Operation arm motion control method, program product, electronic equipment and storage medium

Abstract

The invention relates to the technical field of surgical robot control, and particularly provides a surgical arm motion control method, a program product, electronic equipment and a storage medium. The operation arm motion control method comprises the steps of determining an instruction space speed of a reference point at the tail end of an operation instrument; obtaining instruction joint speeds of all joints corresponding to the instruction space speed; if any instruction joint speed exceeds a preset value, the speeds of all joints are scaled down at equal proportion to serve as updated instruction joint speeds; based on the updated instruction joint speed, the operation arm is controlled to move. According to the method, under the condition that any instruction joint speed exceeds the preset value, the speeds of all joints are reduced in an equal proportion, the operation arm is controlled to move on the basis of the instruction joint speed which is reduced and updated, the joint speed of the operation arm can be kept within the preset value, the possibility that the operation instrument is separated from control is reduced, and the operation efficiency is improved. Therefore, the safety of the surgical operation is improved.

Description

Technical Field

[0001] The present application relates to the field of surgical robot control technology, and more specifically, to a surgical arm motion control method, a program product, an electronic device, and a storage medium. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operational limitations, such as hand tremors during filtering operations, with their high dexterity, high control accuracy and intuitive surgical images, and are widely used in surgical areas such as the abdomen, pelvis and chest. Taking laparoscopic surgical robots as an example, in master-slave operation, if the end of the surgical instrument is close to the fixed point (the intersection of the surgical instrument and the abdominal wall), it will cause the joint speed of the surgical arm outside the abdomen to be too fast (lever principle), and there is a risk of collision with other surgical arms, which will affect the safety of use. This problem is common in the surgical path of the extraperitoneal approach. Due to the narrow operating space of the instrument, the length of the surgical instrument protruding from the cannula is only about 3cm (very close to the fixed point), especially in the early stage of the operation, the retroperitoneal space is not fully expanded, and the instrument is operated at the upper limit position, which is a huge test for the safety of the surgical robot.

[0003] The solution in the related technology GB2621576A is: according to the distance between the end point of the instrument of the surgical arm and the fixed point, the master-slave operation ratio is set (the master-slave motion ratio coefficient is a function of the distance between the instrument and the fixed point), so that the closer to the fixed point, the lower the master-slave motion ratio coefficient and the smaller the speed of the end of the instrument.

[0004] The existing solution has the following defects: Since the movement speed of the surgical instrument is not linearly related to the operating speed of the master control arm, the closer the position is to the fixed point, the lower the master-slave movement ratio coefficient is. In the process of moving the surgical instrument from a place close to the fixed point to another place far from the fixed point, if the master hand moves at a constant speed, it will be found that the surgical instrument is accelerating, which can easily cause the surgical instrument to get out of control and pose certain surgical risks. Summary of the invention

[0005] In view of this, the purpose of the embodiments of the present application is to provide a surgical arm motion control method, program product, electronic device and storage medium to solve the technical problem that the existing surgical arm motion control method can easily cause the surgical instrument to get out of control and there is a certain surgical risk.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling the motion of a surgical arm, wherein the surgical arm is used for master-slave operation by a manual controller of a master control arm to control the motion of a surgical instrument at the end of the surgical arm; the method comprises:

[0007] Determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument;

[0008] Performing Jacobian matrix transformation on the command space velocity to obtain command joint velocities of all the joints corresponding to the command space velocity;

[0009] If any of the commanded joint speeds exceeds a preset value, the commanded joint speeds of all joints are proportionally reduced to serve as updated commanded joint speeds;

[0010] The surgical arm movement is controlled based on the updated command joint velocity.

[0011] In the above implementation process, the surgical arm motion control method determines the command space speed of the reference point of the end of the surgical instrument according to the follow-up posture deviation of the manual controller and the surgical instrument; performs Jacobian matrix transformation on the command space speed to obtain the command joint speeds of all the joints corresponding to the command space speed; if any of the command joint speeds exceeds the preset value, the command joint speeds of all joints are proportionally reduced as the updated command joint speeds; and the surgical arm motion is controlled based on the updated command joint speeds. The surgical arm motion control method proportionally reduces the command joint speeds of all joints when the command joint speed exceeds the preset value; and controls the surgical arm motion based on the reduced command joint speeds, so that the joint speeds of the surgical arm can be kept within the preset value, thereby reducing the possibility of the surgical instrument being out of control and thus improving the operational safety of the surgical instrument. The technical problem that the existing surgical arm motion control method easily causes the surgical instrument to be out of control and has certain surgical risks is solved.

[0012] Optionally, in an embodiment of the present application, the instruction space speed includes an instruction space linear speed and an instruction space angular speed; if any of the instruction joint speeds exceeds a preset value, the instruction joint speeds of all the joints are proportionally reduced to obtain a reduced joint speed; based on the instruction space angular speed and the reduced joint speed, the reduced instrument joint angular speed of the instrument joint in the reduced joint speed is updated to obtain the updated instruction joint speed.

[0013] In the above implementation process, by updating the reduced instrument joint angular velocity of the instrument joint in the reduced joint velocity according to the command space angular velocity and the reduced joint velocity, the posture difference between the surgical instrument and the manual controller that may be caused by the scaling of the space angular velocity can be compensated, thereby improving the intuitiveness of the surgical operation and ensuring the efficiency and effect of the surgery.

[0014] Optionally, in an embodiment of the present application, the reduced instrument joint angular velocity of the instrument joint in the reduced joint velocity is updated based on the instruction space angular velocity and the reduced joint velocity to obtain the updated instruction joint velocity, including: calculating the reduced end space angular velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint velocity; wherein the main arm joint includes the remaining joints of all the joints except the power box; and updating the reduced instrument joint angular velocity in the reduced joint velocity according to the difference between the instruction space angular velocity and the reduced end space angular velocity to obtain the updated instruction joint velocity.

[0015] In the above implementation process, the reduced end space angular velocity of the surgical instrument end reference point based on the reduced joint velocity is calculated by the main arm joint, and the reduced instrument joint angular velocity in the reduced joint velocity is updated according to the difference between the command space angular velocity and the reduced end space angular velocity; so as to compensate for the posture difference between the surgical instrument and the manual controller that may be caused by the spatial angular velocity scaling. The problem of the difference between the instrument space posture and the user's hand posture caused by the joint velocity scaling is solved, and while the movement restriction of the surgical arm provides protection for the safety of surgical instrument operation, it will not have an adverse effect on the surgical operation.

[0016] Optionally, in an embodiment of the present application, the reduced instrument joint angular velocity in the reduced joint velocity is updated according to the difference between the instruction space angular velocity and the reduced end space angular velocity to obtain the updated instruction joint velocity, including: subtracting the reduced end space angular velocity from the instruction space angular velocity to obtain the angular velocity difference; performing a Jacobian matrix conversion on the angular velocity difference based on the Jacobian matrix of the instrument joint to obtain an updated instrument joint angular velocity; and determining the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity as the updated instruction joint velocity.

[0017] In the above implementation process, when the position and posture of the instrument end are not decoupled, updating the reduced instrument joint angular velocity of the instrument joint will affect the spatial linear velocity of the instrument end. The updated instrument joint angular velocity of the instrument joint is calculated by subtracting the reduced end space angular velocity from the command space angular velocity, and the Jacobian matrix of the instrument joint; based on the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity, the updated command joint velocity can be determined more accurately. And based on the updated command joint velocity, the motion control of the surgical arm can be achieved more accurately.

[0018] Optionally, in an embodiment of the present application, before determining the reduced joint speed of the main arm joint and the updated instrument joint angular velocity as the updated command joint speed, updating the reduced instrument joint angular velocity in the reduced joint speed according to the difference between the command space angular velocity and the reduced end space angular velocity to obtain the updated command joint speed, further includes: calculating the reduced end space linear velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint speed; calculating the updated instrument end space linear velocity of the surgical instrument end reference point brought about by the instrument joint based on the updated instrument joint angular velocity; based on the reduced joint speed. The spatial linear velocity of the small end and the spatial linear velocity of the updated instrument end are used to determine the amplitude of change of the spatial linear velocity brought about by updating the joint angular velocity of the reduced instrument; when the amplitude of change of the spatial linear velocity does not meet the preset amplitude condition, the reduced joint velocity is determined as the updated command joint velocity; wherein, determining the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity as the updated command joint velocity includes: when the amplitude of change of the spatial linear velocity meets the preset amplitude condition, determining the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity as the updated command joint velocity.

[0019] In the above implementation process, the spatial linear velocity change amplitude brought about by the spatial linear velocity of the reduced end and the spatial linear velocity of the updated instrument end is calculated; and when the spatial linear velocity change amplitude meets the preset change amplitude condition, the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity are determined as the updated command joint velocity; it can be ensured that "compensation for the posture difference between the surgical instrument and the manual controller that may be caused by the scaling of the spatial angular velocity" will not have too much impact on the spatial linear velocity of the surgical instrument end. In other words, it is ensured that "compensation for the posture error between the surgical instrument and the manual controller that may be caused by the scaling of the spatial angular velocity" will not have a significant impact on the motion consistency between the surgical instrument and the surgical arm, further improving the intuitiveness of the surgical operation.

[0020] Optionally, in an embodiment of the present application, if any of the command joint speeds exceeds a preset value, the command joint speeds of all the joints are proportionally reduced to obtain a reduced joint speed, including: if any of the command joint speeds exceeds the preset value, determining the speed reduction ratio according to the command joint speed and the preset value; based on the speed reduction ratio, the command joint speeds of all the joints are proportionally reduced to obtain the reduced joint speed; wherein the reduced joint speeds are all less than or equal to the preset value.

[0021] In the above implementation process, the speed reduction ratio is determined according to the command joint speed and the preset value to ensure that the obtained reduced joint speed is less than or equal to the preset value.

[0022] Optionally, in an embodiment of the present application, before determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument, the method further includes: acquiring the master space posture of the master control arm and the slave space posture of the surgical arm based on the joint encoders of the master control arm and the surgical arm; determining the following posture deviation according to the master space posture and the slave space posture; wherein, determining the command space velocity of the reference point of the end of the surgical instrument according to the surgical instrument and the following posture deviation of the surgical instrument includes: calculating the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation and the master-slave posture control method of the manual controller and the surgical instrument; wherein the command space velocity includes a command space angular velocity and a command space linear velocity.

[0023] In the above implementation process, the following posture deviation between the manual controller and the surgical instrument can be obtained according to the joint encoders of the master control arm and the surgical arm; and then the command space velocity of the reference point at the end of the surgical instrument can be calculated according to the following posture deviation and the master-slave posture control method of the manual controller and the surgical instrument.

[0024] In a second aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the surgical arm motion control method as described in any one of the first aspects above.

[0025] In a third aspect, an embodiment of the present application further provides an electronic device; the electronic device includes:

[0026] Memory;

[0027] processor;

[0028] The memory stores a computer program executable by the processor, and when the computer program is executed by the processor, the surgical arm motion control method described in any one of the first aspects is performed.

[0029] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the surgical arm motion control method as described in any one of the first aspects is executed.

[0030] In a fifth aspect, an embodiment of the present application provides a surgical arm motion control device, wherein the surgical arm is used to be operated in a master-slave manner by a manual controller of a master control arm to control the movement of a surgical instrument at the end of the surgical arm; the device comprises:

[0031] An instruction space speed determination module, used to determine the instruction space speed of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument;

[0032] A command joint speed determination module is used to perform Jacobian matrix transformation on the command space speed to obtain the command joint speeds of all joints corresponding to the command space speed;

[0033] A command joint speed updating module, for proportionally reducing the command joint speeds of all the joints as updated command joint speeds if any of the command joint speeds exceeds a preset value;

[0034] A surgical arm motion control module is used to control the surgical arm motion based on the updated command joint speed.

[0035] The beneficial effects of the present application include at least: the surgical arm motion control method determines the command space velocity of the reference point of the end of the surgical instrument according to the follow-up posture deviation of the manual controller and the surgical instrument; the command space velocity is transformed into a Jacobian matrix to obtain the command joint velocity of all joints corresponding to the command space velocity; if any of the command joint velocities exceeds a preset value, the command joint velocities of all joints are proportionally reduced as updated command joint velocities; and the surgical arm motion is controlled based on the updated command joint velocities. The surgical arm motion control method proportionally reduces the command joint velocities of all joints when the command joint velocity exceeds a preset value; and controls the surgical arm motion based on the reduced command joint velocity, so that the joint velocity of the surgical arm can be maintained within the preset value, thereby reducing the possibility of the surgical instrument being out of control and thereby improving the operational safety of the surgical instrument. The technical problem that the existing surgical arm motion control method easily causes the surgical instrument to be out of control and has certain surgical risks is solved.

[0036] In addition, based on the surgical arm motion control method provided by the present application, the reduced end space angular velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint velocity is calculated, and the reduced instrument joint angular velocity in the reduced joint velocity is updated according to the difference between the command space angular velocity and the reduced end space angular velocity; so as to compensate for the posture difference between the surgical instrument and the manual controller that may be caused by the spatial angular velocity scaling. It can also solve the problem that the instrument space posture caused by the joint velocity scaling is different from the posture of the user's hand, and while limiting the movement of the surgical arm to provide protection for the safety of surgical instrument operation, it will not have an adverse effect on the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A schematic flow chart of a surgical arm motion control method provided in an embodiment of the present application;

[0039] Figure 2 A structural schematic diagram of the assembly relationship between a surgical instrument, an isolation plate and a power box provided in an embodiment of the present application;

[0040] Figure 3 A schematic flow chart of a method for updating a command joint speed provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of the structure of a surgical arm provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0045] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0046] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation to the present application, and the protection scope of the present application is limited only by the claims. In other places, known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the main points of the invention of the present application.

[0047] 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 changes in mechanical structure, connection / position relationship, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application. Such changes can be either replacement or combination of elements of several embodiments of the present application, or replacement or combination of known contents.

[0048] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used to describe the relationship between one component or feature shown in the figure and another component or feature for the convenience of explanation. It should be understood that spatially relative terms can only be used under the conditions of the positioning direction of the device in use or operation (except for the positioning direction specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein are interpreted accordingly.

[0049] As used herein, "several", "one", and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or parts, but do not exclude the presence of one or more other features, steps, operations, elements, parts, and / or groups thereof.

[0050] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", "module", "assembly" and "element" are used interchangeably.

[0051] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector may be a surgical tool associated with one or more surgical procedures, 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 joint", "joint seat") for the surgical tool, so that the position and / or orientation of the end effector can be flexibly 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 blades that translate along a specific path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) 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.

[0052] The term "mating" (sometimes referred to as "connecting", "coupling", "mounting", "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mated" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0053] 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.

[0054] Overview of the master-slave teleoperated laparoscopic surgical robot:

[0055] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform and watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope (sometimes called an "endoscope") placed in the patient's body, and controls the movement of the robotic arm on the patient surgical platform, 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 surgeons with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself. Therefore, they are increasingly used in surgery, especially in abdominal, thoracic, and general surgery.

[0056] The patient surgical platform generally includes a chassis, a column, a plurality of mechanical arms (surgical arms) 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 connected 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. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of 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 generally located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal center" or "fixed point".

[0057] 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, an optical device is included to transmit 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 transmit 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 a video display for observation by other doctors or assistants.

[0058] The doctor control platform usually includes a chassis, a pedal assembly, a stereo monitor, a main control arm, and a manual controller connected to the end of the main control arm. The surgeon controls the manual controller and the pedal assembly to achieve specific movements and / or energy excitation of the surgical instrument. The surgeon control platform can be at a single location in the surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the remote control master / slave operation can be completed according to the preset control degree, for example, one location is used as the main control for the main operation, and the other location is used as the auxiliary control for the auxiliary operation. The main control completes the main surgical operation, and the auxiliary control completes the auxiliary operation such as laparoscope movement or tissue traction. In some embodiments, the manual controller can be an input device capable of completing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operation signal, and after being processed by the control system, generate control signals of the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, and the motor further controls the final movement of the surgical instrument.

[0059] Generally, the force generated by the remote motor is transmitted via a transmission system, which transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located at a location remote from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol and telepresentation surgery will understand such systems and their components and will not be described in detail here.

[0060] See also Figure 1 The schematic diagram of a flow chart of a method for controlling the motion of a surgical arm provided by an embodiment of the present application is shown. The surgical arm is used to be operated by a manual controller of a master control arm in a master-slave manner to control the movement of a surgical instrument at the end of the surgical arm; the method for controlling the motion of the surgical arm may include the following steps:

[0061] S101, determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument;

[0062] S102, performing Jacobian matrix transformation on the command space velocity to obtain command joint velocities of all joints corresponding to the command space velocity;

[0063] S103, if any of the commanded joint speeds exceeds a preset value, the commanded joint speeds of all the joints are proportionally reduced to serve as updated commanded joint speeds;

[0064] S104. Controlling the movement of the surgical arm based on the updated command joint speed.

[0065] Among them, the follow-up posture deviation of the manual controller and the surgical instrument can be determined according to the difference between the main spatial posture of the main control arm and the slave spatial posture of the surgical arm. The command space velocity of the reference point at the end of the surgical instrument may include the command space linear velocity and the command space angular velocity of the reference point at the end of the instrument. By performing Jacobian matrix transformation on the command space velocity, the command joint velocity of each joint of the surgical arm corresponding to the command space velocity is obtained. All joints include each joint of the surgical arm and each joint of the surgical instrument. The command joint velocity may include the command joint linear velocity and the command joint angular velocity. The preset value may be the joint set speed or the rated speed of the joint motor. When the command joint velocity exceeds the preset value, it means that the joint velocity is too fast. By reducing the command joint velocity, it can be ensured that the updated command joint velocity is within the preset value range, thereby reducing the possibility of the surgical instrument being out of control and improving the operational safety of the surgical instrument. In addition, by proportionally reducing the command joint velocity of all joints, it can be ensured that the joint motion direction generated by controlling the motion of the surgical arm based on the updated command joint velocity is consistent with the motion direction generated by controlling the motion of the surgical arm based on the command joint velocity before reduction, and will not affect the user's operating experience.

[0066] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of the assembly relationship between a surgical instrument, an isolation plate and a power box provided in an embodiment of the present application. Figure 2 As shown, the surgical instrument may include an instrument body and a surgical instrument box. The joint of the surgical instrument (instrument joint) refers to the joint that controls the execution end (the end of the surgical instrument) of the surgical instrument to move with multiple degrees of freedom, that is, Figure 2 The power box is shown in FIG. An isolation plate (including an isolation top plate and an isolation bottom plate) is installed on the power box, and a surgical instrument is installed on the isolation plate. The power box can drive the execution end of the surgical instrument to achieve yaw, pitch, opening and closing and other actions. Specifically, the power box is provided with a plurality of transmission members (for example, Figure 2 The transmission disk based on the isolation plate can provide the power provided by the transmission member to the surgical instrument, drive the connecting member in the surgical instrument box to move, so as to control the end of the surgical instrument to perform yaw, pitch or opening and closing actions.

[0067] It can be seen that the surgical arm motion control method provided in the embodiment of the present application proportionally reduces the command joint speed of all joints when the command joint speed exceeds the preset value; and controls the motion of the surgical arm based on the reduced command joint speed, so that the joint speed of the surgical arm can be kept within the preset value, reducing the possibility of the surgical instrument being out of control, thereby improving the operational safety of the surgical instrument. The technical problem that the existing surgical arm motion control method easily causes the surgical instrument to be out of control and there is a certain surgical risk is solved.

[0068] Please refer to Figure 3 , Figure 3 A flowchart of a method for updating command joint speed provided in an embodiment of the present application.

[0069] In some optional embodiments, the instruction space speed includes an instruction space linear speed and an instruction space angular speed; S103, if any of the instruction joint speeds exceeds a preset value, the instruction joint speeds of all the joints are proportionally reduced to obtain an updated instruction joint speed, including: S1031, if any of the instruction joint speeds exceeds a preset value, the instruction joint speeds of all the joints are proportionally reduced to obtain a reduced joint speed; S1032, based on the instruction space angular speed and the reduced joint speed, the reduced instrument joint angular speed of the instrument joint in the reduced joint speed is updated to obtain the updated instruction joint speed.

[0070] Among them, proportionally reducing the command joint speed of all joints means that both the command joint linear speed and the command joint angular speed are proportionally reduced. Therefore, the reduced joint speed includes the reduced joint angular speed and the reduced joint linear speed of all joints (including the joints of the surgical arm and the instrument joints). The instrument joint refers to the joint that controls the multi-degree-of-freedom movement of the execution end of the surgical instrument. In a common example, it refers to the power box. By updating the reduced instrument joint angular velocity of the instrument joint in the reduced joint speed according to the command space angular velocity and the reduced joint speed, the space angular velocity deviation between the surgical instrument and the manual controller that may be caused by the scaling of the space angular velocity can be compensated, thereby improving the intuitiveness of the surgical operation, thereby ensuring the efficiency and effect of the surgery.

[0071] In some optional embodiments, S1032, based on the command space angular velocity and the reduced joint velocity, the reduced instrument joint angular velocity of the instrument joint in the reduced joint velocity is updated to obtain the updated command joint velocity, including: calculating the reduced end space angular velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint velocity; wherein the main arm joint includes the remaining joints of all the joints except the power box; according to the difference between the command space angular velocity and the reduced end space angular velocity, the reduced instrument joint angular velocity in the reduced joint velocity is updated to obtain the updated command joint velocity.

[0072] The power box includes a box body and a plurality of power modules arranged in the box body. Figure 4 , Figure 4 A schematic diagram of the structure of a surgical arm provided in an embodiment of the present application. One end of the surgical arm is connected to a column or a suspension plate on the column, and from this end to the power box, there are three joints that can move vertically, four to seven joints that can move rotationally, and eight joints that can move linearly. The joints are connected in sequence by connecting rods, and the seven joints are parallelogram mechanisms, which can ensure that the remote motion center remains unchanged during the operation, thereby avoiding pulling the patient's incision. Figure 4 The 3rd to 5th joints in the figure are joints required for positioning before the operation begins, and they will not move during the operation; only the 6th to 8th joints and the power box will move during the operation, and the 6th to 8th joints in the embodiment of the present application are the main arm joints. Therefore, the main arm joint is based on the reduced end space angular velocity of the reference point of the end of the surgical instrument brought about by the reduced joint speed, that is, the movement angular velocity of the reference point of the end of the surgical instrument when the movement of the surgical arm is controlled based on the reduced joint speed; the difference between the command space angular velocity and the reduced end space angular velocity calculated above is the space angular velocity deviation that needs to be compensated. By calculating the reduced end space angular velocity of the reference point of the end of the surgical instrument brought about by the main arm joint based on the reduced joint speed, and updating the reduced instrument joint angular velocity in the reduced joint speed according to the difference between the command space angular velocity and the reduced end space angular velocity; it is possible to compensate for the posture difference between the surgical instrument and the manual controller that may be caused by the scaling of the space angular velocity. Therefore, based on the main control arm motion control method provided in the embodiment of the present application, the problem that the instrument space posture is different from the posture of the user's hand after the joint speed is scaled can be solved, and while limiting the movement of the surgical arm to provide a guarantee for the safety of the surgical instrument operation, it will not have an adverse effect on the surgical operation.

[0073] In some optional embodiments, the reduced instrument joint angular velocity in the reduced joint velocity is updated according to the difference between the instruction space angular velocity and the reduced end space angular velocity to obtain the updated instruction joint velocity, including: subtracting the reduced end space angular velocity from the instruction space angular velocity to obtain the angular velocity difference; performing a Jacobian matrix conversion on the angular velocity difference based on the Jacobian matrix of the instrument joint to obtain an updated instrument joint angular velocity; and determining the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity as the updated instruction joint velocity.

[0074] Among them, when the position and posture of the instrument end are decoupled, the reduced instrument joint angular velocity in the updated reduced joint velocity will not affect the instrument joint linear velocity. For example, ultrasonic scalpels, staplers, etc. However, when the position and posture of the instrument end are not decoupled, which is a common phenomenon for most instruments, the reduced instrument joint angular velocity in the updated reduced joint velocity will affect the spatial linear velocity of the instrument end. For example, needle holders, electric scissors, grasping forceps, etc. The updated instrument joint angular velocity of the instrument joint is calculated by subtracting the reduced end space angular velocity from the command space angular velocity, the angular velocity difference obtained, and the Jacobian matrix of the instrument joint; based on the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity, the updated command joint velocity can be more accurately determined. And based on the updated command joint velocity, the motion control of the surgical arm can be more accurately achieved.

[0075] In some optional embodiments, before determining the reduced joint speed of the main arm joint and the updated instrument joint angular velocity as the updated command joint speed, updating the reduced instrument joint angular velocity in the reduced joint speed according to the difference between the command space angular velocity and the reduced end space angular velocity to obtain the updated command joint speed, further comprising: calculating the reduced end space linear velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint speed; calculating the updated instrument end space linear velocity of the surgical instrument end reference point brought about by the instrument joint based on the updated instrument joint angular velocity; and The end spatial linear velocity and the updating instrument end spatial linear velocity determine the range of change in spatial linear velocity brought about by updating the reduction instrument joint angular velocity; when the range of change in spatial linear velocity does not meet the preset range of change conditions, the reduction joint velocity is determined as the updated command joint velocity; wherein, determining the reduction joint velocity of the main arm joint and the updating instrument joint angular velocity as the updated command joint velocity includes: when the range of change in spatial linear velocity meets the preset range of change conditions, determining the reduction joint velocity of the main arm joint and the updating instrument joint angular velocity as the updated command joint velocity.

[0076] Among them, it can be based on Determine the change amplitude of the spatial linear velocity, V1 represents the reduced end spatial linear velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint velocity, and ΔV represents the difference between the updated instrument end spatial linear velocity and V1. The preset change amplitude condition may include a change amplitude threshold (specifically, it may be 5%, 2% or other reasonable values), and the spatial linear velocity change amplitude may be judged to meet the preset change amplitude condition when the spatial linear velocity change amplitude is less than or equal to the change amplitude threshold. The spatial linear velocity change amplitude brought about by the updated reduced instrument joint angular velocity is calculated based on the reduced end spatial linear velocity and the updated instrument end spatial linear velocity; and when the spatial linear velocity change amplitude meets the preset change amplitude condition, the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity are determined as the updated command joint velocity; it can be ensured that "compensation for the posture difference between the surgical instrument and the manual controller that may be brought about by the scaling of the spatial angular velocity" will not have too much impact on the linear velocity of the surgical instrument (although this situation of impact is not common, and may only occur in a few instruments with huge execution ends such as gastric grasping forceps). That is to ensure that "compensation for the posture difference between the surgical instrument and the manual controller that may be caused by the scaling of the spatial angular velocity" will not have a significant impact on the motion consistency between the surgical instrument and the surgical arm, further ensuring the intuitiveness of the surgical operation.

[0077] In some optional embodiments, if any of the command joint speeds exceeds a preset value, the command joint speeds of all the joints are proportionally reduced to obtain a reduced joint speed, including: if any of the command joint speeds exceeds the preset value, determining the speed reduction ratio according to the command joint speed and the preset value; based on the speed reduction ratio, proportionally reducing the command joint speeds of all the joints to obtain the reduced joint speed; wherein the reduced joint speeds are all less than or equal to the preset value.

[0078] Wherein, the preset value may be a joint set speed or a rated speed of a joint motor. When the preset values ​​corresponding to all joints are the same, the speed ratio between the preset value and the maximum value of the command joint speeds of all joints exceeding the preset value may be determined as the speed reduction ratio. When there are multiple joints corresponding to different preset values, the speed ratio between each preset value and the command joint speed of each joint exceeding the preset value may be calculated respectively, and the minimum value of the multiple speed ratios calculated may be determined as the speed reduction ratio.

[0079] In some optional embodiments, before S101, determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument, the method further includes: acquiring the master space posture of the master control arm and the slave space posture of the surgical arm based on the joint encoders of the master control arm and the surgical arm; determining the following posture deviation according to the master space posture and the slave space posture; wherein, determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument includes: calculating the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation and the master-slave posture control method of the manual controller and the surgical instrument; wherein the command space velocity includes a command space angular velocity and a command space linear velocity.

[0080] Among them, the following posture deviation may include position deviation and attitude deviation; the position deviation can be determined according to the position difference between the main control arm and the surgical arm; and the posture deviation is determined based on the rotation matrix (which can be expressed by the axis angle method) by converting the surgical arm from the current posture to the same posture as the main control arm. The joint encoder can be a photoelectric encoder or a magnetic encoder, etc. Based on the joint encoder, the angle and speed of each joint can be measured, and the joint position can be determined. According to the joint encoders of the main control arm and the surgical arm, the following posture deviation between the manual controller and the surgical instrument can be obtained; and then according to the following posture deviation and the master-slave posture control method of the manual controller and the surgical instrument, the command space speed of the end reference point of the surgical instrument is calculated. Exemplarily, the command space speed of the end reference point of the surgical instrument can be calculated based on "KP*following posture deviation"; it can also be calculated based on "the end speed of the manual controller + KP*following posture deviation" The command space speed of the end reference point of the surgical instrument is calculated; wherein KP is a constant greater than 0, and the specific value of KP can be adjusted according to the actual application scenario, and this application does not make specific restrictions on this.

[0081] Please refer to Figure 5 , Figure 5 The present invention provides a schematic diagram of the structure of an electronic device 200 provided in an embodiment of the present invention. The electronic device 200 comprises: a memory 202 and a processor 201; the memory 202 stores a computer program executable by the processor 201, and when the computer program is executed by the processor 201, the surgical arm motion control method described in any one of the first aspects is executed.

[0082] The memory 202 and the processor 201 may be interconnected and communicate with each other via a communication bus 203 and / or other forms of connection mechanisms (not shown). The memory 202 stores a computer program executable by the processor 201. When the computer program is executed by the processor 201, the surgical arm motion control method described in the first aspect above is executed.

[0083] The embodiment of the present application further provides a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by the processor 201 , the surgical arm motion control method described in the first aspect above is executed.

[0084] Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0085] In several embodiments provided by the embodiments of the present application, it should be understood that the disclosed device / system and method can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0086] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0087] The above description is only an optional implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the embodiments of the present application, which should be covered within the protection scope of the embodiments of the present application.

Claims

1. A surgical arm motion control method, characterized in that: The surgical arm is used to be operated by a manual controller of a master control arm to control the movement of a surgical instrument at the end of the surgical arm; the method comprises: Determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument; Performing Jacobian matrix transformation on the command space velocity to obtain command joint velocities of all joints corresponding to the command space velocity; If any of the commanded joint speeds exceeds a preset value, the commanded joint speeds of all the joints are proportionally reduced to serve as updated commanded joint speeds; The surgical arm movement is controlled based on the updated command joint velocity.

2. The method according to claim 1, characterized in that in, The command space velocity includes the command space linear velocity and the command space angular velocity; If any of the commanded joint speeds exceeds a preset value, the commanded joint speeds of all the joints are proportionally reduced as updated commanded joint speeds, including: If any of the commanded joint speeds exceeds a preset value, the commanded joint speeds of all the joints are proportionally reduced to obtain a reduced joint speed; Based on the command space angular velocity and the reduced joint velocity, the reduced instrument joint angular velocity of the instrument joint in the reduced joint velocity is updated to obtain the updated command joint velocity.

3. The method according to claim 2, characterized in that The method of updating the reduced instrument joint angular velocity of the instrument joint in the reduced joint velocity based on the command space angular velocity and the reduced joint velocity to obtain the updated command joint velocity comprises: Calculating the reduced end space angular velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint velocity; wherein the main arm joint includes the remaining joints of all the joints except the power box; According to the difference between the command space angular velocity and the reduction end space angular velocity, the reduction instrument joint angular velocity in the reduction joint velocity is updated to obtain the updated command joint velocity.

4. The method according to claim 3, characterized in that: The updating of the reduced instrument joint angular velocity in the reduced joint velocity according to the difference between the command space angular velocity and the reduced end space angular velocity to obtain the updated command joint velocity comprises: Subtract the reduced terminal space angular velocity from the command space angular velocity to obtain an angular velocity difference; Based on the Jacobian matrix of the instrument joint, performing Jacobian matrix conversion on the angular velocity difference to obtain an updated instrument joint angular velocity; The reduced joint velocity of the main arm joint and the updated device joint angular velocity are determined as the updated command joint velocity.

5. The method according to claim 4, characterized in that Before determining the reduced joint speed of the main arm joint and the updated instrument joint angular velocity as the updated command joint speed, updating the reduced instrument joint angular velocity in the reduced joint speed according to the difference between the command space angular velocity and the reduced end space angular velocity to obtain the updated command joint speed, further comprising: Calculate the reduced end space linear velocity of the surgical instrument end reference point brought about by the main arm joint based on the reduced joint velocity; Calculate the updated instrument end space linear velocity of the surgical instrument end reference point brought about by the instrument joint based on the updated instrument joint angular velocity; Based on the spatial linear velocity of the reduction end and the spatial linear velocity of the updating instrument end, determining the magnitude of the change in spatial linear velocity caused by updating the angular velocity of the joint of the reduction instrument; In the case where the change range of the spatial linear velocity does not satisfy a preset change range condition, determining the reduced joint velocity as the updated command joint velocity; Among them, determining the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity as the updated command joint velocity includes: when the spatial linear velocity change amplitude satisfies the preset change amplitude condition, determining the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity as the updated command joint velocity.

6. The method according to claim 2, characterized in that If any of the commanded joint speeds exceeds a preset value, the commanded joint speeds of all the joints are proportionally reduced to obtain a reduced joint speed, including: If any of the commanded joint speeds exceeds a preset value, determining a speed reduction ratio according to the commanded joint speed and the preset value; Based on the speed reduction ratio, the command joint speeds of all the joints are proportionally reduced to obtain the reduced joint speeds; wherein the reduced joint speeds are all less than or equal to the preset values.

7. The method according to any one of claims 1 to 5, characterized in that: Before determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument, the method further includes: Based on the joint encoders of the master control arm and the surgical arm, acquiring the master space pose of the master control arm and the slave space pose of the surgical arm; Determining the following posture deviation according to the master space posture and the slave space posture; Wherein, determining the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation of the manual controller and the surgical instrument includes: calculating the command space velocity of the reference point of the end of the surgical instrument according to the following posture deviation and the master-slave posture control method of the manual controller and the surgical instrument; wherein the command space velocity includes the command space angular velocity and the command space linear velocity.

8. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

9. An electronic device, characterized in that: The electronic device comprises: Memory; processor; The memory stores a computer program executable by the processor, and when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is executed.

Images