Surgical arm motion control method, program product, electronic device, and storage medium

Abstract

The application relates to the technical field of surgical robot control, and particularly provides a surgical arm motion control method, a program product, an electronic device and a storage medium. The surgical arm motion control method determines the instruction space speed of a reference point at the end of a surgical instrument; obtains the instruction joint speed of all joints corresponding to the instruction space speed; if any instruction joint speed exceeds a preset value, proportionally reduces the speed of all joints, and the reduced speed is taken as the updated instruction joint speed; and the surgical arm motion is controlled based on the updated instruction joint speed. According to the method, if any instruction joint speed exceeds a preset value, the speed of all joints is proportionally reduced, and the surgical arm motion is controlled based on the updated instruction joint speed, so that the joint speed of the surgical arm can be kept within the preset value, the possibility of the surgical instrument being out of control is reduced, and the safety of surgical operation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robot control, in particular to a surgical arm motion control method, a program product, an electronic device and a storage medium. BACKGROUND

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used for its advantages of small surgical trauma, short recovery time and less pain for patients. The minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high dexterity, high control accuracy and intuitive surgical image, and is widely used in abdominal, pelvic and thoracic surgical areas. Taking a laparoscopic surgical robot 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), the joint speed of the surgical arm outside the abdominal cavity will be too fast (the principle of lever), and there is a risk of collision with other surgical arms, which affects the safety. This problem is common in surgical paths of extraperitoneal approach, because the instrument operating space is small, the length of the surgical instrument protruding from the sleeve is only about 3cm (very close to the fixed point), especially in the early stage of surgery, the retroperitoneal space is not fully expanded, and the instrument is operated at the upper limit position, which is a great test for the safety of the surgical robot.

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

[0004] The existing solution has the following defects: because the movement speed of the surgical instrument is not in a linear relationship with the operation speed of the master control arm, the closer to the fixed point position, the lower the master-slave motion ratio coefficient. In the process of moving the surgical instrument from the position close to the fixed point to another position away from the fixed point, if the master hand moves at a constant speed, it will be found that the surgical instrument is accelerated, which is easy to make the surgical instrument out of control and there is a certain surgical risk. SUMMARY

[0005] Therefore, the purpose of the embodiments of the present application is to provide a surgical arm motion control method, a program product, an electronic device and a storage medium, to solve the technical problem that the existing surgical arm motion control method is easy to make the surgical instrument out of control and there is a certain surgical risk.

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

[0007] determining an instruction space velocity of the surgical instrument end reference point according to the following pose deviation between the manual controller and the surgical instrument;

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

[0009] if any of the instruction joint velocities exceeds a preset value, proportionally reducing the instruction joint velocities of all joints as updated instruction joint velocities;

[0010] controlling the surgical arm motion based on the updated instruction joint velocities.

[0011] In the implementation process described above, the surgical arm motion control method determines an instruction space velocity of the surgical instrument end reference point according to the following pose deviation between the manual controller and the surgical instrument; performs Jacobian matrix transformation on the instruction space velocity to obtain instruction joint velocities of all joints corresponding to the instruction space velocity; if any of the instruction joint velocities exceeds a preset value, proportionally reduces the instruction joint velocities of all joints as updated instruction joint velocities; and controls the surgical arm motion based on the updated instruction joint velocities. The surgical arm motion control method proportionally reduces the instruction joint velocities of all joints if any of the instruction joint velocities exceeds a preset value, and controls the surgical arm motion based on the reduced instruction joint velocities, so that the joint velocities of the surgical arm can be kept within the preset value, reducing the possibility of the surgical instrument being out of control and improving the operation safety of the surgical instrument. This solves the technical problem that the existing surgical arm motion control method is prone to make the surgical instrument out of control and poses certain surgical risks.

[0012] Optionally, in the embodiments of the present application, the instruction space velocity includes an instruction space linear velocity and an instruction space angular velocity; and if any of the instruction joint velocities exceeds a preset value, proportionally reducing the instruction joint velocities of all joints as updated instruction joint velocities includes: if any of the instruction joint velocities exceeds a preset value, proportionally reducing the instruction joint velocities of all joints to obtain reduced joint velocities; updating the reduced joint angular velocity of the instrument joint in the reduced joint velocities based on the instruction space angular velocity and the reduced joint velocities to obtain the updated instruction joint velocities.

[0013] In the implementation process, the reduced instrument joint angular velocity in the reduced joint velocity is updated according to the instruction space angular velocity and the reduced joint velocity, so that the attitude difference between the surgical instrument and the manual controller caused by the scaling of the space angular velocity can be compensated. The intuitiveness of the surgical operation is improved, so that the surgical efficiency and effect are ensured.

[0014] Optionally, in the embodiment of the present application, the reduced instrument joint angular velocity in the reduced joint velocity is updated based on the instruction space angular velocity and the reduced joint velocity, and the updated instruction joint velocity is obtained, which comprises: calculating the reduced end space angular velocity of the end reference point of the surgical instrument caused by the main arm joint based on the reduced joint velocity; wherein the main arm joint comprises the remaining joints in the all 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, and obtaining the updated instruction joint velocity.

[0015] In the implementation process, the reduced end space angular velocity of the end reference point of the surgical instrument caused 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 instruction space angular velocity and the reduced end space angular velocity, so that the attitude difference between the surgical instrument and the manual controller caused by the scaling of the space angular velocity can be compensated. The problem that the spatial attitude of the instrument is different from the attitude of the user's hand after the scaling of the joint velocity is solved, which provides guarantee for the safety of the surgical instrument operation while not adversely affecting the surgical operation.

[0016] Optionally, in the 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, and the updated instruction joint velocity is obtained, which comprises: subtracting the reduced end space angular velocity from the instruction space angular velocity to obtain an angular velocity difference; performing 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 implementation process described above, in the case where the position and pose of the instrument end are not decoupled, updating the reduced instrument joint angular velocity will affect the spatial linear velocity of the instrument end. By subtracting the reduced end spatial angular velocity from the instruction spatial angular velocity, an angular velocity difference is obtained, and the updated instrument joint angular velocity is calculated based on the Jacobian matrix of the instrument joint. Based on the reduced joint velocity of the master arm joint and the updated instrument joint angular velocity, the updated instruction joint velocity can be more accurately determined. And based on the updated instruction joint velocity, the motion control of the surgical arm can be more accurately implemented.

[0018] Optionally, in the embodiments of the present application, before the reduced joint velocity of the master arm joint and the updated instrument joint angular velocity are determined as the updated instruction joint velocity, the updating of the reduced instrument joint angular velocity in the reduced joint velocity according to the difference between the instruction spatial angular velocity and the reduced end spatial angular velocity to obtain the updated instruction joint velocity further includes: calculating the reduced end spatial linear velocity of the surgical instrument end reference point based on the reduced joint velocity of the master arm joint; calculating the updated instrument end spatial linear velocity of the surgical instrument end reference point based on the updated instrument joint angular velocity of the instrument joint; determining the spatial linear velocity change amplitude caused by the updating of the reduced instrument joint angular velocity based on the reduced end spatial linear velocity and the updated instrument end spatial linear velocity; in the case where the spatial linear velocity change amplitude does not satisfy a preset change amplitude condition, determining the reduced joint velocity as the updated instruction joint velocity; wherein the determination of the reduced joint velocity of the master arm joint and the updated instrument joint angular velocity as the updated instruction joint velocity includes: in the case where the spatial linear velocity change amplitude satisfies the preset change amplitude condition, determining the reduced joint velocity of the master arm joint and the updated instrument joint angular velocity as the updated instruction joint velocity.

[0019] In the implementation process, the space linear velocity change range caused by updating the reduced instrument joint angular velocity is calculated by reducing the end space linear velocity and updating the instrument end space linear velocity; and in the case that the space linear velocity change range meets the preset change range condition, the reduced joint speed of the master arm joint and the updated instrument joint angular velocity are determined as the updated instruction joint speed; it can be ensured that the attitude difference between the surgical instrument and the manual controller caused by the scaling of the space angular velocity is compensated without causing excessive impact on the space linear velocity of the surgical instrument end. That is, it can be ensured that the attitude error between the surgical instrument and the manual controller caused by the scaling of the space angular velocity is compensated without causing a large impact on the motion consistency between the surgical instrument and the surgical arm, thereby further improving the intuitiveness of the surgical operation.

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

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

[0022] Optionally, in the embodiment of the present application, before the instruction space speed of the surgical instrument end reference point is determined according to the following position deviation of the manual controller and the surgical instrument, the method further comprises: acquiring the master space position of the master control arm and the slave space position of the surgical arm based on the joint encoders of the master control arm and the surgical arm; determining the following position deviation according to the master space position and the slave space position; wherein the instruction space speed of the surgical instrument end reference point is determined according to the following position deviation and the master-slave position control method of the manual controller and the surgical instrument, comprising: calculating the instruction space speed of the surgical instrument end reference point according to the following position deviation and the master-slave position control method of the manual controller and the surgical instrument; wherein the instruction space speed comprises instruction space angular velocity and instruction space linear velocity.

[0023] In the implementation process, the following is performed: acquiring, according to joint encoders of the master control arm and the surgical arm, a following pose deviation between the manual controller and the surgical instrument; and calculating, according to the following pose deviation and a master-slave pose control method of the manual controller and the surgical instrument, an instruction space velocity of a reference point at an end of the surgical instrument.

[0024] In a second aspect, an embodiment of the present application provides a computer program product, including computer programs / instructions, which, when executed by a processor, implement the surgical arm motion control method according to any one of the first aspect.

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

[0026] a memory;

[0027] a processor;

[0028] The memory stores a computer program executable by the processor, and the computer program, when executed by the processor, implements the surgical arm motion control method according to any one of the first aspect.

[0029] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions, when executed by a processor, implement the surgical arm motion control method according to any one of the first aspect.

[0030] In a fifth aspect, an embodiment of the present application provides a surgical arm motion control device, the surgical arm being used for master-slave operation by a manual controller of a master control arm to control a surgical instrument at an end of the surgical arm; and the device including:

[0031] an instruction space velocity determination module, configured to determine an instruction space velocity of a reference point at an end of the surgical instrument according to a following pose deviation between the manual controller and the surgical instrument;

[0032] an instruction joint velocity determination module, configured to perform Jacobian matrix transformation on the instruction space velocity to obtain instruction joint velocities of all joints corresponding to the instruction space velocity;

[0033] an instruction joint velocity updating module, configured to, if any of the instruction joint velocities exceeds a preset value, proportionally reduce the instruction joint velocities of all the joints to serve as updated instruction joint velocities;

[0034] a surgical arm motion control module, configured to control motion of the surgical arm based on the updated instruction joint velocities.

[0035] The beneficial effects of the present application at least include: the surgical arm motion control method determines the command space velocity of the end reference point of the surgical instrument according to the following pose deviation of the manual controller and the surgical instrument; performs Jacobian matrix transformation on the command space velocity 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 controls the surgical arm motion 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 velocities exceed the preset value, and controls the surgical arm motion based on the reduced command joint velocities, so that the joint velocity of the surgical arm can be kept within the preset value, reducing the possibility of the surgical instrument being out of control, and thus improving the operation safety of the surgical instrument. The technical problem that the existing surgical arm motion control method is prone to make the surgical instrument out of control and has certain surgical risk is solved.

[0036] In addition, based on the surgical arm motion control method provided in the present application, the reduction end space angular velocity of the end reference point of the surgical instrument caused by the joint velocity reduction of the master arm is calculated, and the reduction instrument joint angular velocity in the reduction joint velocity is updated according to the difference between the command space angular velocity and the reduction end space angular velocity, so as to compensate for the pose difference between the surgical instrument and the manual controller caused by the space angular velocity scaling. The problem that the spatial pose of the instrument is different from the pose of the user's hand after the joint velocity scaling is also solved, which provides guarantee for the operation safety of the surgical instrument while not adversely affecting the surgical operation. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0038] Figure 1 A flowchart 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 of a surgical instrument, an isolation plate and a power box provided in an embodiment of the present application;

[0040] Figure 3 A flowchart of an updating method of command joint velocity provided in an embodiment of the present application;

[0041] Figure 4 A structural schematic diagram of a surgical arm provided for an embodiment of the present application is shown in FIG. 1.

[0042] Figure 5 A structural schematic diagram of an electronic device provided for an embodiment of the present application is shown in FIG. 2. DETAILED DESCRIPTION

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

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used herein are only for the purpose of describing specific embodiments of the present application, and are not intended to limit the present 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 "a plurality of" is two or more, unless otherwise explicitly specified.

[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 solutions. 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 of the present application, and the protection scope of the present application is only limited by the claims. In other places, well-known structures, connection / position relationships, circuits and / or other details may not be shown in detail, so as not to mislead the public about the inventive points of the present application.

[0047] In this specification, the accompanying drawings show the schematic diagrams of several embodiments of the present application. However, the accompanying drawings are only schematic, and it should be understood that mechanical structures, connection / position relationships, physical compositions, electricity and steps can be changed without departing from the spirit and scope of the present application. Such changes can be made by replacing or combining elements of several embodiments of the present application, or by replacing or combining well-known contents.

[0048] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Spatially relative terms, such as "under", "below", "lower", "over", "upper", "middle", "indside", "outside", "central", "lateral", "longitudinal", "vertical", "horizontal", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The terms "first", "second", "third", etc. can be used herein to describe various elements, regions, layers and / or sections but are not intended to be limiting, unless otherwise indicated.

[0049] As used herein, the terms "a", "an" and "the" are intended to encompass both singular and plural forms, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, 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", "part", "piece", "module", "assembly", and "element" are used interchangeably.

[0051] The terms "instrument", "surgical instrument", and "surgical instruments" 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. The end effector can be a surgical tool related to one or more surgical operations, 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 by embodiments of the present application further provide articulated supports (sometimes referred to as "wrist joints", "jointed wrist") for the surgical tools, so that the position and / or orientation of the end effector can be flexibly manipulated relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or translating a blade along a particular path. The instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0052] The term "cooperate" (sometimes referred to as "connect," "couple," "mount," "fit") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the cooperating objects to operate in conjunction with each other. It should be noted that cooperation does not require direct connection (e.g., direct physical or electrical connection), but rather many objects or components can be used to cooperate two or more objects. For example, objects A and B can cooperate through the use of object C. Furthermore, the term "removably coupled" or "removably cooperate" can be interpreted to mean a non-permanent coupling or cooperating situation between two or more objects. This means that removably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

[0053] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any 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 occur only when two or more elements are in some way inherently mutually exclusive from each other.

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

[0055] Laparoscopic surgical robots generally include a physician control platform, a patient surgery platform, and an image platform. The surgeon sits at the physician control platform, watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope (sometimes referred to as an "endoscope") placed in the patient's body, and manipulates the movement of the mechanical arm on the patient surgery platform and the surgical instrument or laparoscope attached to the mechanical arm. The mechanical arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand, both of which provide the surgeon with a series of actions that simulate the human wrist, while also filtering the tremors of the human hand itself, so they are increasingly widely used in surgery, especially in abdominal, thoracic, and general surgery.

[0056] A patient surgical platform typically includes a base, a column, a plurality of robotic arms (surgical arms) coupled to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. A surgical instrument and / or scope is removably coupled to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or scopes that are operated at a surgical site within a patient's body. Various forms of control can be allowed for each surgical instrument manipulator to move the associated surgical instrument(s) with one or more degrees of mechanical freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located at the point where the surgical instrument enters the body wall, and which is commonly referred to as the "telecenter" or "immobile point."

[0057] An image platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the video images are delivered to a host computer of the image platform through optical devices that deliver the images from within the patient's body to the distal end of the endoscope, through photoelectric conversion and other steps. The processed images are then displayed on the video displays for viewing by other doctors or assistants through image processing.

[0058] A surgeon control platform typically includes a base, a foot pedal assembly, a stereoscopic monitor, a master control arm, and a hand controller coupled to the end of the master control arm, through which the surgeon controls the specific actions and / or energy firings of the surgical instruments by controlling the hand controller and the foot pedal assembly. The surgeon control platform can be at a single location in the surgical system composed of the laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the teleoperation master / slave operation can be accomplished according to a preset control degree, such as one location as the master control for the primary surgical operation and another location as the slave control for the auxiliary operation such as laparoscope movement or tissue retraction. In some embodiments, the hand controller can be an input device capable of performing one or more manual operations, such as a joystick, an exoskeleton glove, a powered and gravity compensated manipulator, and the like. These input devices collect the surgeon's operation signals, which are processed by the control system to generate control signals for the robotic arms and the surgical instrument manipulators, thereby controlling the remote motors on the surgical instrument manipulators, which in turn control the final movement of the surgical instruments.

[0059] Generally, forces generated by the remote control motor are transmitted via a transmission system to transmit the force from the remote control motor to the end effector of the surgical instrument. In some embodiments of remote surgery, the input device that controls the manipulator can be placed at a location away from the patient, in the room where the patient is located or outside, even in a different city. The input signals of the input device are then transmitted to the control system. Those familiar with remote manipulation, remote control and remote presentation of surgery will be familiar with such a system and its components, which will not be described here.

[0060] See Figure 1 The surgical arm motion control method provided by the embodiments of the present application provides a flowchart of a surgical arm motion control method. The surgical arm is used for master-slave operation by a master controller of a master control arm to control the action of a surgical instrument at the end of the surgical arm; the surgical arm motion control method can include the following steps:

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

[0062] S102, Jacobian matrix transformation is performed on the command space speed to obtain the command joint speed of all joints corresponding to the command space speed;

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

[0064] S104, controlling the motion of the surgical arm based on the updated command joint speed.

[0065] The following describes a method for controlling a surgical instrument. The method comprises: determining a following pose deviation of a manual controller and the surgical instrument according to a difference between a master spatial pose of a master control arm and a slave spatial pose of a surgical arm; determining an instruction spatial velocity of an end reference point of the surgical instrument according to the following pose deviation; determining an instruction joint velocity of each joint of the surgical arm corresponding to the instruction spatial velocity of the end reference point of the surgical instrument by performing a Jacobian matrix transformation on the instruction spatial velocity; and determining an updated instruction joint velocity of each joint of the surgical arm by reducing the instruction joint velocity of each joint of the surgical arm when the instruction joint velocity of each joint of the surgical arm exceeds a preset value. The preset value can be a joint set velocity or a rated speed of a joint motor. The instruction joint velocity of each joint of the surgical arm is reduced when the instruction joint velocity of each joint of the surgical arm exceeds the preset value, so that the updated instruction joint velocity of each joint of the surgical arm is ensured to be within the preset value range, thereby reducing the possibility of the surgical instrument being out of control and improving the operation safety of the surgical instrument. In addition, the instruction joint velocity of each joint of the surgical arm is reduced in a proportional manner, so that the joint movement direction generated by controlling the surgical arm to move based on the updated instruction joint velocity of each joint of the surgical arm is consistent with the movement direction generated by controlling the surgical arm to move based on the instruction joint velocity of each joint of the surgical arm before being reduced, and the operation experience of a user is not affected.

[0066] Please refer to Figure 2 , Figure 2 A structure schematic diagram of an assembly relationship of a surgical instrument, an isolation plate, and a power box is provided for an embodiment of the present application. As shown in Figure 2 , the surgical instrument can include an instrument body and a surgical instrument box. The joint of the surgical instrument (instrument joint) refers to a joint that controls the multi-degree-of-freedom movement of the execution end (surgical instrument end) of the surgical instrument, that is, the power box shown in Figure 2 . The power box is installed with an isolation plate (including an isolation top plate and an isolation bottom plate), and the surgical instrument is installed on the isolation plate. Based on the power box, the execution end of the surgical instrument end can be driven to perform actions such as yaw, pitch, and opening and closing. Specifically, the power box is provided with a plurality of transmission members (for example, a plurality of protruding output disc structures provided on the upper surface of the power box in Figure 2 ). Based on the transmission disc of the isolation plate, the power provided by the transmission members can be provided to the surgical instrument to drive the connecting member in the surgical instrument box to move, so as to control the surgical instrument end to perform actions such as yaw, pitch, or opening and closing.

[0067] Therefore, the surgical arm motion control method provided by the embodiments of the present application can keep the joint speed of the surgical arm within the preset value by reducing the instruction joint speed of all joints in proportion when the instruction joint speed exceeds the preset value, thereby reducing the possibility of the surgical instrument being out of control and improving the operation safety of the surgical instrument. The technical problem that the existing surgical arm motion control method is prone to make the surgical instrument out of control and has certain surgical risk is solved.

[0068] Please refer to Figure 3 , Figure 3 The flowchart of the instruction joint speed updating method provided by the embodiments of the present application is shown.

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

[0070] The instruction joint speeds of all joints are reduced in proportion, which means that the instruction joint linear speed and the instruction joint angular speed are reduced in proportion. Therefore, the reduced joint speeds include the reduced joint angular speeds and the reduced joint linear speeds of all joints (including the joints of the surgical arm and the instrument joint). The instrument joint refers to the joint that controls the execution end of the surgical instrument to move in multiple degrees of freedom, and in a common example, it refers to a power box. By updating the reduced instrument joint angular speed of the instrument joint in the reduced joint speeds according to the instruction space angular speed and the reduced joint speeds, the spatial angular speed deviation between the surgical instrument and the manual controller caused by the spatial angular speed scaling can be compensated, the intuitiveness of the surgical operation is improved, and the surgical efficiency and effect are ensured.

[0071] In some optional embodiments, S1032, based on the instruction spatial angular velocity and the scaled joint velocity, updating a scaled instrument joint angular velocity of an instrument joint in the scaled joint velocity, obtaining the updated instruction joint velocity, comprises: calculating a scaled end space angular velocity of the end of the surgical instrument reference point caused by the master arm joint based on the scaled joint velocity; wherein the master arm joint comprises the remaining joints in the all joints except the power box; updating the scaled instrument joint angular velocity in the scaled joint velocity according to the difference between the instruction spatial angular velocity and the scaled end space angular velocity, and obtaining the updated instruction joint velocity.

[0072] The power box comprises a box body and a plurality of power modules arranged in the box body. Please refer to Figure 4 , Figure 4 A structural schematic diagram of a surgical arm provided by an embodiment of the present application is shown in FIG. 1. The surgical arm is connected to a column or a suspension disc on the column at one end, and comprises 3 joints capable of vertical movement and 4-7 joints capable of rotational movement in sequence from the end to the power box, and an 8th joint capable of linear movement. The joints are connected in sequence through connecting rods, and the 7th joint is a parallelogram mechanism, which can ensure that the remote center of motion is constant during the surgery, thereby avoiding pulling the incision of the patient. Figure 4 The 3rd-5th joints in FIG. 1 are joints required for positioning before the surgery, and will not move during the surgery; only the 6th-8th joints and the power box will move during the surgery, and the 6th-8th joints are master arm joints in the embodiment of the present application. Therefore, the movement angular velocity of the end of the surgical instrument reference point under the condition that the movement of the surgical arm is controlled based on the scaled joint velocity, that is, the scaled end space angular velocity of the end of the surgical instrument reference point caused by the master arm joint based on the scaled joint velocity; and the difference between the instruction spatial angular velocity and the scaled end space angular velocity calculated above is the spatial angular velocity deviation that needs to be compensated. By calculating the scaled end space angular velocity of the end of the surgical instrument reference point caused by the master arm joint based on the scaled joint velocity, and updating the scaled instrument joint angular velocity in the scaled joint velocity according to the difference between the instruction spatial angular velocity and the scaled end space angular velocity, the attitude difference between the surgical instrument and the hand controller caused by the spatial angular velocity scaling can be compensated. Therefore, the master arm movement control method provided by the embodiment of the present application can solve the problem that the spatial attitude of the instrument is different from the attitude of the user's hand after the joint velocity is scaled, and can provide protection for the safety of the surgical instrument operation while not adversely affecting the surgical operation.

[0073] In some optional embodiments, the updating the reduced instrument joint angular velocity in the reduced joint velocity according to the difference between the command spatial angular velocity and the reduced end-effector spatial angular velocity, to obtain the updated command joint velocity, comprises: subtracting the reduced end-effector spatial angular velocity from the command spatial angular velocity to obtain an angular velocity difference; performing 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 master arm joint and the updated instrument joint angular velocity as the updated command joint velocity.

[0074] In the case of decoupling of the position and pose of the instrument end-effector, updating the reduced instrument joint angular velocity in the reduced joint velocity does not affect the instrument joint linear velocity. For example, ultrasonic knives, staplers, etc. However, in the case of non-decoupling of the position and pose of the instrument end-effector, which is a common phenomenon for most instruments, updating the reduced instrument joint angular velocity in the reduced joint velocity will affect the spatial linear velocity of the instrument end-effector. For example, needle holders, electric scissors, grasper, etc. By subtracting the reduced end-effector spatial angular velocity from the command spatial angular velocity to obtain an angular velocity difference, and calculating the updated instrument joint angular velocity of the instrument joint based on the Jacobian matrix of the instrument joint, the updated command joint velocity can be more accurately determined based on the reduced joint velocity of the master arm joint and the updated instrument joint angular velocity. And based on the updated command joint velocity, more accurate motion control of the surgical arm can be achieved.

[0075] In some optional embodiments, before determining the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity as the updated command joint velocity, the step of updating the reduced instrument joint angular velocity in the reduced joint velocity based on the difference between the command space angular velocity and the reduced end-effector space angular velocity to obtain the updated command joint velocity further includes: calculating the reduced end-effector space linear velocity of the surgical instrument end-effector reference point based on the reduced joint velocity; calculating the updated instrument end-effector space linear velocity of the surgical instrument end-effector reference point based on the updated instrument joint angular velocity; and based on the reduced... The spatial linear velocity of the distal end and the spatial linear velocity of the updated device are used to determine the magnitude of the change in spatial linear velocity caused by updating the joint angular velocity of the reduced device; if the magnitude of the change in spatial linear velocity does not meet a preset magnitude 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 device joint angular velocity as the updated command joint velocity includes: if the magnitude of the change in spatial linear velocity meets the preset magnitude condition, determining the reduced joint velocity of the main arm joint and the updated device joint angular velocity as the updated command joint velocity.

[0076] Among them, it can be based on The spatial linear velocity variation range is determined, where V1 represents the reduced end spatial linear velocity of the surgical instrument's end-effector reference point based on the reduced joint velocity of the main arm joint, and ΔV represents the difference between the updated instrument end spatial linear velocity and V1. Preset variation range conditions can include a variation range threshold (specifically, 5%, 2%, or other reasonable values). If the spatial linear velocity variation range is less than or equal to the threshold, it is determined that the spatial linear velocity variation range meets the preset variation range conditions. The spatial linear velocity variation range is calculated based on the reduced end spatial linear velocity and the updated instrument end spatial linear velocity, resulting in the updated reduced instrument joint angular velocity. If the spatial linear velocity variation range meets the preset variation range conditions, the reduced joint velocity of the main arm joint and the updated instrument joint angular velocity are determined as the updated command joint velocities. This ensures that "compensating for potential attitude differences between the surgical instrument and the manual controller caused by scaling the spatial angular velocity" does not excessively affect the linear velocity of the surgical instrument (although this effect is uncommon and may only occur in a few instruments with large actuators, such as gastric grasping forceps). In other words, ensuring that "compensating for the posture differences between surgical instruments and manual controllers that may result from scaling the spatial angular velocity" does not significantly affect the motion consistency between surgical instruments and the surgical arm, further guaranteeing the intuitiveness of surgical operations.

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

[0078] The preset value can be a joint set speed or a rated speed of a joint motor. In the case where the preset values corresponding to all the joints are the same, the velocity reduction ratio can be determined as a velocity ratio between the preset value and the maximum of the instruction joint velocities of all the joints exceeding the preset value. In the case where there are multiple preset values corresponding to different joints, the velocity ratio between each preset value and the instruction joint velocity of each joint exceeding the preset value can be calculated respectively, and the minimum of the multiple calculated velocity ratios is determined as the velocity reduction ratio.

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

[0080] The following pose deviation can include a position deviation and an attitude deviation; the position deviation can be determined according to a position difference between the master control arm and the surgical arm; and the attitude deviation can be determined based on a rotation matrix by which the surgical arm is converted from a current attitude to the same attitude as the master control arm (which can be represented by an axis-angle method). The joint encoder can be an optical 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 master control arm and the surgical arm, the following pose deviation between the manual controller and the surgical instrument can be obtained; and then, according to the following pose deviation and the master-slave pose control method of the manual controller and the surgical instrument, the command space speed of the end reference point of the surgical instrument can be calculated. For example, the command space speed of the end reference point of the surgical instrument can be calculated based on the "KP * following pose deviation"; or the command space speed of the end reference point of the surgical instrument can be calculated based on the "end speed of the manual controller + KP * following pose deviation"; wherein KP is a constant greater than 0, and the specific value of KP can be adjusted according to the actual application scenario, which is not limited in the present application.

[0081] Please refer to Figure 5 , Figure 5 A structural schematic diagram of an electronic device 200 provided by an embodiment of the present application is shown. The electronic device 200 includes a memory 202 and a processor 201; the memory 202 stores a computer program executable by the processor 201, and the computer program is executed by the processor 201 to execute the surgical arm motion control method of any one of the first aspect.

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

[0083] The present application also provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions are executed by the processor 201 to execute the surgical arm motion control method described in the first aspect.

[0084] The storage medium can be implemented by any type of volatile or nonvolatile storage devices 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 read 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 apparatus / system and method can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, program segment or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions annotated in the blocks can also occur in different order from that annotated in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

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

[0087] The above description is merely optional implementation manners of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by 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 by, The surgical arm is used for master-slave operation by a manual controller of a master control arm to control action of a surgical instrument at an end of the surgical arm; the method comprises: determining an instruction space velocity of a reference point at an end of the surgical instrument according to a following pose deviation of the manual controller and the surgical instrument; performing Jacobian matrix transformation on the instruction space velocity to obtain instruction joint velocities of all joints corresponding to the instruction space velocity; if any of the instruction joint velocities exceeds a preset value, performing equal proportion reduction on the instruction joint velocities of all joints as updated instruction joint velocities; controlling movement of the surgical arm based on the updated instruction joint velocities; wherein the instruction space velocity comprises an instruction space linear velocity and an instruction space angular velocity; if any of the instruction joint velocities exceeds a preset value, performing equal proportion reduction on the instruction joint velocities of all joints as updated instruction joint velocities, comprises: if any of the instruction joint velocities exceeds a preset value, performing equal proportion reduction on the instruction joint velocities of all joints to obtain reduced joint velocities; updating reduced instrument joint angular velocities of instrument joints in the reduced joint velocities based on the instruction space angular velocity and the reduced joint velocities to obtain the updated instruction joint velocities; the updating of the reduced instrument joint angular velocities of the instrument joints in the reduced joint velocities based on the instruction space angular velocity and the reduced joint velocities to obtain the updated instruction joint velocities, comprises: calculating reduced end space angular velocities of the reference point at the end of the surgical instrument caused by the master arm joints based on the reduced joint velocities; wherein the master arm joints comprise the remaining joints of all joints except the power box; updating the reduced instrument joint angular velocities in the reduced joint velocities according to a difference between the instruction space angular velocity and the reduced end space angular velocities to obtain the updated instruction joint velocities.

2. The method of claim 1, wherein, the updating of the reduced instrument joint angular velocities in the reduced joint velocities according to a difference between the instruction space angular velocity and the reduced end space angular velocities to obtain the updated instruction joint velocities, comprises: subtracting the reduced end space angular velocities from the instruction space angular velocities to obtain an angular velocity difference; performing Jacobian matrix transformation on the angular velocity difference based on a Jacobian matrix of the instrument joints to obtain updated instrument joint angular velocities; determining the reduced joint velocities of the master arm joints and the updated instrument joint angular velocities as the updated instruction joint velocities.

3. The method of claim 2, wherein, before the determining of the reduced joint velocities of the master arm joints and the updated instrument joint angular velocities as the updated instruction joint velocities, the updating of the reduced instrument joint angular velocities in the reduced joint velocities according to a difference between the instruction space angular velocity and the reduced end space angular velocities to obtain the updated instruction joint velocities, further comprises: calculating reduced end space linear velocities of the reference point at the end of the surgical instrument caused by the master arm joints based on the reduced joint velocities; calculating an updated instrument joint angular velocity of the instrument joint based on the updated instrument joint angular velocity; determining a spatial linear velocity variation amplitude caused by the updated instrument joint angular velocity based on the reduced end space linear velocity and the updated instrument end space linear velocity; in a case where the spatial linear velocity variation amplitude does not satisfy a preset variation amplitude condition, determining the reduced joint velocity as the updated command joint velocity; wherein the determining the reduced joint velocity of the master arm joint and the updated instrument joint angular velocity as the updated command joint velocity comprises, in a case where the spatial linear velocity variation amplitude satisfies the preset variation amplitude condition, determining the reduced joint velocity of the master arm joint and the updated instrument joint angular velocity as the updated command joint velocity.

4. The method of claim 1, wherein, the equal-proportionally reducing the command joint velocities of all the joints to obtain the reduced joint velocities comprises: if any of the command joint velocities exceeds a preset value, determining a velocity reduction ratio according to the command joint velocities and the preset value; based on the velocity reduction ratio, equal-proportionally reducing the command joint velocities of all the joints to obtain the reduced joint velocities; wherein the reduced joint velocities are all less than or equal to the preset value.

5. The method according to any one of claims 1 to 3, characterized in that, before the determining the command spatial velocity of the surgical instrument end reference point according to the following position deviation of the manual controller and the surgical instrument, the method further comprises: based on joint encoders of the master control arm and the surgical arm, acquiring a master space position of the master control arm and a slave space position of the surgical arm; determining the following position deviation according to the master space position and the slave space position; wherein the determining the command spatial velocity of the surgical instrument end reference point according to the following position deviation of the manual controller and the surgical instrument comprises: calculating the command spatial velocity of the surgical instrument end reference point according to the following position deviation and a master-slave position control method of the manual controller and the surgical instrument; wherein the command spatial velocity comprises a command spatial angular velocity and a command spatial linear velocity.

6. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instruction is executed by a processor to implement the method of any one of claims 1-5.

7. An electronic device, comprising: The electronic device comprises: a memory; a processor; the memory has stored thereon a computer program executable by the processor, and the computer program is executed by the processor to implement the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium has stored thereon computer program instructions, and the computer program instructions are executed by a processor to implement the method of any one of claims 1-5.

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