Endoscope motion control method and surgical robot

Abstract

The invention provides an endoscope motion control method and a surgical robot. The method is applied to an endoscopic surgery control system, and when a starting signal which is input by a doctor and used for indicating to enter an endoscope control state is received, a first motion constraint model can be determined according to a first tail end point of a first control arm and a second tail end point of a second control arm. When a doctor controls the endoscope to move through the first control arm and the second control arm, the second motion constraint model can be determined based on the model parameters of the first motion constraint model, the first motion position and the second motion position. And when the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, generating prompt information to prompt a user to adjust the relative position of the first control arm and the second control arm. The relative positions of the first control arm and the second control arm are limited through the motion constraint model, the prompt information is generated, and the endoscope adjusting operation precision and intuition of a doctor can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to an endoscope motion control method and a surgical robot. Background Art

[0002] The laparoscopic surgical robot includes a doctor platform and a patient platform. The patient platform is provided with multiple surgical arms, and the doctor platform is provided with a control arm. When the doctor operates the control arm, the control system can generate a control signal according to the doctor's operation and send the control signal to the surgical arm. The surgical arm drives the surgical instruments connected to the surgical arm to perform surgical actions, such as driving the endoscope to perform image acquisition.

[0003] During surgery, the endoscope is equivalent to the doctor's eyes, so the position or angle of the endoscope needs to be adjusted in real time to obtain a suitable field of view. The image data collected by the endoscope can be displayed on the monitor set up on the doctor's platform. The doctor can control the movement of the endoscope by controlling the two control arms to move and rotate the image on the monitor.

[0004] While the doctor is operating the control arm, the control system can adjust the movement of the control arm to correct the image acquisition field of view of the endoscope. For example, the control system can set the midpoint of the line connecting the ends of the two control arms as the virtual control object, and then determine the target posture of the virtual endoscope based on the ratio of the displacement of the virtual control object and the virtual endoscope in the three translation directions, and then determine the target posture of the endoscope. However, this method only provides boundary force feedback or restrictions on the range of motion of the endoscope joint, and it is difficult to ensure the relative position of the doctor's hands during operation. When the relative position of the doctor's hands changes, it is difficult to accurately adjust the target posture of the endoscope. And this adjustment method is not suitable for application scenarios where the endoscope rotates, that is, it is only suitable for snake bone endoscopes. Summary of the invention

[0005] The present application provides an endoscope motion control method and a surgical robot to solve the problem of difficulty in adjusting the target posture of the endoscope.

[0006] In a first aspect, the present application provides an endoscope motion control method, which is applied to an endoscopic surgery control system, wherein the endoscope is clamped on a slave mechanical arm of a patient trolley, and the slave mechanical arm has a control association with a first control arm and a second control arm provided on a doctor trolley; a first end point of the first control arm and a second end point of the second control arm are used to represent a user's control position, and the method comprises:

[0007] In response to receiving a start signal indicating entering an endoscope control state, establishing a first motion constraint model according to a first initial position corresponding to the first end point and a second initial position corresponding to the second end point;

[0008] When the endoscope is controlled to move by the first control arm and the second control arm, based on the first movement

[0009] determining a second motion constraint model based on a model parameter of a beam model, a first motion position corresponding to the first end point, and a second motion position corresponding to the second end point;

[0010] If the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, a prompt message is generated to prompt the user to adjust the relative position of the first control arm and the second control arm based on the prompt message.

[0011] In some feasible embodiments, the doctor trolley further includes a monitor; and establishing the first motion constraint model according to the first initial position of the first end point and the second initial position of the second end point includes:

[0012] A monitor coordinate system is established based on the monitor; the center of the monitor is the origin of the monitor coordinate system; the direction of the z-axis of the monitor coordinate system is the same as the direction of the user's field of view;

[0013] Determining a first axis direction of the first motion constraint model according to the field of view direction;

[0014] Based on the monitor coordinate system, the first initial coordinate corresponding to the first initial position is determined, and the second initial coordinate corresponding to the second initial position is determined; the first initial coordinate and the second initial coordinate are used to determine the first relative distance between the first end point and the second end point, and to determine the first center coordinate of the first center point of the first motion constraint model.

[0015] In some feasible embodiments, the method further includes:

[0016] Calculating a projection distance of the relative distance in the field of view direction to determine a first height of the first motion constraint model based on the first projection distance;

[0017] Based on the first height, determining a first local center coordinate and a second local center coordinate of the first motion constraint model; the first local center coordinate is used to characterize a first local center point of a first constraint plane in the first motion constraint model, and the second local center coordinate is used to characterize a second local center point of a second constraint plane in the first motion constraint model;

[0018] Determine a first radius of the first constraint plane according to the first initial coordinate and the first local center coordinate; a second radius of the second constraint plane is equal to the first radius;

[0019] The first motion constraint model is determined according to any one of the first constraint plane and the second constraint plane, as well as the first axis direction, the first height, and the first center point.

[0020] In some feasible embodiments, determining the second motion constraint model based on the model parameters of the first motion constraint model, the first motion position of the first end point, and the second motion position of the second end point includes:

[0021] Calculating the coordinates of the second center point of the second motion constraint model according to the first motion coordinates corresponding to the first motion position and the second motion coordinates corresponding to the second motion position; the second center point coordinates are used to characterize the second center point of the second motion constraint model;

[0022] The position of the second motion constraint model in the monitor coordinate system is determined based on the second center point; the second height of the second motion constraint model is equal to the first height of the first motion constraint model; the second axis direction of the second motion constraint model is parallel to the first axis direction of the first motion constraint model; the third constraint plane of the second motion constraint model has the same radius as the fourth constraint plane; the third radius of the third constraint plane is equal to the first radius.

[0023] In some feasible embodiments, if the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, prompt information is generated, including:

[0024] Determine a first vector based on the first motion position and a third local center point of the third constraint plane; and determine a second vector based on the second motion position and a fourth local center point of the fourth constraint plane;

[0025] A first constraint point is determined based on a projection vector of the first vector on the third constraint plane and the third radius; and a second constraint point is determined based on a projection vector of the second vector on the fourth constraint plane and the fourth radius.

[0026] In some feasible embodiments, the method further includes:

[0027] Calculating a first error distance between the first motion position and the first constraint point, and calculating a second error distance between the second motion position and the second constraint point;

[0028] constructing a first spring model according to the first error distance to determine a first constraint force based on the first spring model; and constructing a second spring model according to the second error distance to determine a second constraint force based on the second spring model;

[0029] A first prompt message is generated according to a first direction represented by the first restraint force to enable the user to adjust the first motion position, and a second prompt message is generated according to a second direction represented by the second restraint force to enable the user to adjust the second motion position, so as to adjust the relative position of the first control arm and the second control arm.

[0030] In some feasible embodiments, the method further includes:

[0031] determining a motion vector based on the first motion position and the second motion position;

[0032] Calculating a motion projection vector of the motion vector on the z-axis of the monitor coordinate system;

[0033] Based on the motion projection vector and the unit vector of the x-axis of the monitor coordinate system, calculating the motion angle of the motion vector; the direction of the x-axis is used to characterize the movable direction of the second motion constraint model in the monitor coordinate system;

[0034] According to the motion angle, calculating the rotation speed of the second motion constraint model based on the field of view direction;

[0035] The endoscope self-rotation driving joint is driven according to the self-rotation speed, so that the endoscope self-rotation driving joint drives the endoscope to move.

[0036] In some feasible embodiments, the method further includes:

[0037] Acquire a first moving speed of the first control arm moving to the first moving position and a second moving speed of the second control arm moving to the second moving position;

[0038] Calculating a center moving speed of a first center point of the first constraint model according to the first moving speed and the second moving speed; the center moving speed is equal to a linear speed of the field of view image of the endoscope;

[0039] Mapping the linear velocity from the endoscope coordinate system to the world coordinate system to obtain the joint velocity;

[0040] The endoscope arm position driving joint is driven according to the joint speed so that the arm position driving joint drives the endoscope to move.

[0041] In a second aspect, the present application provides a surgical robot, comprising at least a doctor's trolley and a patient's trolley; the doctor's trolley is provided with a first control arm and a second control arm; the patient's trolley is provided with a slave robot arm, on which an endoscope is clamped; the slave robot arm has a control association with the first control arm and the second control arm; the first end point of the first control arm and the second end point of the second control arm are used to represent the user's control position; the doctor's trolley also includes a trigger and a first controller, wherein,

[0042] The trigger is configured to: generate a start signal in response to a trigger operation input by a user;

[0043] The first controller is configured to:

[0044] In response to receiving a start signal for entering an endoscope control state, determining a first motion constraint model according to a first initial position corresponding to the first end point and a second initial position corresponding to the second end point;

[0045] When the endoscope is controlled to move by the first control arm and the second control arm, based on the first movement

[0046] determining a second motion constraint model based on a model parameter of a beam model, a first motion position corresponding to the first end point, and a second motion position corresponding to the second end point;

[0047] If the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, a prompt message is generated to prompt the user to adjust the relative position of the first control arm and the second control arm based on the prompt message.

[0048] In some feasible embodiments, the slave robot arm includes an endoscope self-rotation drive joint; the patient trolley also includes a second controller; and the first controller is further configured to:

[0049] Acquire the first movement position and the second movement position;

[0050] determining a motion vector based on the first motion position and the second motion position;

[0051] Calculating a motion projection vector of the motion vector on the z-axis of the monitor coordinate system;

[0052] Calculating a motion angle of the motion vector based on the motion projection vector and a unit vector of an x-axis of the monitor coordinate system;

[0053] According to the motion angle, calculating the rotation speed of the first motion constraint model based on the field of view direction;

[0054] sending the rotation speed to the second controller;

[0055] The second controller is configured to:

[0056] The endoscope self-rotation driving joint is driven according to the self-rotation speed, so that the endoscope self-rotation driving joint drives the endoscope to move.

[0057] In some feasible embodiments, the slave robot arm includes an endoscope arm position driving joint; the first controller is further configured to:

[0058] Acquire a first moving speed of the first control arm moving to the first moving position and a second moving speed of the second control arm moving to the second moving position;

[0059] Calculating a center moving speed of a first center point of the first constraint model according to the first moving speed and the second moving speed; the center moving speed is equal to a linear speed of the field of view image of the endoscope;

[0060] Mapping the linear velocity from the endoscope coordinate system to the world coordinate system to obtain the joint velocity;

[0061] The second controller is configured to:

[0062] The endoscope arm position driving joint is driven according to the joint speed so that the arm position driving joint drives the endoscope to move.

[0063] It can be seen from the above technical content that the present application provides an endoscope motion control method and a surgical robot. The method is applied to an endoscope surgical control system. When the doctor's trolley receives a start signal input by the doctor to indicate entering the endoscope control state, the first motion constraint model can be determined according to the initial position of the first end point of the first control arm and the second end point of the second control arm. When the doctor controls the movement of the endoscope through the first control arm and the second control arm, the second motion constraint model can be determined based on the model parameters of the first motion constraint model, the first motion position corresponding to the first end point, and the second motion position corresponding to the second end point. And when the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, a prompt message is generated to prompt the user to adjust the relative position of the first control arm and the second control arm. By limiting the relative position of the first control arm and the second control arm through the motion constraint model and generating prompt information, the doctor's operation accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0065] Figure 1 A schematic diagram of a surgical robot provided in an embodiment of the present application;

[0066] Figure 2 A schematic diagram of a first motion constraint model provided in an embodiment of the present application;

[0067] Figure 3 A schematic diagram of a second motion constraint model provided in an embodiment of the present application;

[0068] Figure 4 A schematic diagram of determining a constraint point based on a constraint plane provided in an embodiment of the present application;

[0069] Figure 5 Schematic diagram of the endoscope coordinate system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0071] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0072] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0073] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0074] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. As used herein, "several", the singular forms "one", and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of the features, steps, operations, elements and / or parts, without excluding the presence of one or more other features, steps, operations, elements, parts and / or groups thereof.

[0075] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0076] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably connected" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are removably connected can be unconnected and separated so that they no longer operate in conjunction.

[0077] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0078] Overview of master-slave teleoperated laparoscopic surgical robots.

[0079] like Figure 1 As shown, a laparoscopic surgical robot usually includes a doctor's trolley, a patient trolley and an image platform. The surgeon sits on the doctor's trolley and watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and controls the movement of the robotic arm on the patient trolley, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide the surgeon with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself.

[0080] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for observation by the assistant.

[0081] The doctor's cart may be at a single location in a surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control level. In some embodiments, the doctor's cart includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0082] The patient trolley includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0083] In some embodiments, when a doctor wants to control the movement of an endoscope disposed on a patient cart by using a control arm disposed on the doctor's cart, the doctor can operate the first control arm and the second control arm to transmit the control signal generated by operating the first control arm and the second control arm to the patient cart, and the patient cart controls the movement of the slave robotic arm according to the control signal, thereby driving the endoscope to the target position.

[0084] In order to improve the doctor's operating accuracy, when the doctor controls the movement of the endoscope by operating the control arm, the virtual control object and the virtual endoscope can be set based on the position of the control arm, and the target position of the virtual endoscope can be determined based on the displacement ratio of the virtual control object and the virtual endoscope, and then the target position of the endoscope can be determined. This method can optimize the movement process of the snake bone endoscope.

[0085] However, the above control method is only applicable to the translation control scenario of the endoscope, and is not applicable to the rotation control scenario of the rigid endoscope. In addition, when the doctor drags the control arm with both hands to control the movement of the endoscope, it is difficult for the doctor to ensure that the relative position of both hands remains unchanged, which makes it difficult for the endoscope to reach the target position due to the change in the relative position of the doctor's hands.

[0086] In order to solve the above problems, some embodiments of the present application provide an endoscope motion control method, which can be applied to an endoscopic surgery control system. The endoscope can be connected to the slave mechanical arm of the patient trolley, and the slave mechanical arm has a control association with the first control arm and the second control arm provided on the doctor trolley, that is, when the doctor drags the first control arm and the second control arm with both hands, the doctor trolley end can generate a control signal and send it to the patient trolley end, so that the patient trolley end controls the movement of the slave mechanical arm according to the control signal to drive the endoscope to the target position.

[0087] like Figure 2 As shown, in some embodiments, the first end point P1 of the first control arm and the second end point P2 of the second control arm are used to represent the doctor's control position, that is, the position of the doctor's hands, and then a motion constraint model can be established according to the first end point P1 and the second end point P2 to optimize the motion control process of the endoscope. The steps include:

[0088] S100: In response to receiving a start signal indicating entering an endoscope control state, a first motion constraint model is established according to a first initial position corresponding to the first end point P1 and a second initial position corresponding to the second end point.

[0089] In some embodiments, when the doctor steps on the endoscope control pedal provided at the bottom of the doctor's trolley, a start signal is generated, and the doctor's trolley and the patient's trolley enter the endoscope control state. Of course, the start signal of the endoscope control state can also be entered by other means such as an operation button provided on the manual controller of the main control arm, and this application does not limit this. After the doctor's trolley enters the endoscope control state, a first motion constraint model for limiting the motion range of the first control arm and the second control arm can be first established.

[0090] It is understandable that the doctor can translate or rotate the first control arm and the second control arm by dragging with both hands while keeping the relative positions of the first end point P1 and the first end point P2 unchanged as much as possible, so as to control the translation or rotation of the endoscope.

[0091] Therefore, when the doctor controls the movement of the endoscope by operating the first control arm and the second control arm, the first control arm and the second control arm can be modeled as a whole based on the modeling idea of ​​the virtual rigid body, and the virtual rigid body has the characteristics of being easy to move and easy to rotate. For example, the car steering wheel is used as the modeling reference of the first motion constraint model to optimize the intuitiveness of the doctor's operation process through the first motion constraint model. In this way, the doctor can operate the control arm to translate in the process of controlling the translation of the endoscope, and the first motion constraint model will also move with the control arm to limit the relative position of the first control arm and the second control arm. In the process of controlling the rotation of the endoscope, the doctor can rotate the first mechanical arm and the second mechanical arm by analogy with the operation of turning the steering wheel. The first motion constraint model can limit the rotation process to limit the relative position of the first control arm and the second control arm during the rotation process.

[0092] It should be noted that the initial heights of the first control arm and the second control arm relative to the ground may be different in order to adapt to the doctor's operating needs. Therefore, the initial heights of the first end point P1 and the first end point P2 relative to the ground are also different. Therefore, in the first motion constraint model, the first end point P1 and the first end point P2 may be in different constraint planes. And in order to keep the relative position of the first end point P1 and the first end point P2 unchanged, the constraint plane should be a circular plane. Figure 2 As shown, the first motion constraint model can be considered as a cylinder constructed similar to a car steering wheel.

[0093] like Figure 2As shown, the doctor's trolley also includes a monitor, which can be used to display images collected by the endoscope. The image displayed in the monitor can move or rotate with the doctor's operation, so a monitor coordinate system can be established based on the monitor, with the position of the monitor as the coordinate origin and the field of view of the monitor as the z-axis of the monitor coordinate system. The first motion constraint model can be determined based on the monitor coordinate system combined with the first initial position of the first end point P1 and the initial position of the first end point P2. That is, according to the first initial position of the first end point P1 and the initial position of the first end point P2, the steps of determining the first motion constraint model include:

[0094] A monitor coordinate system is established based on the monitor; the center of the monitor is the origin of the monitor coordinate system; the direction of the z-axis of the monitor coordinate system is the same as the direction of the user's field of view.

[0095] The first axis direction of the first motion constraint model is determined according to the field of view direction.

[0096] Based on the monitor coordinate system, a first initial coordinate corresponding to the first initial position is determined, and a second initial coordinate corresponding to the second initial position is determined. The first initial coordinate and the second initial coordinate are used to determine a first relative distance between the first end point and the second end point, and to determine a first center coordinate of a first center point of the first motion constraint model.

[0097] In some embodiments, after the monitor coordinate system is established based on the monitor, the first end point P1 and the first end point P2 both have corresponding coordinates in the monitor coordinate system, namely, the first initial coordinates and the second initial coordinates. The first relative distance between the first end point P1 and the first end point P2 can also be determined based on the first initial coordinates and the second initial coordinates.

[0098] In addition, the initial relative positions of the first control arm, the second control arm, and the monitor should be pre-set, so the z-axis direction of the monitor is the first axis direction of the first motion constraint model. Therefore, the first center point and the first center point coordinates of the first motion constraint model can also be determined based on the first initial coordinates and the second initial coordinates.

[0099] like Figure 2 As shown, the first height of the first motion constraint model can be determined according to the first relative distance, and then the constraint plane position of the model can be determined. That is, the step of determining the first motion constraint model also includes:

[0100] A projection distance of the first relative distance in the field of view direction is calculated to determine a first height of the first motion constraint model based on the first projection distance.

[0101] Based on the first height, determine the first local center coordinate and the second local center coordinate of the first motion constraint model; the first local center coordinate is used to characterize the first local center point of the first constraint plane in the first motion constraint model, and the second local center coordinate is used to characterize the second local center point of the second constraint plane in the first motion constraint model.

[0102] A first radius of the first constraint plane is determined according to the first initial coordinate and the first local center coordinate; and a second radius of the second constraint plane is equal to the first radius.

[0103] The first motion constraint model is determined according to any one of the first constraint plane and the second constraint plane, as well as the first axis direction, the first height, and the first center point.

[0104] In some embodiments, the height of the first motion constraint model is equivalent to the projection of the first relative distance between the first end point P1 and the second end point P2 in the z direction, that is, the first height = dot(z, (p1-p2)). Wherein, z is the unit vector in the z-axis direction of the monitor coordinate system, p1 and p2 are respectively the vector formed by the first end point P1 relative to the origin, and the vector formed by the first end point P2 relative to the origin, and dot represents the dot product operation. In this way, by calculating the projection of the first relative distance in the z direction, the first height of the first motion constraint model can be determined, and then the local center points and local center point coordinates of the two constraint planes of the first motion constraint model can be determined according to the first height.

[0105] It can be understood that the first local center point, the second local center point and the first center point should be coaxial, so according to the first height, it can be determined that the first local center point O1 = C + z*h / 2 and the second local center point O2 = Cz*h / 2.

[0106] After determining the first local center point and the second local center point, taking the first local center point as an example, the first end point P1 is on the first constraint plane with the first local center point as the center, and the first constraint plane is a circular plane. Similarly, the first end point P2 is on the second constraint plane with the second local center point as the center, and the second constraint plane is a circular plane. The radius of the first constraint plane can be determined based on the first local center point and the first end point P1, and the radius of the first constraint plane = norm(p1-O1), where norm refers to the modulus operation. In this way, the first motion constraint model can be confirmed based on any one of the first constraint plane and the second constraint plane, as well as the first axis direction, the first height, and the first center point.

[0107] It should be noted that the first motion model is a virtual cylinder established based on the idea of ​​a virtual rigid body and the idea of ​​keeping the relative positions of the doctor's hands unchanged during operation, so as to optimize the doctor's operation process based on the virtual cylinder. When the first end point P1 or the first end point P2 exceeds the motion constraint range, the doctor is prompted to fine-tune the operation mode, thereby improving the doctor's endoscopic operation accuracy, solving the problem of difficult endoscope control and improving the intuitiveness of endoscope operation.

[0108] S200: When controlling the movement of the endoscope by the first control arm and the second control arm, determining the second motion constraint model based on the model parameters of the first motion constraint model, the first motion position corresponding to the first end point, and the second motion position corresponding to the first end point.

[0109] After the doctor's trolley and the patient's trolley enter the endoscope control state, the doctor can continue to operate the first control arm and the second control arm to control the movement of the endoscope on the patient's trolley side. The first movement position and the second movement position are used to represent the subsequent position of the first end point P1 and the subsequent position of the first end point P2 when the doctor continues to operate the first control arm and the second control arm.

[0110] It can be understood that the first motion constraint model is an initial model determined after entering the endoscope control state, and the initial positions of the first end point P1 and the first end point P2 are both within the range of motion defined by the first motion constraint model. The first center point of the first motion constraint model will move together during the process of the doctor operating the first control arm and the second control arm, and then the second motion constraint model can be determined based on the first center point and the model parameters of the first motion constraint model, and the second motion constraint model is used to define the motion positions of the first end point P1 and the first end point P2 during the doctor's operation. The steps for determining the second motion constraint model include:

[0111] The second center point coordinates of the second motion constraint model are calculated based on the first motion coordinates corresponding to the first motion position and the second motion coordinates corresponding to the second motion position; the second center point coordinates are used to characterize the second center point of the second motion constraint model.

[0112] The position of the second motion constraint model in the monitor coordinate system is determined based on the second center point.

[0113] In some embodiments, the overall position of the second motion constraint model can be determined by determining the coordinates of the second center point. During the doctor's operation, the model parameters (model height, constraint plane radius) of the second motion constraint model are the same as those of the first motion constraint model. That is, the second height of the second motion constraint model is equal to the first height of the first motion constraint model; the second axis direction of the second motion constraint model is parallel to the first axis direction of the first motion constraint model; the third constraint plane of the second motion constraint model has the same radius as the fourth constraint plane; the third radius of the third constraint plane is equal to the first radius.

[0114] It should be noted that the model parameters of the second motion constraint model are the same as those of the first motion constraint model, such as model height and constraint plane radius. The only difference is that the position of the center point changes due to the movement of the first control arm and the second control arm, that is, the second motion constraint model refers to the motion constraint model obtained with the displacement change of the first control arm and the second control arm.

[0115] S300: If the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, generate prompt information to prompt the user to adjust the relative position of the first control arm and the second control arm based on the prompt information.

[0116] like Figure 3 As shown, during the doctor's operation, the first motion constraint model will move according to the moving direction of the first control arm and the second control arm. It is understandable that the first motion constraint model can be regarded as the second motion constraint model during and after the movement. However, due to the doctor's operation, the first end point P1 and the first end point P2 will be out of the constraint range of the second motion constraint model, that is, the relative position of the first end point P1 and the first end point P2 has changed, which will make it difficult for the endoscope to reach the target position.

[0117] In some embodiments, it is possible to determine whether the first end point and the second end point are within the constraint range based on the second motion constraint model. When the first end point and the second end point exceed the constraint range, the doctor can be made aware of the first end point and the second end point exceeding the constraint range by generating prompt information. And the doctor is prompted to adjust the endoscope operation. In this way, the positions of the first end point P1 and the first end point P2 can be limited by the second motion constraint model during the movement of the first control arm and the second control arm, and then the doctor is prompted to operate the first control arm and the second control arm, so that the doctor can try to ensure the relative position of the first control arm and the second control arm during the operation, so as to improve the control progress of the endoscope.

[0118] In some embodiments, the prompt information can also be expressed in the form of force. For example, during the doctor's operation, when the first end point P1 or the second end point P2 exceeds the constraint range of the second motion constraint model, the first control arm and the second control arm can feedback a reverse force opposite to the doctor's operation direction to the doctor, so as to prompt the doctor to fine-tune the endoscope operation according to the reverse force felt by both hands, thereby ensuring the doctor's endoscope operation accuracy.

[0119] In other embodiments, when the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, prompt information can be displayed in the form of text, graphics, etc. on a stereo monitor or other device with display function on the doctor's cart side, so that the doctor can obtain information about changes in relative positions in a timely manner and adjust the operation mode in a timely manner.

[0120] like Figure 3 and Figure 4 As shown, when the first end point P1 and the first end point P2 are out of the constraint range of the second motion constraint model, the offset direction, distance and other information that can characterize the offset degree of the first end point P1 and the first end point P2 can be determined according to the second motion constraint model, and then prompt information is generated, and the steps include:

[0121] A first vector is determined based on the first motion position and a third local center point of the third constraint plane; and a second vector is determined based on the second motion position and a fourth local center point of the fourth constraint plane.

[0122] A first constraint point is determined based on a projection vector of the first vector on the third constraint plane and the third radius; and a second constraint point is determined based on a projection vector of the second vector on the fourth constraint plane and the fourth radius.

[0123] In some embodiments, the third constraint plane and the fourth constraint plane refer to two constraint planes in the second motion constraint model, and their respective corresponding local center points are the third local center point and the fourth local center point. In the monitor coordinate system, the third local center point and the first end point can form a first vector, and the fourth local center point and the second end point can form a second vector. Based on the first vector and the second vector, the first constraint point corresponding to the first end point P1 and the second constraint point corresponding to the first end point P2 can be respectively confirmed.

[0124] Among them, the projection of the first vector O1P1 on the third constraint plane can be calculated: O1P1_proj=O1P1-z*dot(O1P1,z), proj represents the calculated projection. According to the projection vector of O1P1 on the third constraint plane, and the proportional relationship between the length of the third radius of the third constraint plane and the modulus value of O1P1, O1VP1 can be determined. That is, O1VP1=r*O1P1_proj / norm(O1P1_proj), wherein VP1 represents the first constraint point in the third constraint plane corresponding to the first end point P1. Here, by introducing the third radius, a vector O1VP1 with the same length as the third radius and the same direction as O1P1 can be obtained, and then the first constraint point is determined on the third constraint plane, and the first constraint point is the point on the third constraint plane closest to the first end point P1.

[0125] Similarly, O2VP2 can also be determined based on the proportional relationship between the projection vector of the second vector O2P2 on the fourth constraint plane, the length of the fourth radius of the fourth constraint plane, and the modulus value of O2P2. VP2 represents the second constraint point in the fourth constraint plane corresponding to the first end point P2, that is, the point on the fourth constraint plane that is closest to the first end point P2.

[0126] In some embodiments, after determining the first constraint point and the second constraint point, the constraint force can be further calculated to generate prompt information based on the constraint force to prompt the doctor to fine-tune the operation. The steps include:

[0127] A first error distance between the first motion position and the first constraint point is calculated, and a second error distance between the second motion position and the second constraint point is calculated.

[0128] According to the first error distance, a first spring model is constructed to determine a first constraint force based on the first spring model; and according to the second error distance, a second spring model is constructed to determine a second constraint force based on the second spring model.

[0129] A first prompt message is generated according to a first direction represented by the first restraint force to enable the user to adjust the first motion position, and a second prompt message is generated according to a second direction represented by the second restraint force to enable the user to adjust the second motion position, so as to adjust the relative position of the first control arm and the second control arm.

[0130] In some embodiments, the first error distance can be expressed as err1=VP1-P1, that is, the distance between the first end point P1 and the first constraint point VP1. Based on the first error distance, a first spring model can be constructed, F1=Kp*err1-Kd*err1. The first spring model here adopts a control concept analogous to the PD controller, in which the distance difference between the first end point P1 and the first constraint point VP1 is regarded as an error, and the coefficient Kp is analogous to the stiffness coefficient in the spring model, which can reflect the sensitivity of the system to the error, and by adding the coefficient Kd, the response to the error change rate is increased for the first spring model, thereby improving the stability and response speed of the system.

[0131] Similarly, the construction process of the second spring model is the same as that of the first spring model, and will not be repeated here. Based on the directions represented by the first constraint force and the second constraint force, the first prompt information and the second prompt information can be generated to prompt the doctor to adjust the first movement position of the first end point P1 and the second movement position of the first end point P2 to ensure that the relative position of the first end point P1 and the first end point P2 remains unchanged.

[0132] It should be noted that, based on the motion constraint model construction method provided in the above embodiment, in the scenario where the control arm on the doctor's platform side has 7 degrees of freedom, virtual force constraints can be achieved by combining only 3 position joints to assist the doctor in timely adjusting the operation mode. The 4 posture joints at the end of the control arm can still be used to keep the posture of the end of the control arm unchanged, or to match the posture of the instrument in the field of view. Moreover, when performing posture adjustment, posture control can usually be achieved based on 3 posture joints, and redundant degrees of freedom of the posture joints are also achieved. Based on the redundant degrees of freedom, the configuration of the end of the control arm can be adjusted in real time according to the doctor's needs, which is conducive to improving the comfort of the doctor's operation.

[0133] It can be understood that the slave robot arm on the patient cart side responds to the control signal sent from the doctor cart side to move based on the control signal. During the process of the doctor operating the control arm, the doctor cart can calculate the linear velocity and angular velocity used to drive the slave robot arm in real time so that the slave robot arm performs movements such as movement and rotation. The steps include:

[0134] A motion vector is determined based on the first motion position and the second motion position.

[0135] A motion projection vector of the motion vector on the z-axis of the monitor coordinate system is calculated.

[0136] The motion angle of the motion vector is calculated based on the motion projection vector and the unit vector of the x-axis of the monitor coordinate system. The direction of the x-axis is used to represent the movable direction of the second motion constraint model in the monitor coordinate system.

[0137] According to the motion angle, the rotation speed of the second motion constraint model based on the field of view direction is calculated.

[0138] The endoscope self-rotation driving joint is driven according to the self-rotation speed, so that the endoscope self-rotation driving joint drives the endoscope to move.

[0139] In some embodiments, the slave robotic arm includes an endoscope autorotation drive joint and an endoscope arm position drive joint, wherein the endoscope autorotation drive joint can drive the endoscope to rotate, and the endoscope arm position drive joint can drive the endoscope to translate.

[0140] When the doctor operates the first control arm and the second control arm to drive the endoscope to rotate from the robotic arm, the first control arm and the second control arm are respectively equivalent to two points in the steering wheel and rotate under the doctor's operation. Therefore, the rotation speed of the axis of the second motion constraint model is the same as the rotation speed of the steering wheel formed by the first control arm and the second control arm, that is, the motion vector formed by the first motion position and the second motion position can be used to calculate the angular velocity wVel of the endoscope rotation drive joint.

[0141] When calculating the angular velocity wVel, the motion projection vector p1p2_proj=p1p2-z*dot(p1p2, z) of the motion vector on the xy plane of the monitor coordinate system can be calculated. Then, according to the motion projection vector and the unit vector in the x-axis direction of the monitor coordinate system, the motion angle angle=dot(p1p2_proj, x) is calculated. Finally, the motion angle angle is derived to determine the angular velocity wVel. Among them, the angular velocity can be directly sent to the endoscope self-rotation drive joint so that the endoscope self-rotation drive joint drives the endoscope to rotate based on the angular velocity.

[0142] like Figure 5 As shown, the origin of the endoscope coordinate system corresponds to the endoscope lens (O3 shown in the figure), and the z-axis of the endoscope coordinate system corresponds to the axis of the endoscope. The endoscope self-rotation drive joint rotates based on the endoscope end coordinate system established with the endoscope end as the origin and the angular velocity to drive the endoscope to rotate, so that the direction of change of the field of view image collected during the rotation of the endoscope is consistent with the direction of change of the field of view image in the monitor on the doctor's trolley side, which is conducive to the doctor's real-time observation of the patient's affected area.

[0143] It should be noted that when the angular velocity and linear velocity calculated according to the monitor coordinate system are used to drive the endoscope's rotation drive joint or arm position drive joint, the coordinate system needs to be converted according to actual conditions.

[0144] In other embodiments, the doctor's trolley side also calculates the linear velocity of the endoscope arm position driving joint according to the movement of the first control arm and the second control arm operated by the doctor, and the steps include:

[0145] A first moving speed at which the first control arm moves to the first moving position and a second moving speed at which the second control arm moves to the second moving position are acquired.

[0146] The center moving speed of the first center point of the first constraint model is calculated according to the first moving speed and the second moving speed; the center moving speed is equal to the linear speed of the field of view image of the endoscope.

[0147] The linear velocity is mapped from the endoscope coordinate system to the world coordinate system to obtain the joint velocity.

[0148] The endoscope arm position driving joint is driven according to the joint speed so that the arm position driving joint drives the endoscope to move.

[0149] It can be understood that, when the doctor operates the first control arm and the second control arm to move, the movement of the center point of the second motion constraint model corresponds to the linear velocity vel of the visual field image in the monitor, that is, vel = (P1`+P2`) / 2, where P1` represents the rate of change of the first end point P1 over time, that is, the linear velocity of the first end point P1, and P2` represents the rate of change of the second end point P2 over time, that is, the linear velocity of the second end point P2. The linear velocity of the visual field image can then be determined based on the linear velocity of the first end point P1 and the linear velocity of the second end point P2.

[0150] It should be noted that when controlling the movement of the endoscope according to the linear velocity, it is necessary to map the linear velocity from the endoscope coordinate system to the world coordinate system to obtain the joint velocity jntVel. Among them, the joint velocity jntVel = inv(jaco)*vel_wrd, inv represents the inverse operation, jaco represents the Jacobian matrix, and vel_wrd represents the linear velocity in the world coordinate system. Moreover, the linear velocity in the world coordinate system can be obtained by mapping the linear velocity in the endoscope coordinate system to the world coordinate system, that is, vel_wrd = Rot_O3*vel. Among them, Rot_O3 represents the posture of the endoscope coordinate system in the world coordinate system. In this way, after calculating the joint velocity, the joint velocity can be sent to the endoscope arm position drive joint so that the arm position drive joint drives the endoscope to move.

[0151] In some embodiments of this application, Figure 1 , Figure 2As shown, a surgical robot is also provided, the surgical robot comprising at least a doctor trolley and a patient trolley. The doctor trolley is provided with a first control arm and a second control arm, and comprises a trigger and a first controller. The patient trolley is provided with a slave mechanical arm, an endoscope is clamped on the slave mechanical arm, and the slave mechanical arm has a control association with the first control arm and the second control arm. The first end point P1 of the first control arm and the second end point P2 of the second control arm are used to represent the user's control position.

[0152] In some embodiments, the trigger may be a pedal disposed at the bottom of the doctor's trolley, and a start signal may be generated in response to a trigger operation input by the doctor. The trigger operation may be an action of the doctor stepping on the pedal.

[0153] The first controller is used for executing the main control logics such as model construction, linear velocity calculation, angular velocity calculation, etc. The first controller is configured as follows:

[0154] In response to receiving a start signal for entering an endoscope control state, a first motion constraint model is determined according to a first initial position corresponding to the first end point and a second initial position corresponding to the second end point.

[0155] When the movement of the endoscope is controlled by the first control arm and the second control arm, the second motion constraint model is determined based on the model parameters of the first motion constraint model, the first motion position corresponding to the first end point, and the second motion position corresponding to the second end point.

[0156] If the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, a prompt message is generated to prompt the user to adjust the relative position of the first control arm and the second control arm based on the prompt message.

[0157] In some embodiments, the controller controls the surgical robot to enter an endoscope control state in response to a start signal. And the controller can execute the control method described in the method embodiment, determine the first motion constraint model based on the first initial position corresponding to the first end point P1 and the initial position corresponding to the second end point P2, and determine the second motion constraint model according to the model parameters of the first motion constraint model and the center point of the changing motion constraint model when the doctor operates the first control arm and the second control arm. In this way, during the doctor's operation, the first controller can detect the relative position of the first end point P1 corresponding to the first control arm and the second end point P2 corresponding to the second control arm in real time in combination with the second motion constraint model, and when the relative position changes, generate prompt information to prompt the doctor to adjust the relative position of both hands or the first control arm and the second control arm.

[0158] In some embodiments, the first controller can calculate the angular velocity and linear velocity used to drive the slave mechanical arm during the process of the doctor operating the first control arm and the second control arm to move, so that the corresponding joint in the slave mechanical arm drives the endoscope to perform corresponding actions according to the angular velocity or linear velocity. The slave mechanical arm can include an endoscope rotation drive joint and an arm position drive joint.

[0159] In some embodiments, the first controller is configured to calculate the angular velocity as follows:

[0160] The first movement position and the second movement position are acquired.

[0161] A motion vector is determined based on the first motion position and the second motion position.

[0162] A motion projection vector of the motion vector on the z-axis of the monitor coordinate system is calculated.

[0163] The motion angle of the motion vector is calculated based on the motion projection vector and the unit vector of the x-axis of the monitor coordinate system. The direction of the x-axis is used to represent the movable direction of the second motion constraint model in the monitor coordinate system.

[0164] According to the motion angle, the rotation speed of the second motion constraint model based on the field of view direction is calculated.

[0165] The rotation speed is sent to the second controller.

[0166] The second controller is configured to:

[0167] The endoscope self-rotation driving joint is driven according to the self-rotation speed, so that the endoscope self-rotation driving joint drives the endoscope to move.

[0168] In some embodiments, the first controller calculates the angular velocity and sends it to the second controller, which forwards the angular velocity to the endoscope's rotation drive joint. The second controller is only used for data transfer. In addition, when the first controller transmits data to the second controller, it can use optical fiber transmission to reduce the impact of electromagnetic interference on data transmission, thereby ensuring the control accuracy of the endoscope. It is understandable that the calculation process of the angular velocity has been described and illustrated in the method embodiment, and will not be repeated here.

[0169] In some other embodiments, the first controller is configured to calculate the line speed as follows:

[0170] A first moving speed at which the first control arm moves to the first moving position and a second moving speed at which the second control arm moves to the second moving position are acquired.

[0171] The center moving speed of the first center point of the first constraint model is calculated according to the first moving speed and the second moving speed; the center moving speed is equal to the linear speed of the field of view image of the endoscope.

[0172] The linear velocity is mapped from the endoscope coordinate system to the world coordinate system to obtain the joint velocity.

[0173] The second controller is configured to:

[0174] The endoscope arm position driving joint is driven according to the joint speed so that the arm position driving joint drives the endoscope to move.

[0175] In some embodiments, the linear velocity for driving the arm position driving joint is also calculated by the first controller and sent to the second controller, and the second controller forwards the linear velocity to the endoscope arm position driving joint. The specific calculation process has been described in the method embodiment and will not be repeated here.

[0176] It is understandable that in the surgical robot provided in some embodiments of the present application, the doctor can operate the control arm on the doctor's platform side to control the endoscope to reach the target position, and the first controller can optimize the doctor's operation process based on the constructed motion constraint model. During the operation, the doctor can keep the relative position of both hands as much as possible, thereby improving the control accuracy of the endoscope. In addition, the process of controlling the endoscope to collect pictures is simulated into the process of the doctor driving the movement or rotation of the collected pictures by moving or rotating both hands. The doctor's operating experience is similar to operating the steering wheel to perform four degrees of freedom movements such as translation and rotation in 3D space, and can be consistent with the movement or rotation of the collected pictures to achieve intuitive, smooth and complete rigid endoscope motion control.

[0177] It can be seen from the above technical content that the present application provides an endoscope motion control method and a surgical robot. The method is applied to an endoscope surgical control system. When the doctor's trolley receives a start signal input by the doctor to indicate entering the endoscope control state, the first motion constraint model can be determined according to the initial position of the first end point of the first control arm and the second end point of the second control arm. When the doctor controls the movement of the endoscope through the first control arm and the second control arm, the second motion constraint model can be determined based on the model parameters of the first motion constraint model, the first motion position corresponding to the first end point, and the second motion position corresponding to the second end point. And when the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, a prompt message is generated to prompt the user to adjust the relative position of the first control arm and the second control arm. By limiting the relative position of the first control arm and the second control arm through the motion constraint model and generating prompt information, the doctor's operation accuracy can be improved.

[0178] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. An endoscope motion control method, applied to an endoscope surgery control system, wherein the endoscope is connected to a slave robot arm of a patient trolley, and the slave robot arm has a control association with a first control arm and a second control arm provided on a doctor trolley; a first end point of the first control arm and a second end point of the second control arm are used to represent a user's control position, characterized in that: include: In response to receiving a start signal indicating entering an endoscope control state, establishing a first motion constraint model according to a first initial position corresponding to the first end point and a second initial position corresponding to the second end point; When the user controls the movement of the endoscope through the first control arm and the second control arm, a second motion constraint model is determined based on the model parameters of the first motion constraint model, the first motion position corresponding to the first end point, and the second motion position corresponding to the second end point; If the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, a prompt message is generated to prompt the user to adjust the relative position of the first control arm and the second control arm based on the prompt message.

2. The method according to claim 1, characterized in that The doctor trolley further includes a monitor; and establishing a first motion constraint model according to a first initial position of the first end point and a second initial position of the second end point includes: A monitor coordinate system is established based on the monitor; the center of the monitor is the origin of the monitor coordinate system; the direction of the z-axis of the monitor coordinate system is the same as the direction of the user's field of view; Determining a first axis direction of the first motion constraint model according to the field of view direction; Based on the monitor coordinate system, the first initial coordinate corresponding to the first initial position is determined, and the second initial coordinate corresponding to the second initial position is determined; the first initial coordinate and the second initial coordinate are used to determine the first relative distance between the first end point and the second end point, and to determine the first center coordinate of the first center point of the first motion constraint model.

3. The method according to claim 2, characterized in that Also includes: Calculating a projection distance of the relative distance in the field of view direction to determine a first height of the first motion constraint model based on the first projection distance; Based on the first height, determining a first local center coordinate and a second local center coordinate of the first motion constraint model; the first local center coordinate is used to characterize a first local center point of a first constraint plane in the first motion constraint model, and the second local center coordinate is used to characterize a second local center point of a second constraint plane in the first motion constraint model; Determine a first radius of the first constraint plane according to the first initial coordinate and the first local center coordinate; a second radius of the second constraint plane is equal to the first radius; The first motion constraint model is determined according to any one of the first constraint plane and the second constraint plane, as well as the first axis direction, the first height, and the first center point.

4. The method according to claim 2, characterized in that: The determining of the second motion constraint model based on the model parameters of the first motion constraint model, the first motion position of the first end point, and the second motion position of the second end point comprises: Calculating the coordinates of the second center point of the second motion constraint model according to the first motion coordinates corresponding to the first motion position and the second motion coordinates corresponding to the second motion position; the second center point coordinates are used to characterize the second center point of the second motion constraint model; The position of the second motion constraint model in the monitor coordinate system is determined based on the second center point; the second height of the second motion constraint model is equal to the first height of the first motion constraint model; the second axis direction of the second motion constraint model is parallel to the first axis direction of the first motion constraint model; the third constraint plane of the second motion constraint model has the same radius as the fourth constraint plane; the third radius of the third constraint plane is equal to the first radius.

5. The method according to claim 4, characterized in that If the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, prompt information is generated, including: Determine a first vector based on the first motion position and a third local center point of the third constraint plane; and determine a second vector based on the second motion position and a fourth local center point of the fourth constraint plane; A first constraint point is determined based on a projection vector of the first vector on the third constraint plane and the third radius; and a second constraint point is determined based on a projection vector of the second vector on the fourth constraint plane and the fourth radius.

6. The method according to claim 5, characterized in that Also includes: Calculating a first error distance between the first motion position and the first constraint point, and calculating a second error distance between the second motion position and the second constraint point; constructing a first spring model according to the first error distance, so as to determine a first constraint force based on the first spring model; and constructing a second spring model according to the second error distance to determine a second restraining force based on the second spring model; A first prompt message is generated according to a first direction represented by the first restraint force to enable the user to adjust the first motion position, and a second prompt message is generated according to a second direction represented by the second restraint force to enable the user to adjust the second motion position, so as to adjust the relative position of the first control arm and the second control arm.

7. The method according to claim 1, characterized in that Also includes: determining a motion vector based on the first motion position and the second motion position; Calculating a motion projection vector of the motion vector on the z-axis of the monitor coordinate system; Based on the motion projection vector and the unit vector of the x-axis of the monitor coordinate system, calculating the motion angle of the motion vector; the direction of the x-axis is used to characterize the movable direction of the second motion constraint model in the monitor coordinate system; According to the motion angle, calculating the rotation speed of the second motion constraint model based on the field of view direction; The endoscope self-rotation driving joint is driven according to the self-rotation speed, so that the endoscope self-rotation driving joint drives the endoscope to move.

8. The method according to claim 1, characterized in that Also includes: Acquire a first moving speed of the first control arm when it moves to the first moving position and a second moving speed of the second control arm when it moves to the second moving position; Calculating a center moving speed of a first center point of the first constraint model according to the first moving speed and the second moving speed; The center moving speed is equal to the linear speed of the field of view image of the endoscope; Mapping the linear velocity from the endoscope coordinate system to the world coordinate system to obtain the joint velocity; The endoscope arm position driving joint is driven according to the joint speed so that the arm position driving joint drives the endoscope to move.

9. A surgical robot, comprising at least a doctor's trolley and a patient's trolley; the doctor's trolley is provided with a first control arm and a second control arm; the patient's trolley is provided with a slave mechanical arm, on which an endoscope is clamped; the slave mechanical arm is control-associated with the first control arm and the second control arm; the first end point of the first control arm and the second end point of the second control arm are used to represent the user's control position; the doctor's trolley also includes a trigger and a first controller, characterized in that, The trigger is configured to: generate a start signal in response to a trigger operation input by a user; The first controller is configured to: In response to receiving a start signal for entering an endoscope control state, establishing a first motion constraint model according to a first initial position corresponding to the first end point and a second initial position corresponding to the second end point; When controlling the movement of the endoscope by the first control arm and the second control arm, determining a second motion constraint model based on the model parameters of the first motion constraint model, a first motion position corresponding to the first end point, and a second motion position corresponding to the second end point; If the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, a prompt message is generated to prompt the user to adjust the relative position of the first control arm and the second control arm based on the prompt message.

10. The surgical robot according to claim 9, characterized in that: The slave mechanical arm includes an endoscope self-rotation drive joint; the patient trolley also includes a second controller; the first controller is further configured as: Acquire the first movement position and the second movement position; determining a motion vector based on the first motion position and the second motion position; Calculating a motion projection vector of the motion vector on the z-axis of the monitor coordinate system; Calculating a motion angle of the motion vector based on the motion projection vector and a unit vector of an x-axis of the monitor coordinate system; According to the motion angle, calculating the rotation speed of the first motion constraint model based on the field of view direction; sending the rotation speed to the second controller; The second controller is configured to: The endoscope self-rotation driving joint is driven according to the self-rotation speed, so that the endoscope self-rotation driving joint drives the endoscope to move.

11. The surgical robot according to claim 9, characterized in that: The slave robot arm includes an endoscope arm position driving joint; the first controller is further configured to: Acquire a first moving speed of the first control arm when it moves to the first moving position and a second moving speed of the second control arm when it moves to the second moving position; Calculating a center moving speed of a first center point of the first constraint model according to the first moving speed and the second moving speed; The center moving speed is equal to the linear speed of the field of view image of the endoscope; Mapping the linear velocity from the endoscope coordinate system to the world coordinate system to obtain the joint velocity; The second controller is configured to: The endoscope arm position driving joint is driven according to the joint speed so that the arm position driving joint drives the endoscope to move.

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