arm based on the historical robotic arm joint angles and the historical surgical instrument joint angles;

[0015] A safety range determination module, used to determine a safety angle range of the mechanical arm based on first position information of the mechanical arm, a preset safety distance and second position information of a mirror holding arm adjacent to the mechanical arm;

[0016] A posture compensation module, used to perform posture compensation on the robotic arm based on the selected robotic arm compensation angle and the safety angle range, and determine a current robotic arm joint angle corresponding to the robotic arm;

[0017] A current angle determination module, used to perform a zeroing operation on the current surgical instrument after replacement on the end of the robotic arm, and determine the current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles;

[0018] The master-slave mapping reconstruction module is used to establish a master-slave mapping between the master operator and the slave operator based on the current robot arm joint angle and the current surgical instrument joint angle.

[0019] In a third aspect, an embodiment of the present invention further provides an electronic device, characterized in that the electronic device comprises: at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical robot master-slave mapping reconstruction method provided by any embodiment of the present invention.

[0022] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the surgical robot master-slave mapping reconstruction method provided by any embodiment of the present invention when executing.

[0023] The technical solution of the embodiment of the present invention disconnects the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot in response to the surgical instrument replacement operation in the endoscopic surgical robot, and obtains the historical mechanical arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the mechanical arm corresponding to the slave operator when it is separated from the mechanical arm, so as to ensure that the master-slave mapping will not interfere with the installation of the new surgical instrument when the surgical instrument is replaced, and the acquired historical information can provide basic data for subsequent mapping reconstruction. Based on the historical mechanical arm joint angle and the historical surgical instrument joint angle, the compensation angle of the candidate mechanical arm corresponding to the mechanical arm is determined, which helps the mechanical arm to restore to the expected posture after the surgical instrument is replaced, and ensures the continuity and accuracy of the operation. Based on the first position information of the mechanical arm, the preset safety distance and the second position information of the mirror holding arm adjacent to the mechanical arm, the safe angle range of the mechanical arm is determined, so as to ensure the safety of the mechanical arm during the posture compensation process and prevent accidental collisions during the operation. Based on the selected mechanical arm compensation angle and the safety angle range, the mechanical arm is posture compensated, and the current mechanical arm joint angle corresponding to the mechanical arm is determined, so that the mechanical arm can quickly restore to a posture suitable for surgical operation after the surgical instrument is replaced. The current surgical instrument replaced on the end of the mechanical arm is reset to zero, and based on the historical surgical instrument joint angle, the current surgical instrument joint angle corresponding to the current surgical instrument is determined, simplifying the initialization and calibration process of the surgical instrument, and providing accurate data for subsequent master-slave mapping. Based on the current mechanical arm joint angle and the current surgical instrument joint angle, a master-slave mapping between the master operator and the slave operator is established to ensure that the doctor can accurately control the slave operator and the surgical instrument on it through the master operator, achieve high-precision surgical operation, and ensure the safety of the operation. Through fine and accurate data processing, without changing the posture of the surgical instrument and the posture of the master operator, it is ensured that the master-slave mapping after the surgical instrument is replaced during the operation can be safely and accurately established, ensuring the doctor's operation and the continuity of the operation, improving the safety of the patient's operation, and providing a strong guarantee for the smooth progress of the operation.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a flow chart of a surgical robot master-slave mapping reconstruction method provided according to Embodiment 1 of the present invention;

[0027] Figure 2 is a schematic diagram of the positions of various joints of a slave operator's hand according to Embodiment 1 of the present invention;

[0028] Figure 3 is a structural diagram of a mechanical arm involved in Embodiment 1 of the present invention;

[0029] Figure 4 is a flowchart of a surgical robot master-slave mapping reconstruction method provided according to Embodiment 2 of the present invention;

[0030] Figure 5 is a structural schematic diagram of a surgical robot master-slave mapping reconstruction device provided according to Embodiment 3 of the present invention;

[0031] Figure 6 It is a structural schematic diagram of an electronic device for implementing the master-slave mapping reconstruction method of a surgical robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "target", "current", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 A flowchart of a method for reconstructing master-slave mapping of a surgical robot is provided for the first embodiment of the present invention. This embodiment is applicable to the case where master-slave mapping reconstruction is performed after a surgical instrument replacement operation is performed on an endoscopic surgical robot. Figure 1 As shown, the method can be performed by a surgical robot master-slave mapping reconstruction device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method specifically comprises the following steps:

[0036] S110. In response to a surgical instrument replacement operation in the endoscopic surgical robot, the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot is disconnected, and the historical robotic arm joint angles and historical surgical instrument joint angles of the historical surgical instruments installed at the end of the robotic arm corresponding to the slave operator when they are separated from the robotic arm are obtained.

[0037] Among them, the endoscopic surgical robot may refer to a cutting-edge medical surgical technology that provides patients with more accurate and safe minimally invasive surgical services by integrating robotic equipment with the professional operation of doctors. Surgical instruments may refer to various medical instruments used in clinical surgery, including conventional surgical instruments and specialized surgical instruments. For example, conventional surgical instruments such as scalpels, scissors, pliers, etc., and specialized surgical instruments such as bone drills for orthopedics and stone removal forceps for urology. The main operator may refer to the operating device on the doctor's console. The slave operator may refer to the robotic arm in the endoscopic surgical robot and the surgical instrument at its end. The historical robotic arm joint angle may refer to the robotic arm joint angle recorded by the robot control system in the previous cycle before the surgical instrument was unplugged. The historical surgical instrument joint angle may refer to the surgical instrument joint angle recorded by the robot control system in the previous cycle before the surgical instrument was unplugged.

[0038] Specifically, when the doctor performs a surgical instrument replacement operation, in response to the surgical instrument replacement operation in the endoscopic surgical robot, the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot is automatically or according to the operation instruction. At the same time, the historical mechanical arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed on the end joint of the mechanical arm corresponding to the slave operator when it is separated from the mechanical arm are automatically obtained through the sensor, ensuring that when the surgical instrument is replaced, the master-slave mapping will not interfere with the installation and configuration of the new surgical instrument. The acquired historical information provides basic data for subsequent compensation and mapping reconstruction.

[0039] For example, when it is necessary to confirm the change of surgical instrument type during the operation (for example, the current operation is performed with scissors, the diseased tissue is removed, and then the incision needs to be sutured, so it is necessary to change to a needle holder), the surgeon disconnects the master-slave mapping at the doctor's console (releases the master-slave remote operation status of the robot, that is, releases the master-slave control), the assistant medical staff removes the surgical instrument, and the surgical robot system determines that the surgical instrument is out of state, and immediately records the historical robot arm joint angle and the historical surgical instrument joint angle at the previous moment.

[0040] It should be noted that from the various joints of the operator's hand Figure 2 As shown, the historical robot arm joint angles include: the historical robot arm active rotation joint angles and the historical robot arm parallelogram joint angles. The historical robot arm active rotation joint angles may refer to the angle value of the joint responsible for active rotation movement in the robot arm when the master-slave mapping is disconnected. The historical robot arm parallelogram joint angles may refer to the angle value of a special joint structure in the robot arm when the master-slave mapping is disconnected, which is usually used to achieve complex motion trajectories and posture adjustments. The historical surgical instrument joint angles include: the historical surgical instrument pitch joint angles, the historical surgical instrument yaw joint angles, and the historical surgical instrument swivel joint angles. The historical surgical instrument pitch joint angles may refer to the angle of the joint used to control the tilt of the instrument in the vertical direction (up and down) in the surgical instrument when the master-slave mapping is disconnected. The historical surgical instrument yaw joint angles may refer to the angle of the joint used to control the swing of the instrument in the horizontal direction (left and right) in the surgical instrument when the master-slave mapping is disconnected. The historical surgical instrument swivel joint angles may refer to the angle of the joint used to control the rotation of the instrument around its own axis in the surgical instrument when the master-slave mapping is disconnected.

[0041] S120. Determine a candidate robotic arm compensation angle corresponding to the robotic arm based on historical robotic arm joint angles and historical surgical instrument joint angles.

[0042] The selected robot arm compensation angle may refer to the angle that the robot arm needs to compensate for when the slave operator reaches the posture before disconnecting the master-slave mapping without moving the replaced surgical instrument.

[0043] Specifically, based on the historical joint angles of the robotic arm and the historical joint angles of the surgical instrument, the angle that the robotic arm needs to compensate for when the slave operator reaches the posture before disconnecting the master-slave mapping without moving the replaced surgical instrument is calculated, that is, the compensation angle of the candidate robotic arm corresponding to the robotic arm. The compensation angle of the candidate robotic arm is determined by the compensation angle of the candidate robotic arm to restore the robotic arm to the expected posture after the surgical instrument is replaced, ensuring the continuity and accuracy of the operation.

[0044] Exemplarily, S120 may include: determining a parallelogram joint compensation angle corresponding to the robotic arm based on a historical surgical instrument pitch joint angle; and determining an active rotation joint compensation angle corresponding to the robotic arm based on a historical surgical instrument yaw joint angle.

[0045] The parallelogram joint compensation angle may refer to the angle value of the parallelogram joint in the robot arm that needs to be adjusted in order to offset the impact of the movement of surgical instruments (such as endoscopes, surgical forceps, etc.) in the pitch direction on the overall posture of the robot arm. The active rotation joint compensation angle may refer to the angle value of the active rotation joint in the robot arm that needs to be adjusted in order to offset the impact of the movement of surgical instruments in the rotation direction on the overall posture of the robot arm. Specifically, the pitch direction and the rotation direction are shown in Figure 2 The corresponding robot arm joint axis direction.

[0046] Specifically, based on the historical pitch joint angles of surgical instruments, the compensation angle of the parallelogram joint corresponding to the robotic arm is determined to offset the impact of the movement of surgical instruments (such as endoscopes, surgical forceps, etc.) in the pitch direction on the overall posture of the robotic arm. Based on the historical yaw joint angles of surgical instruments, the angle and direction of the active rotation joint of the robotic arm corresponding to the robotic arm that needs to be adjusted to adapt to the movement of the surgical instrument in the yaw direction are determined. This ensures that the main hand does not move after replacing a new surgical instrument, avoids the mismatch between the end of the surgical instrument and the posture of the main hand, and protects the safety of the patient.

[0047] For example, Figure 3 As shown, the robotic arm is shown in the figure from the side, and the human eye on the left side of the robotic arm is looking straight ahead at the robotic arm. The straight-looking directions "up, down, left, right, front, back" etc. are based on the straight-looking direction description. For example: when the instrument has a certain posture change, the yaw joint of the surgical instrument turns to the left, and the swivel joint turns to the right. When the surgical instrument is pulled out, the surgical robot determines that the surgical instrument is not in place. After n seconds (because the robotic arm will compensate for the posture of the instrument and move, for example, the slide connecting rod joint (the rod with the end joint pointing vertically downward) will hit the assistant nurse when it is extended outward, so n seconds is the protection mechanism time set by the robot), the joints of the robotic arm begin to move synchronously. Because the yaw joint of the surgical instrument turns to the left, the robotic arm actively rotates the joint to the right by the same angle, and the same applies to other joints.

[0048] S130, determining a safe angle range of the robotic arm based on the first position information of the robotic arm, a preset safety distance, and the second position information of the mirror holding arm adjacent to the robotic arm.

[0049] Among them, the first position information may refer to the coordinates of the robotic arm in three-dimensional space. The preset safety distance may refer to the pre-set minimum distance that the mirror holding arm can approach the robotic arm. The mirror holding arm may refer to a key component in an endoscopic surgical robot, which is specifically used to support and stabilize the endoscope. The second position information may refer to the coordinates of the mirror holding arm in three-dimensional space. The safe angle range may include: the safe angle range of the active rotating joint of the robotic arm and the safe angle range of the parallelogram joint of the robotic arm. The safe angle range of the active rotating joint of the robotic arm may refer to the angle variation range that the active rotating joint of the robotic arm can rotate at the current moment. The safe angle range of the parallelogram joint of the robotic arm may refer to the angle variation range that the parallelogram joint of the robotic arm can move at the current moment.

[0050] Specifically, the first position information of the robotic arm and the second position information of the scope holding arm adjacent to the robotic arm are obtained through the sensor. According to the preset safety distance and the position information of the two, the safety angle range that the robotic arm should comply with during the movement is calculated to avoid collision with the scope holding arm or other surgical equipment.

[0051] Exemplarily, S130 may include: determining a maximum moving angle range of the robotic arm based on first position information of the robotic arm and second position information of a mirror holding arm adjacent to the robotic arm; and determining a safe angle range of the robotic arm based on the maximum moving angle range and a preset safety distance.

[0052] Specifically, according to the first position information of the robotic arm and the second position information of the mirror holding arm adjacent to the robotic arm, the relative distance and direction between the two are calculated. This step is the key to determining whether the robotic arm may collide with the mirror holding arm during movement. Taking into account the joint limitations and kinematic characteristics of the robotic arm, combined with the first position information of the robotic arm, the maximum movement angle range that the robotic arm can reach without colliding with the mirror holding arm is calculated. Within the maximum movement angle range, the preset safety distance is further considered. The preset safety distance is to ensure that a certain safety gap is maintained between the robotic arm and the mirror holding arm to prevent collisions caused by unexpected situations (such as decreased control accuracy of the robotic arm, changes in the position of the mirror holding arm, etc.). According to the preset safety distance, the maximum movement angle range is appropriately adjusted to obtain the final safety angle range. By determining the safety angle range of the robotic arm, the risk of collision between the robotic arm and the mirror holding arm during surgery can be significantly reduced, thereby ensuring the safety of the surgery.

[0053] S140. Based on the compensation angle of the candidate robotic arm and the safety angle range, perform posture compensation on the robotic arm to determine the current robotic arm joint angle corresponding to the robotic arm.

[0054] Among them, the current robot arm joint angle may refer to the active rotation joint angle and parallelogram joint angle of the robot arm after posture compensation.

[0055] Specifically, the robot arm is compensated for its posture based on the compensation angle and safety angle range of the selected robot arm, and the corresponding current robot arm joint angle is determined, so that the robot arm can quickly return to a posture suitable for surgical operation after removing the surgical instrument, without changing the posture of the surgical instrument, thereby improving the safety of the operation.

[0056] S150, performing a zeroing operation on the current surgical instrument that has been replaced on the end of the robot arm, and determining a current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles.

[0057] The current surgical instrument may refer to a surgical instrument that meets the surgical needs at the current moment. The current surgical instrument joint angle may refer to the rotation joint angle required by the current surgical instrument.

[0058] Specifically, the replaced surgical instrument at the end of the robot arm is reset to zero, that is, its joint angle is adjusted to the preset initial position. According to the historical surgical instrument joint angle, the surgical instrument rotary joint is reset to zero and then moved to the memory angle to determine the current surgical instrument joint angle corresponding to the current surgical instrument, providing accurate data for subsequent master-slave mapping.

[0059] For example, after replacing a new surgical instrument, the yaw joint, pitch joint, and swivel joint of the surgical instrument will all be reset to zero. After the zeroing operation is completed, the swivel joint rotates to the angle recorded by the swivel joint before the instrument is pulled out.

[0060] S160: Establish a master-slave mapping between the master operator and the slave operator based on the current robot arm joint angle and the current surgical instrument joint angle.

[0061] Specifically, based on the current joint angles of the robotic arm and the current joint angles of the surgical instrument, the control system reestablishes the master-slave mapping between the master operator and the slave operator. The accurate master-slave mapping relationship ensures that the doctor can accurately control the slave operator and the surgical instruments on it through the master operator to achieve high-precision surgical operations.

[0062] The technical solution of the embodiment of the present invention disconnects the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot in response to the surgical instrument replacement operation in the endoscopic surgical robot, and obtains the historical mechanical arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the mechanical arm corresponding to the slave operator when it is separated from the mechanical arm, so as to ensure that the master-slave mapping will not interfere with the installation of the new surgical instrument when the surgical instrument is replaced, and the acquired historical information can provide basic data for subsequent mapping reconstruction. Based on the historical mechanical arm joint angle and the historical surgical instrument joint angle, the candidate mechanical arm compensation angle corresponding to the mechanical arm is determined, which helps the mechanical arm to restore to the expected posture after the surgical instrument is replaced, and ensures the continuity and accuracy of the operation. Based on the first position information of the mechanical arm, the preset safety distance and the second position information of the mirror holding arm adjacent to the mechanical arm, the safety angle range of the mechanical arm is determined, so as to ensure the safety of the mechanical arm during the posture compensation process and prevent accidental collision during the operation. Based on the candidate mechanical arm compensation angle and the safety angle range, the mechanical arm is posture compensated, and the current mechanical arm joint angle corresponding to the mechanical arm is determined, so that the mechanical arm can quickly restore to a posture suitable for surgical operation after the surgical instrument is replaced. The current surgical instrument replaced on the end of the robotic arm is reset to zero, and based on the historical surgical instrument joint angles, the current surgical instrument joint angle corresponding to the current surgical instrument is determined, simplifying the initialization and calibration process of the surgical instrument, and providing accurate data for subsequent master-slave mapping. Based on the current robotic arm joint angles and the current surgical instrument joint angles, a master-slave mapping between the master operator and the slave operator is established to ensure that the doctor can accurately control the slave operator and the surgical instrument on it through the master operator, achieve high-precision surgical operations, and ensure the safety of the operation. Through fine and accurate data processing, without changing the surgical instrument posture and the master operator posture, it is ensured that the master-slave mapping after the surgical instrument is replaced during the operation can be safely and accurately established, ensuring the doctor's operation and the continuity of the operation, improving the safety of the patient's operation, and providing a strong guarantee for the smooth progress of the operation.

[0063] Embodiment 2

[0064] Figure 4 This is a flowchart of a surgical robot master-slave mapping reconstruction method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment optimizes the step of "performing posture compensation on the robotic arm based on the selected robotic arm compensation angle and the safety angle range, and determining the current robotic arm joint angle corresponding to the robotic arm". The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here.

[0065] See also Figure 4 Another surgical robot master-slave mapping reconstruction method provided in this embodiment specifically includes the following steps:

[0066] S210. In response to a surgical instrument replacement operation in the endoscopic surgical robot, the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot is disconnected, and the historical robotic arm joint angles and historical surgical instrument joint angles of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm are obtained.

[0067] S220: Determine a candidate robotic arm compensation angle corresponding to the robotic arm based on historical robotic arm joint angles and historical surgical instrument joint angles.

[0068] S230, determining a safe angle range of the robotic arm based on the first position information of the robotic arm, a preset safety distance, and the second position information of the mirror holding arm adjacent to the robotic arm.

[0069] S240: Determine a target robotic arm compensation angle corresponding to the robotic arm based on the candidate robotic arm compensation angle and the safety angle range.

[0070] The target robot arm compensation angle may refer to an optimal compensation angle of the robot arm while meeting safety requirements.

[0071] Specifically, a comprehensive analysis is performed based on the candidate manipulator compensation angle and the safety angle range. The candidate compensation angle is a theoretically optimal compensation value calculated based on historical data, but it may need to be adjusted due to safety restrictions (such as avoiding collisions with the mirror holding arm or other equipment). The candidate manipulator compensation angle is compared with the safety angle range to ensure that the compensated manipulator posture does not exceed the safety limit, and the target manipulator compensation angle corresponding to the manipulator is determined.

[0072] Exemplarily, S240 may include: if the compensation angle of the selected robotic arm is less than or equal to the maximum safety angle corresponding to the safety angle range, then the compensation angle of the selected robotic arm is used as the target robotic arm compensation angle corresponding to the robotic arm; if the compensation angle of the selected robotic arm is greater than the maximum safety angle corresponding to the safety angle range, then the maximum safety angle corresponding to the safety angle range is used as the target robotic arm compensation angle corresponding to the robotic arm.

[0073] Specifically, each candidate robot arm compensation angle is compared with the safety angle range. If the candidate robot arm compensation angle is less than or equal to the maximum safety angle corresponding to the safety angle range, it means that the compensation angle is within the safety range and can be directly selected as the target robot arm compensation angle. If the candidate robot arm compensation angle is greater than the maximum safety angle corresponding to the safety angle range, it indicates that the compensation angle may cause the robot arm to collide with surrounding equipment. In this case, the maximum safety angle corresponding to the safety angle range should be used as the target robot arm compensation angle to ensure the safety of the robot arm movement.

[0074] S250: Perform posture compensation on the robotic arm based on the target robotic arm compensation angle, and determine the current robotic arm joint angle corresponding to the robotic arm after posture compensation.

[0075] Specifically, after determining the target compensation angle of the robotic arm, the joints of the robotic arm are controlled to move according to the target compensation angle. When the actual joint angle of the robotic arm reaches or approaches the target compensation angle, the posture compensation process is completed. After the posture compensation is completed, the current joint angle of the robotic arm is read from the sensor of the robotic arm. Through precise posture compensation, the robotic arm can be restored to the posture most suitable for surgical operation, thereby improving the accuracy and success rate of the operation.

[0076] S260, performing a zeroing operation on the current surgical instrument that has been replaced on the end of the robotic arm, and determining a current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles.

[0077] S270: Establish a master-slave mapping between the master operator and the slave operator based on the current joint angles of the robot arm and the current joint angles of the surgical instrument.

[0078] Exemplarily, after S160, it also includes: determining a target compensation error corresponding to the robotic arm based on the target robotic arm compensation angle and the selected robotic arm compensation angle; optimizing the master-slave mapping between the master operator and the slave operator based on the target compensation error and a preset optimization method to obtain an optimized master-slave mapping between the robotic arm and the master operator.

[0079] The target compensation error may refer to the difference angle between the target manipulator compensation angle and the candidate manipulator compensation angle. The preset optimization method may refer to one or more pre-set algorithms or strategies for improving and optimizing the master-slave mapping relationship between the master manipulator and the slave manipulator. For example, the preset optimization method may be an interpolation method.

[0080] Specifically, according to the difference between the target robot arm compensation angle and the candidate robot arm compensation angle, the target compensation error corresponding to the robot arm is calculated. This error reflects the amount that the robot arm needs to be adjusted during the actual movement process to ensure that its end can accurately reach the target position. Based on the target compensation error and the preset optimization method, the master-slave mapping between the master operator and the slave operator is optimized, so as to reduce or eliminate the error in the robot arm movement process by adjusting the parameters or algorithms in the mapping relationship, thereby improving the accuracy and stability of the operation. The optimization process may require multiple times to gradually approach the optimal master-slave mapping relationship. In each optimization, the mapping relationship is fine-tuned according to the current compensation error and surgical requirements, and the effect of the adjustment is evaluated. By optimizing the master-slave mapping relationship, the error in the robot arm movement process can be significantly reduced, and the end positioning accuracy of the surgical instrument can be improved, thereby ensuring the accuracy of the surgical operation.

[0081] Exemplarily, after the doctor establishes the master-slave operation, the system will interpolate the target compensation error within m cycles (directly responding to the movement immediately will cause illusions and misjudgment of surgical risks to the doctor, and interpolation also greatly solves the problem of posture deviation mismatch visually) to gradually approach the optimal master-slave mapping relationship.

[0082] The technical solution of the embodiment of the present invention ensures the accuracy and safety of posture compensation by determining the target robot arm compensation angle corresponding to the robot arm based on the candidate robot arm compensation angle and the safety angle range. The robot arm is posture compensated based on the target robot arm compensation angle, and the current robot arm joint angle corresponding to the robot arm after posture compensation is determined. Through precise posture compensation, the robot arm can be restored to the posture most suitable for surgical operations, thereby improving the accuracy and success rate of the operation. The safety angle range is considered during the posture compensation process to avoid the risk of collision between the robot arm and the mirror holding arm or other equipment, thereby ensuring safety during the operation.

[0083] Embodiment 3

[0084] Figure 5 This is a schematic diagram of the structure of a surgical robot master-slave mapping reconstruction device provided in Embodiment 3 of the present invention. Figure 5 As shown, the device includes: a historical angle acquisition module 310, a compensation angle determination module 320, a safety range determination module 330, a posture compensation module 340, a current angle determination module 350 and a master-slave mapping reconstruction module 360.

[0085] The historical angle acquisition module 310 is used to disconnect the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot in response to the surgical instrument replacement operation in the endoscopic surgical robot, and obtain the historical robotic arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm;

[0086] A compensation angle determination module 320, configured to determine a candidate robotic arm compensation angle corresponding to the robotic arm based on the historical robotic arm joint angles and the historical surgical instrument joint angles;

[0087] A safety range determination module 330, configured to determine a safety angle range of the robotic arm based on first position information of the robotic arm, a preset safety distance, and second position information of a mirror holding arm adjacent to the robotic arm;

[0088] A posture compensation module 340 is used to perform posture compensation on the robotic arm based on the selected robotic arm compensation angle and the safety angle range, and determine a current robotic arm joint angle corresponding to the robotic arm;

[0089] The current angle determination module 350 is used to perform a zeroing operation on the current surgical instrument after replacement on the end of the robot arm, and determine the current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles;

[0090] The master-slave mapping reconstruction module 360 ​​is used to establish a master-slave mapping between the master operator and the slave operator based on the current robot arm joint angle and the current surgical instrument joint angle.

[0091] The technical solution of this embodiment, by responding to the surgical instrument replacement operation in the endoscopic surgical robot, disconnects the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot, and obtains the historical mechanical arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the mechanical arm corresponding to the slave operator when it is separated from the mechanical arm, so as to ensure that the master-slave mapping will not interfere with the installation of the new surgical instrument when the surgical instrument is replaced, and the acquired historical information can provide basic data for subsequent mapping reconstruction. Based on the historical mechanical arm joint angle and the historical surgical instrument joint angle, the compensation angle of the candidate mechanical arm corresponding to the mechanical arm is determined, which helps the mechanical arm to restore to the expected posture after the surgical instrument is replaced, and ensures the continuity and accuracy of the operation. Based on the first position information of the mechanical arm, the preset safety distance and the second position information of the mirror holding arm adjacent to the mechanical arm, the safe angle range of the mechanical arm is determined, so as to ensure the safety of the mechanical arm during the posture compensation process and prevent accidental collisions during the operation. Based on the selected mechanical arm compensation angle and the safety angle range, the mechanical arm is posture compensated, and the current mechanical arm joint angle corresponding to the mechanical arm is determined, so that the mechanical arm can quickly restore to a posture suitable for surgical operation after the surgical instrument is replaced. The current surgical instrument replaced on the end of the mechanical arm is reset to zero, and based on the historical surgical instrument joint angle, the current surgical instrument joint angle corresponding to the current surgical instrument is determined, simplifying the initialization and calibration process of the surgical instrument, and providing accurate data for subsequent master-slave mapping. Based on the current mechanical arm joint angle and the current surgical instrument joint angle, a master-slave mapping between the master operator and the slave operator is established to ensure that the doctor can accurately control the slave operator and the surgical instrument on it through the master operator, achieve high-precision surgical operation, and ensure the safety of the operation. Through fine and accurate data processing, without changing the posture of the surgical instrument and the posture of the master operator, it is ensured that the master-slave mapping after the surgical instrument is replaced during the operation can be safely and accurately established, ensuring the doctor's operation and the continuity of the operation, improving the safety of the patient's operation, and providing a strong guarantee for the smooth progress of the operation.

[0092] Optionally, the historical robotic arm joint angles include: historical robotic arm active rotation joint angles and historical robotic arm parallelogram joint angles; the historical surgical instrument joint angles include: historical surgical instrument pitch joint angles, historical surgical instrument yaw joint angles and historical surgical instrument rotation joint angles.

[0093] Optionally, the compensation angle determination module 320 is specifically used to: determine the parallelogram joint compensation angle corresponding to the robotic arm based on the historical surgical instrument pitch joint angles; determine the active rotation joint compensation angle corresponding to the robotic arm based on the historical surgical instrument yaw joint angles.

[0094] Optionally, the safety range determination module 330 is specifically used to: determine the maximum moving angle range of the robotic arm based on the first position information of the robotic arm and the second position information of the mirror holding arm adjacent to the robotic arm; determine the safety angle range of the robotic arm based on the maximum moving angle range and a preset safety distance.

[0095] Optionally, the posture compensation module 340 includes:

[0096] a target angle determination unit, configured to determine a target mechanical arm compensation angle corresponding to the mechanical arm based on the selected mechanical arm compensation angle and the safety angle range;

[0097] The current angle determination unit performs posture compensation on the robotic arm based on the target robotic arm compensation angle, and determines a current robotic arm joint angle corresponding to the robotic arm after the posture compensation.

[0098] Optionally, the target angle determination unit is specifically used to: if the compensation angle of the selected robotic arm is less than or equal to the maximum safety angle corresponding to the safety angle range, then use the compensation angle of the selected robotic arm as the target robotic arm compensation angle corresponding to the robotic arm; if the compensation angle of the selected robotic arm is greater than the maximum safety angle corresponding to the safety angle range, then use the maximum safety angle corresponding to the safety angle range as the target robotic arm compensation angle corresponding to the robotic arm.

[0099] Optionally, the above device further comprises: a mapping optimization module;

[0100] The mapping optimization module is specifically used to: determine the target compensation error corresponding to the robotic arm based on the target robotic arm compensation angle and the selected robotic arm compensation angle; optimize the master-slave mapping between the master operator and the slave operator based on the target compensation error and a preset optimization method to obtain the optimized master-slave mapping between the robotic arm and the master operator.

[0101] The surgical robot master-slave mapping reconstruction device provided in the embodiment of the present invention can execute the surgical robot master-slave mapping reconstruction method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0102] Figure 6 A schematic diagram of the structure of an electronic device 12 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workstations, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0103] like Figure 6 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0104] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0105] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0106] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0107] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0108] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or may communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0109] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing a surgical robot master-slave mapping reconstruction method provided by the embodiment of the present invention, the method comprising:

[0110] In response to a surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot, and obtain the historical robotic arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm;

[0111] Determine a candidate robotic arm compensation angle corresponding to the robotic arm based on the historical robotic arm joint angles and the historical surgical instrument joint angles;

[0112] Determine a safe angle range of the mechanical arm based on the first position information of the mechanical arm, a preset safety distance, and the second position information of the mirror holding arm adjacent to the mechanical arm;

[0113] Based on the selected robot arm compensation angle and the safety angle range, performing posture compensation on the robot arm, and determining a current robot arm joint angle corresponding to the robot arm;

[0114] Performing a zeroing operation on the replaced current surgical instrument on the end of the robotic arm, and determining a current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles;

[0115] A master-slave mapping between the master operator and the slave operator is established based on the current robot arm joint angle and the current surgical instrument joint angle.

[0116] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the surgical robot master-slave mapping reconstruction method provided by any embodiment of the present invention.

[0117] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the surgical robot master-slave mapping reconstruction method provided in any embodiment of the present invention are implemented. The method includes:

[0118] In response to a surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot, and obtain the historical robotic arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm;

[0119] Determine a candidate robotic arm compensation angle corresponding to the robotic arm based on the historical robotic arm joint angles and the historical surgical instrument joint angles;

[0120] Determine a safe angle range of the mechanical arm based on the first position information of the mechanical arm, a preset safety distance, and the second position information of the mirror holding arm adjacent to the mechanical arm;

[0121] Based on the selected robot arm compensation angle and the safety angle range, performing posture compensation on the robot arm, and determining a current robot arm joint angle corresponding to the robot arm;

[0122] Performing a zeroing operation on the replaced current surgical instrument on the end of the robotic arm, and determining a current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles;

[0123] A master-slave mapping between the master operator and the slave operator is established based on the current robot arm joint angle and the current surgical instrument joint angle.

[0124] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0125] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0126] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0127] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0129] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described 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 invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot master-slave mapping reconstruction method, characterized in that: include: In response to a surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot, and obtain the historical robotic arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm; Determine a candidate robotic arm compensation angle corresponding to the robotic arm based on the historical robotic arm joint angles and the historical surgical instrument joint angles; Determine a safe angle range of the mechanical arm based on the first position information of the mechanical arm, a preset safety distance, and the second position information of the mirror holding arm adjacent to the mechanical arm; Based on the selected robot arm compensation angle and the safety angle range, performing posture compensation on the robot arm, and determining a current robot arm joint angle corresponding to the robot arm; Performing a zeroing operation on the replaced current surgical instrument on the end of the robotic arm, and determining a current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles; A master-slave mapping between the master operator and the slave operator is established based on the current robot arm joint angle and the current surgical instrument joint angle.

2. The method according to claim 1, characterized in that The historical robot arm joint angles include: historical robot arm active rotation joint angles and historical robot arm parallelogram joint angles; The historical surgical instrument joint angles include: historical surgical instrument pitch joint angles, historical surgical instrument yaw joint angles and historical surgical instrument rotation joint angles.

3. The method according to claim 1, characterized in that: The determining the candidate robot arm compensation angle corresponding to the robot arm based on the historical robot arm joint angle and the historical surgical instrument joint angle comprises: Based on the historical pitch joint angles of the surgical instrument, determining the parallelogram joint compensation angle corresponding to the robotic arm; Based on the historical surgical instrument yaw joint angle, the active rotation joint compensation angle corresponding to the robotic arm is determined.

4. The method according to claim 1, characterized in that: The determining the safe angle range of the mechanical arm based on the first position information of the mechanical arm, the preset safety distance and the second position information of the mirror holding arm adjacent to the mechanical arm comprises: Determine a maximum moving angle range of the mechanical arm based on first position information of the mechanical arm and second position information of a mirror holding arm adjacent to the mechanical arm; Based on the maximum moving angle range and the preset safety distance, a safe angle range of the robotic arm is determined.

5. The method according to claim 1, characterized in that The step of performing posture compensation on the robotic arm based on the selected robotic arm compensation angle and the safety angle range, and determining a current robotic arm joint angle corresponding to the robotic arm, comprises: Determining a target mechanical arm compensation angle corresponding to the mechanical arm based on the candidate mechanical arm compensation angle and the safety angle range; Based on the target robot arm compensation angle, posture compensation is performed on the robot arm to determine a current robot arm joint angle corresponding to the robot arm after posture compensation.

6. The method according to claim 5, characterized in that The step of determining a target mechanical arm compensation angle corresponding to the mechanical arm based on the selected mechanical arm compensation angle and the safety angle range includes: If the compensation angle of the to-be-selected mechanical arm is less than or equal to the maximum safety angle corresponding to the safety angle range, the compensation angle of the to-be-selected mechanical arm is used as the target mechanical arm compensation angle corresponding to the mechanical arm; If the compensation angle of the to-be-selected robotic arm is greater than the maximum safety angle corresponding to the safety angle range, the maximum safety angle corresponding to the safety angle range is used as the target robotic arm compensation angle corresponding to the robotic arm.

7. The method according to any one of claims 1 to 6, characterized in that: After establishing a master-slave mapping between the master operator and the slave operator based on the current robot arm joint angle and the current surgical instrument joint angle, the method further includes: Determining a target compensation error corresponding to the robotic arm based on a target robotic arm compensation angle and a candidate robotic arm compensation angle; Based on the target compensation error and the preset optimization method, the master-slave mapping between the master operator and the slave operator is optimized to obtain an optimized master-slave mapping between the robot arm and the master operator.

8. A surgical robot master-slave mapping reconstruction device, characterized in that: include: A historical angle acquisition module is used to disconnect the master-slave mapping between the master operator and the slave operator of the endoscopic surgical robot in response to a surgical instrument replacement operation in the endoscopic surgical robot, and to acquire the historical robotic arm joint angle and the historical surgical instrument joint angle of the historical surgical instrument installed at the end of the robotic arm corresponding to the slave operator when the historical surgical instrument is separated from the robotic arm; A compensation angle determination module, used to determine a candidate robotic arm compensation angle corresponding to the robotic arm based on the historical robotic arm joint angles and the historical surgical instrument joint angles; A safety range determination module, used to determine a safety angle range of the mechanical arm based on first position information of the mechanical arm, a preset safety distance and second position information of a mirror holding arm adjacent to the mechanical arm; A posture compensation module, used to perform posture compensation on the robotic arm based on the selected robotic arm compensation angle and the safety angle range, and determine a current robotic arm joint angle corresponding to the robotic arm; A current angle determination module, used to perform a zeroing operation on the current surgical instrument after replacement on the end of the robotic arm, and determine the current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angles; The master-slave mapping reconstruction module is used to establish a master-slave mapping between the master operator and the slave operator based on the current robot arm joint angle and the current surgical instrument joint angle.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical robot master-slave mapping reconstruction method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical robot master-slave mapping reconstruction method according to any one of claims 1 to 7 when executed.

Images