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

Abstract

This invention discloses a method, apparatus, device, and medium for reconstructing the master-slave mapping of a surgical robot. The method includes: in response to a surgical instrument replacement operation, acquiring historical robotic arm joint angles and historical surgical instrument joint angles, and determining a candidate robotic arm compensation angle corresponding to the robotic arm; determining a safe angle range for the robotic arm, and performing posture compensation on the robotic arm based on the candidate robotic arm compensation angle and the safe angle range; performing a zeroing operation on the replaced current surgical instrument attached to the robotic arm's end joint, moving the instrument's rotation joint to a memory angle after zeroing, and determining the current surgical instrument joint angle; and establishing a master-slave mapping between the master operator and the slave operator based on the current robotic arm joint angle and the current surgical instrument joint angle. Through the technical solution of this invention, the reconstruction of the master-slave mapping of a surgical robot can be achieved without changing the posture of the master operator and the surgical instrument, thus improving the safety of patient surgery.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, device, and medium for reconstructing master-slave mapping in surgical robots. Background Technology

[0002] Currently, endoscopic surgical robots are high-end products in the medical industry. When doctors perform surgery, the construction of the master-slave mapping of the surgical robot is the key to determining the doctor's surgical state.

[0003] Currently, traditional master-slave mapping reconstruction methods for surgical robots typically involve the surgical robot inserting instruments and then changing the posture of the master hand to match the surgical instruments on the slave hand, or vice versa. However, in traditional master-slave mapping reconstruction methods, because the surgical instruments are located inside the patient's body, changes in the posture of the surgical instruments can reduce the safety of the patient during surgery, while changes in the posture of the master hand can affect the surgeon's surgical state, impacting the surgeon's operation and the continuity of the surgery. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for reconstructing the master-slave mapping of a surgical robot, enabling the reconstruction of the master-slave mapping of an endoscopic surgical robot after changing surgical instruments. This does not require changes to the posture of the master operator and the surgical instruments, ensuring the continuity of the surgeon's operation and the operation, and improving the safety of the patient's surgery.

[0005] In a first aspect, embodiments of the present invention provide a method for reconstructing a master-slave mapping of a surgical robot, comprising:

[0006] In response to the surgical instrument replacement operation in the endoscopic surgical robot, the master-slave mapping between the master and slave hands of the endoscopic surgical robot is disconnected, and the historical joint angles of the robotic arm and the historical joint angles of the surgical instruments installed at the end of the robotic arm corresponding to the slave hand are obtained when the instruments are disengaged from the robotic arm.

[0007] Based on the historical robotic arm joint angles and the historical surgical instrument joint angles, determine the candidate robotic arm compensation angle corresponding to the robotic arm;

[0008] Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the lens-holding arm adjacent to the robotic arm, the safe angle range of the robotic arm is determined;

[0009] Based on the candidate robotic arm compensation angle and the safe angle range, the robotic arm is subjected to attitude compensation to determine the current robotic arm joint angle corresponding to the robotic arm.

[0010] The current surgical instrument replaced on the end of the robotic arm is zeroed out, and the joint angle of the current surgical instrument is determined based on the joint angle of the historical surgical instrument.

[0011] Based on the current joint angles of the robotic arm and the current joint angles of the surgical instrument, a master-slave mapping is established between the master operator and the slave operator.

[0012] Secondly, embodiments of the present invention also provide a surgical robot master-slave mapping reconstruction device, comprising:

[0013] The historical angle acquisition module is used to respond to the surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master manipulator and the slave manipulator of the endoscopic surgical robot, and acquire the historical mechanical arm joint angle and the historical surgical instrument joint angle when the historical surgical instrument installed at the end of the robotic arm corresponding to the slave manipulator is disengaged from the robotic arm.

[0014] The compensation angle determination module is used to determine 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.

[0015] The safety range determination module is used to determine the safety angle range of the robotic arm based on the first position information of the robotic arm, the preset safety distance, and the second position information of the lens-holding arm adjacent to the robotic arm.

[0016] The attitude compensation module is used to perform attitude compensation on the robotic arm based on the candidate robotic arm compensation angle and the safe angle range, and to determine the current robotic arm joint angle corresponding to the robotic arm.

[0017] The current angle determination module is used to perform a zeroing operation on the replaced surgical instrument at 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 joint angle of the robotic arm and the current joint angle of the surgical instrument.

[0019] Thirdly, embodiments of the present invention also provide 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 that can be executed by the at least one processor, which enables the at least one processor to perform the surgical robot master-slave mapping reconstruction method provided in any embodiment of the present invention.

[0022] Fourthly, embodiments of the present invention also provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, which are used to enable a processor to execute the surgical robot master-slave mapping reconstruction method provided in any embodiment of the present invention.

[0023] The technical solution of this invention, in response to the surgical instrument replacement operation in an endoscopic surgical robot, disconnects the master-slave mapping between the master and slave manipulators of the endoscopic surgical robot, and acquires the historical joint angles of the robotic arm and the surgical instrument when the historical surgical instrument installed at the end of the robotic arm corresponding to the slave manipulator was detached from the robotic arm. This ensures that the master-slave mapping does not interfere with the installation of the new surgical instrument when replacing it, and the acquired historical information can provide basic data for subsequent mapping reconstruction. Based on the historical joint angles of the robotic arm and the historical joint angles of the surgical instrument, the candidate robotic arm compensation angle corresponding to the robotic arm is determined, which helps the robotic arm to return to the expected posture after replacing the surgical instrument, ensuring the continuity and accuracy of the surgery. Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the endoscope-holding arm adjacent to the robotic arm, the safe angle range of the robotic arm is determined, thereby ensuring the safety of the robotic arm during posture compensation and preventing accidental collisions during the surgery. Based on the candidate robotic arm compensation angle and the safe angle range, posture compensation is performed on the robotic arm to determine the current joint angle of the robotic arm, enabling it to quickly return to a suitable posture for surgical operation after changing surgical instruments. The replaced surgical instrument on the robotic arm end effector is zeroed, and based on the historical surgical instrument joint angles, the current surgical instrument joint angle is determined, simplifying the initialization and calibration process and providing accurate data for subsequent master-slave mapping. Based on the current robotic arm joint angle and the current surgical instrument joint angle, a master-slave mapping is established between the master and slave manipulators, ensuring that the surgeon can precisely control the slave manipulator and its instruments through the master manipulator, achieving high-precision surgical operations and ensuring surgical safety. Through meticulous and accurate data processing, without changing the posture of the surgical instruments and the master manipulator, the master-slave mapping after surgical instrument replacement during surgery is safely and accurately established, ensuring the continuity of the surgeon's operation and the surgery, improving patient safety, and providing strong support for the smooth progress of the surgery.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0028] Figure 3 This is a structural diagram of a robotic arm according to Embodiment 1 of the present invention;

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

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

[0031] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the master-slave mapping reconstruction method for surgical robots according to embodiments of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Example 1

[0035] Figure 1 This is a flowchart of a method for reconstructing the master-slave mapping of a surgical robot, as provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where master-slave mapping reconstruction is performed after changing surgical instruments in an endoscopic surgical robot. Figure 1 As shown, this method can be executed by a surgical robot master-slave mapping reconstruction device, which can be implemented in hardware and / or software and can be configured in an electronic device. For example... Figure 1 As shown, the method specifically includes the following steps:

[0036] S110, In response to the surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master and slave hands of the endoscopic surgical robot, and obtain the historical robotic arm joint angle and historical surgical instrument joint angle when the historical surgical instrument installed at the end of the robotic arm corresponding to the slave hand is disengaged from the robotic arm.

[0037] Endoscopic surgical robots can refer to a cutting-edge medical surgical technology that integrates robotic equipment with the surgeon's professional operation to provide patients with more precise and safer minimally invasive surgical services. Surgical instruments can refer to various medical devices used in clinical surgery, including routine and specialized surgical instruments. For example, routine surgical instruments include scalpels, scissors, and forceps, while specialized surgical instruments include bone drills in orthopedics and stone retrieval forceps in urology. The master operator refers to the operating device on the surgeon's console. The slave operator refers to the robotic arm and its end effector in the endoscopic surgical robot. Historical robotic arm joint angles refer to the robotic arm joint angles recorded by the robot control system in the previous cycle before the surgical instruments were removed. Historical surgical instrument joint angles refer to the surgical instrument joint angles recorded by the robot control system in the previous cycle before the surgical instruments were removed.

[0038] Specifically, when a surgeon changes surgical instruments, the master-slave mapping between the master and slave manipulators of the endoscopic surgical robot is automatically or disconnected according to the operation command, in response to the instrument change operation. Simultaneously, sensors automatically acquire the historical joint angles of the robotic arm and surgical instruments when they were detached from the robotic arm, ensuring that the master-slave mapping does not interfere with the installation and configuration of the new surgical instruments during instrument changes. This historical information provides the foundational data for subsequent compensation and mapping reconstruction.

[0039] For example, when it is necessary to confirm the type of surgical instrument to be changed during the operation (e.g., the current surgical instrument is a scissor instrument, the lesion tissue has been removed, and the incision needs to be sutured later, so it needs to be changed to a needle forceps instrument), the surgeon disconnects the master-slave mapping on the doctor's console (disconnects the master-slave remote operation state of the robot, that is, disconnects the master-slave control), the assistant medical staff removes the surgical instrument, and after the surgical robot system determines that the surgical instrument is disconnected, it immediately records the historical joint angle of the robotic arm and the historical joint angle of the surgical instrument at the previous moment.

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

[0041] S120. Based on the historical joint angles of robotic arms and surgical instruments, determine the corresponding candidate robotic arm compensation angle.

[0042] Among them, the candidate robotic arm compensation angle can refer to the angle that the robotic arm needs to compensate for when the operator wants to reach the posture before disconnecting the master-slave mapping without moving the replaced surgical instruments.

[0043] Specifically, based on historical robotic arm joint angles and historical surgical instrument joint angles, the required compensation angle for the robotic arm is calculated when the slave hand needs to reach the posture before the master-slave mapping is broken, without moving the replaced surgical instrument. This is the corresponding candidate robotic arm compensation angle. The compensation angle for the robotic arm to return to the expected posture after changing surgical instruments is determined using the candidate robotic arm compensation angle, ensuring the continuity and precision of the surgery.

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

[0045] The parallelogram joint compensation angle refers to the adjustment of the angle values ​​of the parallelogram joints in the robotic arm to counteract the impact of the pitch movement of surgical instruments (such as endoscopes, surgical forceps, etc.) on the overall posture of the robotic arm. The active rotational joint compensation angle refers to the adjustment of the angle values ​​of the active rotational joints in the robotic arm to counteract the impact of the rotational movement of surgical instruments on the overall posture of the robotic arm. Specifically, for pitch and rotation, see [link to documentation]. Figure 2 The direction of the corresponding robotic arm joint axis.

[0046] Specifically, based on the pitch joint angles of historical surgical instruments, the compensation angles of the corresponding parallelogram joints of the robotic arm are determined to counteract 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 yaw joint angles of historical surgical instruments, the angles and directions of the active rotation joints of the robotic arm that need to be adjusted to accommodate the movement of surgical instruments in the yaw direction are determined. This ensures that the master hand remains stationary after replacing with new surgical instruments, avoids mismatch between the surgical instrument end effector and the master hand posture, and protects patient safety.

[0047] For example, such as Figure 3 As shown in the diagram, the robotic arm is viewed from the side. The viewer's left eye is looking directly at the robotic arm. Directions such as "up," "down," "left," "right," "front," and "back" are based on the direction of the view. For example, when the instrument undergoes a certain posture change, the instrument's yaw joint turns to the left, and its rotation joint turns to the right. After the instrument is removed, the surgical robot determines that the instrument is not in place. After n seconds (because the robotic arm will compensate for the instrument's posture by moving—for example, if the slide joint (the vertically downward-pointing end joint) extends outwards, it might hit the assistant nurse; therefore, n seconds is the robot's set protection mechanism time), the joints of the robotic arm begin to move synchronously. Because the instrument's yaw joint turns to the left, the robotic arm's active rotation joint rotates to the right by the same angle; the same applies to other joints.

[0048] S130. Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the lens-holding arm adjacent to the robotic arm, determine the safe angle range of the robotic arm.

[0049] The first position information can refer to the coordinates of the robotic arm in three-dimensional space. The preset safe distance can refer to the minimum distance that the endoscope-holding arm can approach the robotic arm. The endoscope-holding arm can refer to a key component in the endoscopic surgical robot, specifically used to support and stabilize the endoscope. The second position information can refer to the coordinates of the endoscope-holding arm in three-dimensional space. The safe angle range can include: the safe angle range of the robotic arm's active rotary joint and the safe angle range of the robotic arm's parallelogram joint. The safe angle range of the robotic arm's active rotary joint can refer to the range of angle changes that the robotic arm's active rotary joint can rotate at the current moment. The safe angle range of the robotic arm's parallelogram joint can refer to the range of angle changes that the robotic arm's parallelogram joint can move at the current moment.

[0050] Specifically, sensors acquire the first position information of the robotic arm and the second position information of the adjacent endoscope-holding arm. Based on a preset safe distance and the position information of both, a safe angle range that the robotic arm should adhere to during movement is calculated to avoid collisions with the endoscope-holding arm or other surgical equipment.

[0051] For example, S130 may include: determining the maximum range of movement angles of the robotic arm based on the first position information of the robotic arm and the second position information of the lens-holding arm adjacent to the robotic arm; and determining the safe range of movement angles of the robotic arm based on the maximum range of movement angles and a preset safe distance.

[0052] Specifically, based on the first position information of the robotic arm and the second position information of the adjacent endoscope-holding arm, the relative distance and direction between them are calculated. This step is crucial in determining whether the robotic arm might collide with the endoscope-holding arm during movement. Considering the joint limitations and kinematic characteristics of the robotic arm, and combining the first position information of the robotic arm, the maximum range of movement angles that the robotic arm can achieve without colliding with the endoscope-holding arm is calculated. Within the maximum range of movement angles, a preset safety distance is further considered. The preset safety distance is to ensure a certain safe clearance between the robotic arm and the endoscope-holding arm to prevent collisions caused by unexpected situations (such as decreased control precision of the robotic arm, changes in the position of the endoscope-holding arm, etc.). Based on the preset safety distance, the maximum range of movement angles is appropriately adjusted to obtain the final safe angle range. By determining the safe angle range of the robotic arm, the risk of collision between the robotic arm and the endoscope-holding arm during surgery can be significantly reduced, thereby ensuring the safe conduct of the surgery.

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

[0054] Among them, the current joint angle of the robotic arm can refer to the active rotational joint angle and parallelogram joint angle of the robotic arm after posture compensation.

[0055] Specifically, by combining the compensation angle and safety angle range of the candidate robotic arm, posture compensation is performed on the robotic arm to determine the current joint angle of the robotic arm. This allows the robotic arm to quickly return to a posture suitable for surgical operation after the surgical instruments are removed, without changing the posture of the surgical instruments, thus improving surgical safety.

[0056] S150. 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 angle.

[0057] Here, "current surgical instruments" can refer to surgical instruments that meet the needs of the surgery at the current moment. "Current surgical instrument joint angles" can refer to the rotational joint angles required by the current surgical instruments.

[0058] Specifically, the surgical instrument replaced at the end effector of the robotic arm is zeroed out, meaning its joint angles are adjusted to a preset initial position. Based on the historical joint angles of the surgical instruments, the rotary joints of the surgical instruments are zeroed out and moved to the memorized angles to determine the current joint angles of the current surgical instruments, providing accurate data for subsequent master-slave mapping.

[0059] For example, after replacing the surgical instrument with a new one, the yaw, pitch, and rotation joints of the surgical instrument will all be zeroed. After the zeroing operation is completed, the rotation joint will be rotated to the angle recorded before the instrument is removed.

[0060] S160. Based on the current joint angles of the robotic arm and the current joint angles of the surgical instruments, establish a master-slave mapping between the master operator and the slave operator.

[0061] Specifically, based on the current joint angles of the robotic arm and the surgical instruments, the control system re-establishes the master-slave mapping between the master and slave hands. The accurate master-slave mapping relationship ensures that the surgeon can accurately perform high-precision surgical operations through the master hand and the surgical instruments on it.

[0062] The technical solution of this invention, in response to the surgical instrument replacement operation in an endoscopic surgical robot, disconnects the master-slave mapping between the master and slave manipulators of the endoscopic surgical robot, and acquires the historical joint angles of the robotic arm and the surgical instrument when the historical surgical instruments installed at the end of the robotic arm corresponding to the slave manipulator were detached from the robotic arm. This ensures that the master-slave mapping does not interfere with the installation of the new surgical instrument when replacing it, and the acquired historical information can provide basic data for subsequent mapping reconstruction. Based on the historical robotic arm joint angles and the historical surgical instrument joint angles, the candidate robotic arm compensation angle is determined, which helps the robotic arm to return to the expected posture after replacing the surgical instrument, ensuring the continuity and accuracy of the surgery. Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the endoscope-holding arm adjacent to the robotic arm, the safe angle range of the robotic arm is determined, thereby ensuring the safety of the robotic arm during posture compensation and preventing accidental collisions during the surgery. Based on the candidate robotic arm compensation angle and the safe angle range, posture compensation is performed on the robotic arm to determine the current robotic arm joint angle, so that the robotic arm can quickly return to a posture suitable for surgical operation after replacing the surgical instrument. The procedure involves zeroing the replaced surgical instruments on the robotic arm end effector and determining the current joint angle of the surgical instrument based on historical joint angles. This simplifies the initialization and calibration process and provides accurate data for subsequent master-slave mapping. Based on the current robotic arm and surgical instrument joint angles, a master-slave mapping is established between the master and slave manipulators. This ensures the surgeon can precisely control the slave manipulator and its instruments through the master manipulator, enabling high-precision surgical operations and guaranteeing surgical safety. Through meticulous and accurate data processing, the master-slave mapping is safely and accurately established after instrument replacement during surgery without altering the posture of the surgical instruments or the master manipulator. This ensures the continuity of the surgeon's operation and the surgery, improves patient safety, and provides a strong guarantee for the smooth progress of the operation.

[0063] Example 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 "based on the candidate robotic arm compensation angle and safety angle range, perform posture compensation on the robotic arm to determine the current robotic arm joint angle corresponding to the robotic arm". Explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

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

[0066] S210, In response to the surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master and slave hands of the endoscopic surgical robot, and obtain the historical robotic arm joint angle and historical surgical instrument joint angle when the historical surgical instrument installed at the end of the robotic arm corresponding to the slave hand is disengaged from the robotic arm.

[0067] S220. Based on the historical joint angles of robotic arms and surgical instruments, determine the corresponding candidate robotic arm compensation angle.

[0068] S230. Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the lens-holding arm adjacent to the robotic arm, determine the safe angle range of the robotic arm.

[0069] S240. Based on the candidate robotic arm compensation angle and the safe angle range, determine the target robotic arm compensation angle corresponding to the robotic arm.

[0070] The target robotic arm compensation angle can refer to the optimal compensation angle of the robotic arm while meeting safety requirements.

[0071] Specifically, a comprehensive analysis is conducted based on the candidate robotic arm compensation angle and the safe 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 constraints (such as avoiding collisions with the lens-holding arm or other equipment). The candidate robotic arm compensation angle is compared with the safe angle range to ensure that the compensated robotic arm posture does not exceed the safety limits, thus determining the corresponding target robotic arm compensation angle.

[0072] For example, S240 may include: if the compensation angle of the candidate robotic arm is less than or equal to the maximum safe angle corresponding to the safe angle range, then the compensation angle of the candidate robotic arm is taken as the target robotic arm compensation angle corresponding to the robotic arm; if the compensation angle of the candidate robotic arm is greater than the maximum safe angle corresponding to the safe angle range, then the maximum safe angle corresponding to the safe angle range is taken as the target robotic arm compensation angle corresponding to the robotic arm.

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

[0074] S250. Based on the target robotic arm compensation angle, perform posture compensation on the robotic arm and determine the current joint angle of the robotic arm after posture compensation.

[0075] Specifically, after determining the target compensation angle for the robotic arm, the control system moves each joint of the robotic arm according to the target compensation angle. The posture compensation process is complete when the actual joint angles of the robotic arm reach or approach the target compensation angle. After posture compensation, the current joint angles of the robotic arm are read from its sensors. Through precise posture compensation, the robotic arm can recover to the posture most suitable for surgical operation, thereby improving the accuracy and success rate of the surgery.

[0076] S260. 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 angle.

[0077] S270. Based on the current joint angles of the robotic arm and the current joint angles of the surgical instruments, establish a master-slave mapping between the master operator and the slave operator.

[0078] For example, after S160, the method further includes: determining the target compensation error corresponding to the robotic arm based on the target robotic arm compensation angle and the candidate 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, thereby obtaining the optimized master-slave mapping between the robotic arm and the master operator.

[0079] The target compensation error can refer to the difference angle between the target robotic arm compensation angle and the candidate robotic arm compensation angle. The preset optimization method can refer to one or more pre-set algorithms or strategies used to improve and optimize the master-slave mapping relationship between the master and slave operators. For example, the preset optimization method could be interpolation.

[0080] Specifically, based on the difference between the target robotic arm compensation angle and the candidate robotic arm compensation angle, the target compensation error corresponding to the robotic arm is calculated. This error reflects the amount that the robotic arm needs to adjust during actual movement to ensure that its end effector can accurately reach the target position. Based on the target compensation error and the preset optimization method, the master-slave mapping between the master and slave manipulators is optimized. By adjusting the parameters or algorithms in the mapping relationship, errors in the robotic arm movement process are reduced or eliminated, improving the accuracy and stability of the surgery. The optimization process may require multiple iterations to gradually approach the optimal master-slave mapping relationship. In each optimization, the mapping relationship is fine-tuned based on the current compensation error and surgical requirements, and the effect of the adjustment is evaluated. By optimizing the master-slave mapping relationship, errors in the robotic arm movement process can be significantly reduced, improving the end effector positioning accuracy of surgical instruments, thereby ensuring the accuracy of surgical operations.

[0081] For example, after the doctor establishes the master-slave operation, the system will interpolate the target compensation error within m cycles (direct and immediate response to the movement will cause the doctor to have illusions and misjudge the surgical risks, and interpolation also greatly solves the problem of posture deviation mismatch in vision) in order to gradually approach the optimal master-slave mapping relationship.

[0082] The technical solution of this invention determines the target robotic arm compensation angle based on the candidate robotic arm compensation angle and a safe angle range, ensuring the accuracy and safety of posture compensation. Based on the target robotic arm compensation angle, posture compensation is performed on the robotic arm to determine the current joint angle of the robotic arm after posture compensation. Through precise posture compensation, the robotic arm can return to the posture most suitable for surgical operation, thereby improving the precision and success rate of the surgery. Considering the safe angle range during posture compensation avoids the risk of collision between the robotic arm and the endoscope arm or other equipment, ensuring safety during the surgical procedure.

[0083] Example 3

[0084] Figure 5 This is a schematic diagram 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, an attitude 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 respond to the surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master manipulator and the slave manipulator of the endoscopic surgical robot, and acquire the historical mechanical arm joint angle and the historical surgical instrument joint angle when the historical surgical instrument installed at the end of the robotic arm corresponding to the slave manipulator is removed from the robotic arm.

[0086] The compensation angle determination module 320 is used to determine 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.

[0087] The safety range determination module 330 is used to determine the safety angle range of the robotic arm based on the first position information of the robotic arm, the preset safety distance and the second position information of the lens-holding arm adjacent to the robotic arm;

[0088] The attitude compensation module 340 is used to perform attitude compensation on the robotic arm based on the candidate robotic arm compensation angle and the safe angle range, and to determine the 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 it has been replaced at the end of the robotic arm, and to determine the current surgical instrument joint angle corresponding to the current surgical instrument based on the historical surgical instrument joint angle.

[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 joint angle of the robotic arm and the current joint angle of the surgical instrument.

[0091] The technical solution of this embodiment, in response to the surgical instrument replacement operation in the endoscopic surgical robot, disconnects the master-slave mapping between the master and slave manipulators of the endoscopic surgical robot, and obtains the historical joint angles of the robotic arm and the surgical instrument when the historical surgical instruments installed at the end of the robotic arm corresponding to the slave manipulator were detached from the robotic arm. This ensures that the master-slave mapping does not interfere with the installation of the new surgical instrument when replacing it, and the obtained historical information can provide basic data for subsequent mapping reconstruction. Based on the historical joint angles of the robotic arm and the historical joint angles of the surgical instrument, the candidate robotic arm compensation angle corresponding to the robotic arm is determined, which helps the robotic arm to return to the expected posture after replacing the surgical instrument, ensuring the continuity and accuracy of the surgery. Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the endoscope-holding arm adjacent to the robotic arm, the safe angle range of the robotic arm is determined, thereby ensuring the safety of the robotic arm during the posture compensation process and preventing accidental collisions during the surgery. Based on the candidate robotic arm compensation angle and the safe angle range, posture compensation is performed on the robotic arm to determine the current joint angle of the robotic arm, enabling it to quickly return to a suitable posture for surgical operation after changing surgical instruments. The replaced surgical instrument on the robotic arm end effector is zeroed, and based on the historical surgical instrument joint angles, the current surgical instrument joint angle is determined, simplifying the initialization and calibration process and providing accurate data for subsequent master-slave mapping. Based on the current robotic arm joint angle and the current surgical instrument joint angle, a master-slave mapping is established between the master and slave manipulators, ensuring that the surgeon can precisely control the slave manipulator and its instruments through the master manipulator, achieving high-precision surgical operations and ensuring surgical safety. Through meticulous and accurate data processing, without changing the posture of the surgical instruments and the master manipulator, the master-slave mapping after surgical instrument replacement during surgery is safely and accurately established, ensuring the continuity of the surgeon's operation and the surgery, improving patient safety, and providing strong support for the smooth progress of the surgery.

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

[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 pitch joint angle of the historical surgical instruments; and determine the active rotation joint compensation angle corresponding to the robotic arm based on the yaw joint angle of the historical surgical instruments.

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

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

[0096] The target angle determination unit is used to determine the target robotic arm compensation angle corresponding to the robotic arm based on the candidate robotic arm compensation angle and the safety angle range.

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

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

[0099] Optionally, the above apparatus further includes: 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 candidate robotic arm compensation angle; and 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 embodiments 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 an electronic device 12 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workbenches, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0103] like Figure 6 As shown, the electronic device 12 is represented 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, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

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

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

[0106] 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. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 6 Not shown; usually referred to as a "hard drive"). Although Figure 6Not shown, 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, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the 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 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0108] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with 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] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the steps of a surgical robot master-slave mapping reconstruction method provided in this embodiment, the method including:

[0110] In response to the surgical instrument replacement operation in the endoscopic surgical robot, the master-slave mapping between the master and slave hands of the endoscopic surgical robot is disconnected, and the historical joint angles of the robotic arm and the historical joint angles of the surgical instruments installed at the end of the robotic arm corresponding to the slave hand are obtained when the instruments are disengaged from the robotic arm.

[0111] Based on the historical robotic arm joint angles and the historical surgical instrument joint angles, determine the candidate robotic arm compensation angle corresponding to the robotic arm;

[0112] Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the lens-holding arm adjacent to the robotic arm, the safe angle range of the robotic arm is determined;

[0113] Based on the candidate robotic arm compensation angle and the safe angle range, the robotic arm is subjected to attitude compensation to determine the current robotic arm joint angle corresponding to the robotic arm.

[0114] The current surgical instrument replaced on the end of the robotic arm is zeroed out, and the joint angle of the current surgical instrument is determined based on the joint angle of the historical surgical instrument.

[0115] Based on the current joint angles of the robotic arm and the current joint angles of the surgical instrument, a master-slave mapping is established between the master operator and the slave operator.

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

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

[0118] In response to the surgical instrument replacement operation in the endoscopic surgical robot, the master-slave mapping between the master and slave hands of the endoscopic surgical robot is disconnected, and the historical joint angles of the robotic arm and the historical joint angles of the surgical instruments installed at the end of the robotic arm corresponding to the slave hand are obtained when the instruments are disengaged from the robotic arm.

[0119] Based on the historical robotic arm joint angles and the historical surgical instrument joint angles, determine the candidate robotic arm compensation angle corresponding to the robotic arm;

[0120] Based on the first position information of the robotic arm, the preset safety distance, and the second position information of the lens-holding arm adjacent to the robotic arm, the safe angle range of the robotic arm is determined;

[0121] Based on the candidate robotic arm compensation angle and the safe angle range, the robotic arm is subjected to attitude compensation to determine the current robotic arm joint angle corresponding to the robotic arm.

[0122] The current surgical instrument replaced on the end of the robotic arm is zeroed out, and the joint angle of the current surgical instrument is determined based on the joint angle of the historical surgical instrument.

[0123] Based on the current joint angles of the robotic arm and the current joint angles of the surgical instrument, a master-slave mapping is established between the master operator and the slave operator.

[0124] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0125] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0126] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

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

[0128] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0129] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A surgical robot master-slave mapping reconstruction device, characterized in that, include: The historical angle acquisition module is used to respond to the surgical instrument replacement operation in the endoscopic surgical robot, disconnect the master-slave mapping between the master manipulator and the slave manipulator of the endoscopic surgical robot, and acquire the historical mechanical arm joint angle and the historical surgical instrument joint angle when the historical surgical instrument installed at the end of the robotic arm corresponding to the slave manipulator is disengaged from the robotic arm. The compensation angle determination module is used to determine 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. The safety range determination module is used to determine the safety angle range of the robotic arm based on the first position information of the robotic arm, the preset safety distance, and the second position information of the lens-holding arm adjacent to the robotic arm. The attitude compensation module is used to perform attitude compensation on the robotic arm based on the candidate robotic arm compensation angle and the safe angle range, and to determine the current robotic arm joint angle corresponding to the robotic arm. The current angle determination module is used to perform a zeroing operation on the current surgical instrument after it has been replaced at the end of the robotic arm, and to 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 joint angle of the robotic arm and the current joint angle of the surgical instrument.

2. The apparatus according to claim 1, characterized in that, The joint angles of the historical robotic arm include: the active rotation joint angle of the historical robotic arm and the parallelogram joint angle of the historical robotic arm; the joint angles of the historical surgical instrument include: the pitch joint angle of the historical surgical instrument, the yaw joint angle of the historical surgical instrument and the rotation joint angle of the historical surgical instrument.

3. The apparatus according to claim 1, characterized in that, The compensation angle determination module is specifically used to: determine the parallelogram joint compensation angle corresponding to the robotic arm based on the pitch joint angle of historical surgical instruments; and determine the active rotation joint compensation angle corresponding to the robotic arm based on the yaw joint angle of historical surgical instruments.

4. The apparatus according to claim 1, characterized in that, The safety range determination module is specifically used to: determine the maximum movement angle range of the robotic arm based on the first position information of the robotic arm and the second position information of the lens-holding arm adjacent to the robotic arm; and determine the safety angle range of the robotic arm based on the maximum movement angle range and a preset safety distance.

5. The apparatus according to claim 1, characterized in that, The attitude compensation module includes: The target angle determination unit is used to determine the target robotic arm compensation angle corresponding to the robotic arm based on the candidate robotic arm compensation angle and the safety angle range. The current angle determination unit performs attitude compensation on the robotic arm based on the target robotic arm compensation angle, and determines the current joint angle of the robotic arm corresponding to the attitude compensation.

6. The apparatus according to claim 5, characterized in that, The target angle determination unit is specifically used for: if the compensation angle of the candidate robotic arm is less than or equal to the maximum safe angle corresponding to the safe angle range, then the compensation angle of the candidate robotic arm is taken as the target robotic arm compensation angle corresponding to the robotic arm; if the compensation angle of the candidate robotic arm is greater than the maximum safe angle corresponding to the safe angle range, then the maximum safe angle corresponding to the safe angle range is taken as the target robotic arm compensation angle corresponding to the robotic arm.

7. The apparatus according to any one of claims 1-6, characterized in that, The device further includes: a mapping optimization module; 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 candidate robotic arm compensation angle; and 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.

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