Surgical robot

Abstract

The embodiment of the application provides a surgical robot, which comprises a mechanical arm, a holding device and a control device, the holding device is provided with a force sensor for detecting an external force applied on the holding device, and the control device is configured to: acquire a first force value and a first torque value detected by the force sensor when the holding device is applied with the external force; acquire a rotation angle of the holding device, and determine a first force component and a first torque component applied on the force sensor by the holding device according to the rotation angle; determine a first force command value according to the first force value and the first force component; determine a first torque command value according to the first torque value and the first torque component; and control the mechanical arm to move to adjust the position and posture of the holding device according to the first force command and the first torque command.

Description

Technical Field

[0001] This application relates to the medical field, and in particular to a surgical robot. Background Technology

[0002] Minimally invasive medical techniques refer to medical procedures performed inside the human body cavity using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared with traditional surgical methods, minimally invasive medical techniques have advantages such as less trauma, less pain, faster recovery, reduced patient discomfort, and fewer harmful side effects.

[0003] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. Minimally invasive surgical robots typically consist of a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands from the main control console and perform corresponding surgical procedures. Instruments are connected to the drive mechanisms of the slave operating devices to perform surgical procedures. The distal end of the instrument includes an end effector for performing surgical operations and joint components connected to the end effector that can move with multiple degrees of freedom.

[0004] Surgical robots require dragging the robotic arm before surgery to adjust the holding device to align with the cannula, and the cannula's position needs to be adjusted during surgery. However, there is currently no good solution for how to accurately detect the force applied to the holding device to achieve more intuitive drag control. Summary of the Invention

[0005] Based on this, this application provides a surgical robot in a first aspect, comprising:

[0006] A robotic arm, which comprises multiple joints;

[0007] A holding device, which is rotatably connected to a joint at the distal end of the robotic arm, is used to load surgical instruments;

[0008] A force sensor, which is mounted on the holding device;

[0009] The control device is configured as follows:

[0010] When an external force is applied to the holding device, the first force value and the first torque value detected by the force sensor are acquired;

[0011] The rotation angle of the holding device is obtained, and the first force component and the first torque component applied by the holding device to the force sensor are determined based on the rotation angle.

[0012] The first force command value is determined based on the first force value and the first force component;

[0013] The first torque command value is determined based on the first torque value and the first torque component;

[0014] Based on the first force command and the first torque command, the movement of the robotic arm is controlled to adjust the position and posture of the holding device.

[0015] In one specific embodiment, the instrument holding device further includes at least one driving device, the surgical instrument being detachably mounted on the driving device, the driving device being capable of linear motion to drive the surgical instrument to perform a feed motion, and the control device being further configured to:

[0016] The displacement of the drive device is obtained, and the first torque component is determined based on the displacement and the rotation angle.

[0017] In one specific embodiment, the control device is further configured to: in response to an activation of a first drag mode command and according to a first force command value, control the movement of the robotic arm to translate the holding device thereby adjusting the position of a remote motion center.

[0018] In one specific embodiment, the control device responds to an activation of a first drag mode command and controls the movement of the robotic arm according to the first torque command value to change the posture of the holding device and thereby adjust the position of the remote center.

[0019] In one specific embodiment, the control device responds to an activation of a second drag mode command and controls the movement of the robotic arm to cause the holding device to rotate around the remote motion center according to the first force command value.

[0020] In one specific embodiment, the plurality of joints includes a first joint that moves linearly in a vertical direction, a second, third, and fourth joints whose rotation axes are perpendicular to the horizontal plane, and a fifth joint whose rotation axis is parallel to the horizontal plane. In response to the command to activate the second drag mode and according to a first component of the first force command value, the control device controls the second, third, and fourth joints to move in conjunction to make the holding device rotate about a first axis that passes through the remote motion center.

[0021] In one specific embodiment, in response to the command to activate the second drag mode and according to a second component of the first force command value, the control device controls the linkage of the first joint, the second joint, the third joint, and the fifth joint to cause the holding device to rotate about a second axis, which passes through the remote motion center and is perpendicular to the first axis.

[0022] In one specific embodiment, the holding device is rotatably connected to the fifth joint, and the force sensor is located on the rotation axis of the fifth joint.

[0023] In one specific embodiment, in response to a command to reconfigure the remote motion center, the control device reconfigures the position of the remote motion center relative to the weapon-holding device and keeps the weapon-holding device stationary.

[0024] This application provides a surgical robot in a first aspect, comprising:

[0025] A robotic arm, which comprises multiple joints;

[0026] A holding device, which is rotatably connected to a joint at the distal end of the robotic arm, is configured to rotate about a remote center of motion;

[0027] A force sensor, which is mounted on the holding device;

[0028] The control device is configured as follows:

[0029] When an external force is applied to the holding device, the first force value and the first torque value detected by the force sensor are acquired;

[0030] The rotation angle of the holding device is obtained, and the first force component and the first torque component applied by the holding device to the force sensor are determined based on the rotation angle.

[0031] The first force command value is determined based on the first force value and the first force component;

[0032] The first torque command value is determined based on the first torque value and the first torque component;

[0033] Based on the first force command and the first torque command, the movement of the robotic arm is controlled to adjust the position of the remote motion center. Attached Figure Description

[0034] Figure 1 This is a top view schematic diagram of a surgical robot-assisted medical system according to an embodiment of this application;

[0035] Figure 2A This is a schematic diagram of the main control console of a surgical robot according to one embodiment of this application;

[0036] Figure 2B This is a schematic diagram of the operating device of a surgical robot according to one embodiment of this application;

[0037] Figure 3 This is a schematic diagram of a surgical instrument according to one embodiment of this application;

[0038] Figure 4A This is a schematic diagram of a slave operating device according to an embodiment of this application;

[0039] Figure 4B This is a schematic diagram of the kinematic model of an operating device according to an embodiment of this application;

[0040] Figure 5A This is a schematic diagram of a weapon-holding device according to an embodiment of this application;

[0041] Figure 5B for Figure 5A The diagram shows the rotation process of the holding device.

[0042] Figure 5C This is a flowchart illustrating the determination of a first force command value and a first torque command value for drag control of a mechanical device according to an embodiment of this application;

[0043] Figure 5D for Figure 5A A schematic diagram illustrating the process of the holding device rotating and the driving device moving.

[0044] Figure 5E A flowchart illustrating the determination of a first force command value and a first torque command value for drag control of a holding device, according to one embodiment of this application;

[0045] Figure 6 This is a schematic diagram of a weapon-holding device according to an embodiment of this application;

[0046] Figure 7A This is a control flowchart of the first dragging mode of the holding device according to an embodiment of this application;

[0047] Figure 7B This is a control flowchart of the second dragging mode of the holding device according to an embodiment of this application. Detailed Implementation

[0048] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0049] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0050] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the surgeon during the procedure, while "proximal" refers to the end closest to the surgeon. The term "multiple" used in this article includes two or more.

[0051] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This instrument includes an end effector, which can be a surgical instrument used to perform surgical procedures, such as a biopsy needle, electrocautery device, clamp, stapler, scissor, imaging device (e.g., endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include a hinged component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0052] 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 this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0053] One embodiment of this application is a surgical robot-assisted medical system, such as... Figure 1 As shown, the surgical robot-assisted medical system includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, allowing the surgeon S to remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 based on the surgeon S's operations. The surgeon S can observe three-dimensional images of the patient's body provided by the imaging system through the main console 10. By observing these three-dimensional images, the surgeon S can immerse themselves in the experience and control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body).

[0054] The operating device 10 includes a control unit, a robotic arm 11, and a device holding device 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive system in the device holding device 12. Multiple surgical instruments can be mounted on the device holding device 12, and the drive system of the device holding device 12 is used to drive the surgical instruments to perform various surgeries.

[0055] In one embodiment, the surgical robot-assisted medical system further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the instrument holding device 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end effectors of multiple surgical instruments or cameras at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgical-related operations or acquire images of the patient P's internal environment.

[0056] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via the main control console 10, for example, injecting gas from a gas source into the patient P's body cavity to create an artificial pneumoperitoneum, or aspirating gas from the patient P's body cavity. Assistant A attaches surgical instruments 40 to or removes surgical instruments 40 from the instrument holding device 12 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical instruments 40 can be surgical instruments used to perform surgical operations, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0057] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10 communicates remotely with the slave operating device 10 and the electronic device cart 30 via wired Ethernet communication. However, remote communication is not limited to wired Ethernet communication; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0058] In one embodiment, such as Figure 2A As shown, the main control console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 displays images acquired by the imaging system. The armrest 22 provides support for the operator's arm and / or hand, allowing for more comfortable operation of the input device 23. The observation device 24 observes the images displayed on the display device. Depending on actual needs, the armrest or observation device 24 can be omitted, allowing for direct observation. The operator controls the movement of surgical instruments on the slave operating device 10 by operating the input device 23. The control signal processing system of the main control console 20 processes the input signals from the input device 23 and sends control commands to the slave operating device. The slave operating device 10 responds to the control commands from the main control console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located within the slave operating device 10, for example, in its base. The control signal processing system 25 can be a single device integrated with the aforementioned control device.

[0059] Surgical robots typically also include an imaging system (not shown) that allows the operator to view the surgical site from outside the patient's body. This imaging system typically includes a video image acquisition function (e.g., an instrument 40 with image acquisition capabilities) and one or more video display devices for displaying the acquired images. Generally, the instrument 40 with image acquisition capabilities includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors may be positioned distal to the instrument 40 with image acquisition capabilities, and the signals generated by these sensors may be transmitted via cable or wirelessly for processing and display on the video display devices.

[0060] In one embodiment, such as Figure 2B As shown, the robotic arm 11 of the surgical robot-assisted medical system, from the operating device 10, includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 160, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0061] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0062] In one embodiment, the holding device 112 further includes a cannula 115, which is detachably connected to the holding device 112 via a docking device 114. The central axis 106 of the holding device 112 is substantially coincident with the axis 118 of the cannula 115. The holding device 112 drives the cannula 115 to rotate around a remote center of motion 116. Since the remote center of motion 116 is located in the incision 117, the patient P will not be injured when the cannula 115 rotates around the remote center of motion 116.

[0063] The operating device 10 also includes a control panel 170 mounted on a support column 121. The control panel 170 includes at least one switch 171, which is used to input positioning commands to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 100 to quickly achieve various predetermined positions of the basic 100, such as unfolding into a position for setting up a sterile curtain.

[0064] In one embodiment, the holding device 112 may be equipped with multiple instruments 40, which enter the body through the incision 117 via the same cannula 115. Figure 3 As shown, the instrument 40 includes an instrument housing 41, a long shaft 42, a joint assembly 43, and an end effector 44. The instrument 40 is detachably mounted on a drive system of the instrument holding device 112 of the operating device 10. The instrument housing 41 contains a transmission device (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the joint assembly 43 and the end effector 44 via multiple cables. The multiple transmission units are coupled to multiple actuators (e.g., motors) within the drive system and are driven by the actuators. The multiple actuators receive control commands from a control device and, according to the control commands, drive the transmission units to move, thereby driving the end effector 44 to move. For example, the drive units drive the transmission units to rotate, thereby pulling / retracting the cables to control the motion of the end effector. The end effector 44, through the joint assembly 43, can perform multiple Cartesian degrees of freedom movements, such as translation (including lateral and / or longitudinal), pitch, yaw, etc. It is understood that translation and pitch, translation and yaw can move independently or simultaneously. The end effector 44 is used to perform operations related to surgery. Depending on the needs of the surgical operation, the end effector 44 can be an electrocautery device, a clamp, a stapler, scissors, an ultrasonic scalpel, a camera, an imaging device, etc., wherein the camera or imaging device is used to acquire images of the inside of the human body.

[0065] Figure 4A This is a schematic diagram of a slave operating device 200 according to an embodiment of this application. Figure 4B This is a schematic diagram of the kinematic model of an operating device 200 according to one embodiment. Figure 4AAs shown, the kinematic model 600 includes kinematic information associated with a plurality of active devices. This kinematic information is based on known kinematic models for the various linkages (e.g., the aforementioned column, upper arm, forearm, and vertical arm) and joints of the operating device 200. The kinematic information is further based on position and orientation information associated with the joints of the operating device 200. The position and orientation information associated with the joints is obtained by measuring the linear position of linear joints and the rotational position of rotary joints using one or more position sensors (e.g., encoders). The kinematic model 600 includes several coordinate systems or coordinate system transformation relationships (e.g., homogeneous transformations) for transforming the position and orientation of the target object from a description in one coordinate system to a description in another. The kinematic model 600 can simultaneously use one or more of the coordinate systems and coordinate system transformation relationships involved to establish kinematic relationships between adjacent or non-adjacent coordinate systems through forward or reverse transformations. In some embodiments, the kinematic model 600 is used for... Figure 4A The kinematic relationship of the operating device 200 is modeled.

[0066] The kinematic model 600 includes a base coordinate system 610 for kinematic modeling of the joint positions and postures of the slave operating device 200. The base coordinate system 610 is established on the base 210 and remains relatively stationary with respect to the base of the slave operating device 200. In some embodiments, the base coordinate system 610 serves as a reference point for modeling the movement joints of the slave operating device 200. Once the base coordinate system 610 is determined, the geometric relationship between its origin and coordinate axis orientation on the mechanical component of the base 210 is also determined. In addition, to facilitate a visual description of the motion information of each movement joint, the Z-axis orientation of the base coordinate system 610 can be perpendicular to the ground or floor surface on which the slave operating device 200 is placed.

[0067] The kinematic model 600 further includes a column coordinate system 620, which is used to model the position and orientation of the lifting column 240, and this coordinate system remains relatively stationary with respect to the movable lifting column 240. In some embodiments, considering the convenience and speed of establishing coordinate system transformation relationships between adjacent coordinate systems, based on satisfying the coordinate system establishment rules, the Z-axis of the lifting column coordinate system 620 can coincide with the central axis 202 of the lifting column 240, the orientation of the X-axis and Y-axis of the column coordinate system 620 can be parallel to the coordinate axes of the base coordinate system 610, and the origin of the coordinate system 620 can be determined at the intersection of the central axis 202 of the lifting column and the horizontal center plane 201 of the boom 250. In some embodiments, one or more sensors can be used to measure the translational position of the lifting column 240 relative to the fixed support column 220, and this measurement can be further used to determine the coordinate system transformation relationship 615 between the column coordinate system 620 and the base coordinate system 610.

[0068] The kinematic model 600 further includes a boom coordinate system 630 from the operating device 200, which is established at the end of the boom 250. In some embodiments, it can be established at the intersection of the horizontal center plane 201 of the boom 250 and the rotation axis 203 of the third joint J3, for describing the motion information of the boom 250. Based on the coordinate system establishment rules, the Z-axis of the boom coordinate system 630 can coincide with the rotation axis 203 of the third joint J3. In some embodiments, one or more sensors can be used to measure the rotational position of the boom 250 relative to the lifting column 240, and this measurement can be further used to determine the coordinate system transformation relationship 625 between the boom coordinate system 630 and the column coordinate system 620. In some embodiments, based on the coordinate system transformation relationships 615 and 625, a kinematic model between coordinate systems 630 and 610 can be established, and this model can be further used to describe the motion information of the position and orientation of the boom 250 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and orientation of the upper arm 250 in the base coordinate system 610, and based on the coordinate system transformation relationships 615 and 625, the motion information of the joints of the lifting column 240 and the upper arm 250 can be determined through inverse kinematic transformation.

[0069] The kinematic model 600 further includes a forearm coordinate system 640, which is established at the end of the forearm 260. In some embodiments, the coordinate system 640 may be established at the intersection of the horizontal center plane 205 of the forearm 260 and the rotation axis 204 of the fourth joint J4, for describing the motion information of the forearm 260. Based on the coordinate system establishment rules, the Z-axis of the forearm coordinate system 640 may coincide with the central axis 204 of the vertical arm 270. In some embodiments, one or more sensors may be used to measure the rotational position of the forearm 260 relative to the upper arm 250, and this position may be further used to determine the coordinate system transformation relationship 635 between the forearm coordinate system 640 and the upper arm coordinate system 630. In some embodiments, based on the coordinate system transformation relationships 625 and 635, a kinematic model between coordinate systems 640 and 620 may be established, and this model may be further used to describe the attitude motion information of the forearm 260 relative to the lifting column 240. In some embodiments, a kinematic model between coordinate systems 640 and 610 can be established based on the coordinate system transformation relationships 615, 625, and 635, and can be further used to describe the motion information of the position and orientation of the forearm 260 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and orientation of the forearm 260 in the base coordinate system 610, and through inverse kinematic transformation based on the coordinate system transformation relationships 615, 625, and 635, the motion information of the joints of the lifting column 240, the upper arm 250, and the forearm 260 can be determined.

[0070] The kinematic model 600 further includes a vertical arm coordinate system 650, which is established at the end of the vertical arm 270. In some embodiments, the vertical arm coordinate system 650 can be established at the intersection of the central axis 204 of the vertical arm 270 and the rotation axis 206 of the fifth joint J5, for describing the motion information of the vertical arm 270. Based on the coordinate system establishment rules, the Z-axis of the vertical arm coordinate system 650 can coincide with the rotation axis 206 of the fifth joint J5. In some embodiments, one or more sensors can be used to measure the rotational position of the vertical arm 270 relative to the forearm 260, and this position can be further used to determine the coordinate system transformation relationship 645 between the vertical arm coordinate system 650 and the forearm coordinate system 640. In some embodiments, based on the combination of coordinate system transformation relationships 615 to 645, a kinematic model between coordinate systems 650 and 610 can be established, and this model can be further used to describe the motion information of the position and orientation of the vertical arm 270 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and orientation of the vertical arm 270 in the base coordinate system 610, and based on the coordinate system transformation relationship 615-645, the motion information of the joints of the lifting column 240, the upper arm 250, the lower arm 260 and the vertical arm 270 can be determined through inverse kinematic transformation.

[0071] The kinematic model 600 further includes a weapon-holding device coordinate system 660, which is established at the end of the weapon-holding device 280. In some embodiments, the coordinate system 660 may be established at the end of the weapon-holding device 280 and on the vertical center plane 207 of the weapon-holding device 280 (e.g., on the docking portion at the end of the weapon-holding device 214), for describing the motion information of the weapon-holding device 280. In some embodiments, one or more sensors may be used to measure the rotational position of the weapon-holding device 280 relative to the vertical arm 270, and this position may be further used to determine the coordinate system transformation relationship 655 between the weapon-holding device coordinate system 660 and the vertical arm coordinate system 650. In some embodiments, based on the combination of coordinate system transformation relationships 615 to 655, a kinematic model between coordinate systems 660 and 610 may be established, and this model may be further used to describe the motion information of the position and orientation of the weapon-holding device 280 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and orientation of the holding device 280 in the base coordinate system 610, and based on the coordinate system transformation relationship 615 to 655, the motion information of each joint of the robotic arm 211 can be determined through inverse kinematic transformation, and accurate motion control can be performed on the end point of the robotic arm 211 from the operating device 200.

[0072] The kinematic model 600 further includes a remote motion center coordinate system 670 for the robotic arm 211, the origin of which coincides with the remote motion center 116. In some embodiments, the coordinate transformation relationship 665 between the remote motion center coordinate system 670 and the holding device coordinate system 660 can be determined through the mechanism geometry on the holding device 280. Furthermore, based on the combination of coordinate transformation relationships 615 to 665, a coordinate transformation relationship 675 between coordinate systems 670 and 610 can be established, which can be further used to describe the positional motion information of the remote motion center 116 of the robotic arm 211 in the base coordinate system 610 of the trolley base and the postureal motion information of the holding device 280. In some embodiments, given the positional motion information of the remote motion center 116 in the base coordinate system 610 and the postureal motion information of the holding device 280, the motion information of each joint of the robotic arm 211 can be determined through inverse kinematic transformation based on the coordinate transformation relationship 675, thereby enabling the hand-held dragging holding device 280 to perform translational and rotational movements in the workspace.

[0073] In one embodiment, a force sensor 281 is provided on the holding device 280. The force sensor 281 is located near the fifth joint J5 and on the rotation axis 206 of the fifth joint J5. When the hand-held dragging robot arm 211 moves, assistant A holds the handle 282 on the holding device 280 and drags the holding device 280. The force sensor 281 detects the force applied by assistant A to the holding device 280 and inputs it to the control device 160. The control device 160 performs admittance control on each joint J1-J5 of the operating device 200 according to the input of the force sensor 281, so that the holding device 160 rotates around the remote motion center 116; or allows the holding device 160 to move freely to adjust the position of the remote motion center 116.

[0074] In one embodiment, such as Figure 5A As shown, the instrument holding device 280 includes drive devices 283a and 283b. It is understood that drive devices 283a and 283b are used to drive the instrument 40 mounted thereon. It is understood that the number of drive devices can be arbitrary, preferably four drive devices, each carrying four instruments. One of the four instruments is an endoscope, and the other three are surgical instruments. Drive devices 283a and 283b are respectively mounted on guide rails 284a and 284b. Drive devices 283a and 283b can move linearly along guide rails 284a and 284b to cause the instrument 40 mounted on drive devices 283a and 283b to perform a feeding motion. This feeding motion causes the instrument 40 to move linearly along the axis 118 of the cannula 115, so that the end effector 44 approaches or moves away from the lesion.

[0075] In one embodiment, such as Figure 5BAs described above, after the fifth joint J5 rotates clockwise by an angle θ, the angle between the direction of the gravity G of the holding device 280 and the force sensor 281 changes, and the gravity G of the holding device 280 will affect the force and torque detected by the force sensor 281. Here, the force does not include the torque, but only the force in the translation direction.

[0076] The rotation of the holding device 280 affects the force sensor 281, whose first force component is f1, and its model is f1 = h(θ); the rotation of the holding device 280 affects the force sensor 281, whose first torque component is m. s Its model is m s =g(θ), where θ is the angle through which the fifth joint J5 rotates, that is, the angle through which the holding device 280 rotates.

[0077] like Figure 5C The method described herein, which is an embodiment of the present application, for determining the first force command value F1 and the first torque command value M1 ultimately used to control the movement of the holding device 280, includes step S10, in which the control device 160 detects the actual first force value F and the first torque value M based on the force sensor 281.

[0078] In step S11, the control device 160 obtains the rotation angle θ of the holding device 280, for example by reading the angle sensor of the fifth joint J5.

[0079] In step S13, the control device 160 determines the first force component f1 and the first torque component m based on the rotation angle θ of the holding device 280. s The first force component f1 and the first torque component m can be determined using the above model. s That is, f1 = h(θ), m s =g(θ);

[0080] In step S15, the control device 160 determines the first force value F and the first torque value M, as well as the first force component f1 and the first torque component m. s Determine the first force command value F1 and the first torque command value M1. For example, the first force command value F1 and the first torque command value M1 can be obtained by subtraction, where F1 = F - f1 and M1 = Mm. s ;

[0081] In step S17, the control device 160 controls the movement of the holding device 280 according to the first force command value F1 and the first torque command value M1. This can be achieved by performing admittance control on the robotic arm 211 through the first force command value F1 and the first torque command value M1, thereby performing drag control on the holding device 280.

[0082] By eliminating the influence of the rotation of the holding device 280 on the force sensor, the first force command value F1 and the first torque command value M1 can be made closer to the force and torque of the external force applied to the holding device 280 for dragging the holding device, thereby making the dragging of the holding device 280 more accurate.

[0083] When the drive units 283a and 283b move along the guide rails 284a and 283b, such as Figure 5D As shown, for example, if the drive device 283a moves Δd1 along the proximal end of the guide rail 284a and Δd2 along the proximal end of the guide rail 284a, it will change the position of the center of mass C of the holding device 280, thereby affecting the torque detected by the force sensor 281.

[0084] In one embodiment, to more accurately control the dragging of the holding device 280, the displacement of the driving device is taken into account as a variable when determining the first torque command value M1. The specific method is as follows: Figure 5E As shown, in step S12, the control device 160 acquires the rotation angle θ of the holding device 280 and the displacement of the driving device. The displacement of the driving device includes the displacement Δd1 of the driving device 283a, the displacement Δd2 of the driving device 283a, and if there is an nth driving device, the displacement Δd of the nth driving device is also included. n ;

[0085] In step S14, the control device determines the first force component f1 based on the rotation angle θ of the holding device 280, and determines the first force component f1 and... Figure 5C The steps are the same as in step S13; however, the first torque component m at this time is... s Taking the movement of the drive unit as one of the factors to consider, its model is m s = h(θ,Δd1,Δd2,…,Δd) n The first torque command value M1 = Mm s This allows the first torque command value to be closer to the actual torque value applied to the holding device 280 from the outside.

[0086] In one embodiment, the drag control of the holding device has two drag modes, such as... Figure 6As shown, the first dragging mode is free dragging. In this mode, the holding device 380 is dragged with five degrees of freedom. These five degrees of freedom include three translational degrees of freedom and two rotational degrees of freedom for the docking portion 314a at the distal end of the docking device 314 in Cartesian space. The three translational degrees of freedom include translational movements along axes 301, 302, and 303 located at the docking portion 314a, which change the position of the holding device 380. The two rotational degrees of freedom include rotational movements along axis 301 and rotational movements along axis 302, which change the posture of the holding device 380. Axes 301 and 302 are located between the remote motion center 116 and the bottom of the holding device 380, and the three axes 301, 302, and 303 are perpendicular to each other.

[0087] By changing the position and posture of the holding device 380 in the first drag mode, the position of the remote motion center 116 can be adjusted. In other words, the first drag mode can change the position and posture of the docking part 314a of the docking device 314, so that the assistant A can hold the handle 382 and drag the holding device 380 to dock the docking device 314 with the sleeve 315.

[0088] The second dragging mode controls the holding device 380 to drag at a fixed point around the remote motion center 116. After the cannula 315 successfully docks with the docking device 314, assistant A switches to the second dragging mode. In this mode, the holding device 380 is restricted to rotating only around the fourth axis 304 and the fifth axis 305 to change its posture and thus prevent the cannula 315 from pulling on the incision during the operation. It is understandable that the second dragging mode can also be activated when the cannula 315 is not docked with the docking device 314.

[0089] In one embodiment, the method by which the control device 160 executes the first drag mode is as follows: Figure 7A As shown, in step 20, the control device 160 receives an instruction input to activate the first drag mode, for example, assistant A presses the first drag mode button 382a on the handle.

[0090] In step S21, in response to activating the first drag mode, the control device 160 receives the first force value and the first torque value input from the force sensor 381. In step S22, the control device 160 determines the first force command value F1 and the first torque command value M1 based on the acquired first force value and first torque value and a pre-stored algorithm model. The specific process can be referred to [reference needed]. Figure 5C When the drive devices 383a and 383b move, the following can be adopted: Figure 5E The embodiment shown determines the first torque command value M1, which will not be described in detail here.

[0091] In step S23, the control device 160 controls the docking part 314a of the holding device 380 to translate along the axes 301, 302, 303 according to the first force command value F1; the control device 160 controls the holding device 380 to rotate around the axis 301 or the axis 302 according to the first torque command value M1.

[0092] In one embodiment, the method by which the control device 160 executes the second drag mode is as follows: Figure 7B In step S30, the control device 160 receives an instruction input to activate the second drag mode, for example, assistant A presses the second drag mode button 382b on the handle.

[0093] In step S31, in response to activating the second drag mode, the control device 160 receives the first force value input by the force sensor 381, or receives both the first force value and the first torque value.

[0094] In step S32, the control device 160 determines the first force command value F1 based on the acquired first force value and the pre-stored algorithm model. This specific process and... Figure 5C or Figure 5E The illustrated embodiments are similar; for example, control device 160 only determines... Figure 5C Step S15 or Figure 5E The first force command value F1 in step S16; or determine the first force command value F1 and the first torque command value M1, but only apply the first force command value F1 to step S33.

[0095] In step S32, the control device 160 controls the holding device 380 to rotate around the first axis 304 or around the second axis 305 according to the first force command value F1, that is, controls the holding device 380 to rotate around the remote motion center 116.

[0096] In one embodiment, in response to a command to activate a second drag mode and according to a first component F11 of the first force command value F1, the control device 160 controls the second joint J2, the third joint J3, and the fourth joint J4 to rotate the holding device 380 around a first axis 304, which passes through the remote motion center 116. For example, the first component F11 of the first force command value F1 is a command related to the up-down force applied to the holding device 380. The rotation of the holding device 380 around the first axis 304 realizes the pitch movement of the holding device 380 around the remote motion center 116.

[0097] In one embodiment, in response to a command to activate a second dragging mode and according to a second component F12 of the first force command value F1, the control device 160 controls the first joint J1, the second joint J2, the third joint J3, and the fifth joint J5 to rotate the holding device about a second axis 305, which passes through the remote motion center 116 and is perpendicular to the first axis 304. For example, the second component F12 of the first command value F1 is a command associated with a force applied in the front-back direction of the holding device 380, and the rotation of the holding device about the second axis 305 achieves a yaw motion of the holding device 380 about the remote motion center 116.

[0098] As described above, the control device 160 controls the movement of the holding device 380 around the remote motion center 116 based on the first force command value F1, which makes the doctor's operation more intuitive and less strenuous. For example, if the holding device 380 is controlled to rotate around the first axis 304 by the first torque command value M1, the assistant A needs to apply a large torque to hold the handle 382 to achieve the rotation of the holding device 380 around the first axis 304. However, when controlled by the first force command value F1, the assistant A only needs to apply a force in the up and down direction to hold the handle 382.

[0099] In one embodiment, the position of the remote motion center 116 can be reconfigured. Compared to a fixed position, the reconfigurable position of the remote motion center 116 allows the surgical robot to be adapted to more complex surgical scenarios. For example, when the lesion is close to the abdomen, the surgical instruments may not be able to reach it. By reconfiguring the position of the remote motion center 116, it can be brought closer to the lesion, allowing the surgical instruments to reach it. In one embodiment, in response to a command to reconfigure the remote motion center 116, the control device 160 changes the origin of the remote motion center coordinate system 670, thereby reconfiguring the position of the remote motion center 116. During the reconfiguration of the remote motion center 116, the holding device 116 remains stationary to avoid harming the patient. For example, the position of the remote motion center 116 can be reconfigured along the axis 303, i.e., changing the distance H of the remote motion center 116 relative to the bottom edge 384 of the holding device 380.

[0100] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical robot, characterized in that, include: A robotic arm, which comprises multiple joints; A holding device, which is rotatably connected to a joint at the distal end of the robotic arm, is used to load surgical instruments; A force sensor, which is mounted on the holding device; The control device is configured as follows: When an external force is applied to the holding device, the first force value and the first torque value detected by the force sensor are acquired; The rotation angle of the holding device is obtained, and the first force component and the first torque component applied by the holding device to the force sensor are determined based on the rotation angle. The first force command value is determined based on the first force value and the first force component; The first torque command value is determined based on the first torque value and the first torque component; According to the first force command and the first torque command, control the movement of the robotic arm to adjust the position and posture of the holding device; The instrument holding device further includes at least one drive device, the surgical instrument being detachably mounted on the drive device, the drive device being capable of linear motion to drive the surgical instrument to perform a feed motion, and the control device being further configured to: The displacement of the driving device is obtained, and the first torque component is determined based on the displacement and the rotation angle.

2. The surgical robot as described in claim 1, characterized in that, The control device is also configured to: In response to a command to activate a first drag mode and based on a first force command value, the robotic arm is controlled to move to translate the holding device, thereby adjusting the position of a remote motion center.

3. The surgical robot as described in claim 2, characterized in that, The control device responds to the command to activate the first drag mode and controls the movement of the robotic arm according to the first torque command value to change the posture of the holding device and thereby adjust the position of the remote center.

4. The surgical robot as described in claim 3, characterized in that, The control device responds to the command to activate the second drag mode and controls the movement of the robotic arm according to the first force command value, so that the holding device rotates around the remote motion center.

5. The surgical robot as described in claim 4, characterized in that, The plurality of joints includes a first joint that moves linearly in a vertical direction, a second, third, and fourth joints whose rotation axes are perpendicular to the horizontal plane, and a fifth joint whose rotation axis is parallel to the horizontal plane. In response to the command to activate the second drag mode and according to a first component of the first force command value, the control device controls the second, third, and fourth joints to move in conjunction, so that the holding device rotates about a first axis that passes through the remote motion center.

6. The surgical robot as described in claim 5, characterized in that, In response to the command to activate the second drag mode and according to the second component of the first force command value, the control device controls the linkage of the first joint, the second joint, the third joint, and the fifth joint to cause the holding device to rotate about a second axis, which passes through the remote motion center and is perpendicular to the first axis.

7. The surgical robot as described in claim 5, characterized in that, The holding device is rotatably connected to the fifth joint, and the force sensor is located on the rotation axis of the fifth joint.

8. The surgical robot as described in claim 2, characterized in that, In response to a command to reconfigure the remote motion center, the control device reconfigures the position of the remote motion center relative to the weapon-holding device and keeps the weapon-holding device stationary.

9. A surgical robot, characterized in that, include: A robotic arm, which comprises multiple joints; A holding device, which is rotatably connected to a joint at the distal end of the robotic arm, is configured to rotate about a remote center of motion; A force sensor, which is mounted on the holding device; The control device is configured as follows: When an external force is applied to the holding device, the first force value and the first torque value detected by the force sensor are acquired; The rotation angle of the holding device is obtained, and the first force component and the first torque component applied by the holding device to the force sensor are determined based on the rotation angle. The first force command value is determined based on the first force value and the first force component; The first torque command value is determined based on the first torque value and the first torque component; Based on the first force command and the first torque command, control the movement of the robotic arm to adjust the position of the remote motion center; The plurality of joints includes a first joint that moves linearly in a vertical direction, a second, third, and fourth joint with their rotation axes perpendicular to the horizontal plane, and a fifth joint with its rotation axis parallel to the horizontal plane. In response to an activation command for a second dragging mode and based on a first component of the first force command value, the control device controls the second, third, and fourth joints to move in tandem, so that the holding device rotates about a first axis passing through the remote motion center.

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