Surgical robot

Abstract

The surgical robot comprises a mechanical arm, an instrument holding device and a control device, the instrument holding device is provided with a force sensor used for detecting external force, and the control device responds to a command for activating a first dragging mode and controls the mechanical arm to operate on the basis of a first torque value detected by the force sensor. The mechanical arm is controlled to move so as to change the posture of the instrument holding device; and the control device responds to the command for activating the second dragging mode and controls the mechanical arm to move based on the first force value detected by the force sensor, so that the mechanical holding device rotates around the remote motion center.

Description

Technical Field

[0001] The present application relates to the medical field, and in particular to a surgical robot. Background Art

[0002] Minimally invasive medical technology refers to a medical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery or biopsy inside the human body cavity. Compared with traditional surgical methods, minimally invasive medical technology has the advantages of less trauma, less pain, faster recovery, less discomfort for patients and fewer harmful side effects.

[0003] With the advancement of science and technology, minimally invasive medical surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical medical robots usually include a main control console and a slave operating device. The doctor controls the slave operating device by controlling the input device of the main control console. The slave operating device is used to respond to the control commands sent by the main control console and perform the corresponding surgical operation. The instrument is connected to the drive device of the slave operating device and is used to perform surgical operations. The distal end of the instrument includes an end device for performing surgical operations and a joint assembly connected to the end device that can move with multiple degrees of freedom.

[0004] The surgical robot needs to adjust the posture of its robotic arm before the operation to facilitate docking with the cannula, and the position of the cannula needs to be adjusted during the operation. Existing surgical robots are not intuitive when docking the cannula and making adjustments, and the adjustment efficiency is low. Summary of the invention

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

[0006] a robotic arm comprising a plurality of joints;

[0007] An instrument holding device, which is rotatably connected to a joint at the distal end of the robotic arm, and is used to carry a plurality of surgical instruments;

[0008] a force sensor mounted on the holding device;

[0009] A control device configured to:

[0010] Acquire a first force value detected by the force sensor, and determine a first force command value according to the first force value;

[0011] In response to activating a first drag mode command and based on the first force command value, controlling the movement of the robotic arm to translate the arm device to adjust a position of a remote center of motion;

[0012] In response to activating a second drag mode command and based on the first force command value, the robotic arm is controlled to move so that the weapon device rotates about the remote center of motion.

[0013] In a specific embodiment, the control device is configured as follows:

[0014] Acquire a first torque value detected by the force sensor, and determine a first torque command value according to the first torque value;

[0015] In response to activating the first drag mode command and according to the first torque command value, the control device controls the movement of the robot arm to change the posture of the weapon device, thereby adjusting the position of the remote fixed point.

[0016] In a specific embodiment, the multiple joints include a first joint that moves linearly in a vertical direction, a second joint, a third joint and a fourth joint whose rotation axes are perpendicular to a 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 the first component of the first force command value, the control device controls the second joint, the third joint and the fourth joint to work in conjunction so that the holding device rotates around a first axis, and the first axis passes through the remote motion center.

[0017] In a specific embodiment, in response to the command to activate the second drag mode and based on the second component of the first force command value, the control device controls the first joint, the second joint, the third joint linkage and the fifth joint linkage to rotate the weapon device around a second axis, which passes through the remote motion center and is perpendicular to the first axis.

[0018] In a specific embodiment, determining the first force command value according to the first force value includes:

[0019] The control device acquires a rotation angle of the holding device, and determines a first force component applied by the holding device to the force sensor according to the rotation angle;

[0020] determining a first force command value according to the first force value and the first force component;

[0021] In a specific embodiment, determining the first torque command value according to the first torque value includes:

[0022] Determining a first torque component applied by the holding device to the force sensor according to the rotation angle;

[0023] determining a first torque command value according to the first torque value and the first torque component;

[0024] In a specific embodiment, the holding device further comprises at least one driving device, at least one of the surgical instruments is detachably mounted on the driving device, the driving device can move in a straight line to drive the surgical instrument to perform a feeding motion, and the control device is configured as follows:

[0025] The displacement of the driving device is acquired, and the first torque component is determined according to the displacement and the rotation angle.

[0026] In a 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.

[0027] In a specific embodiment, in response to a command to reconfigure the remote center of motion, the control device reconfigures the position of the remote center of motion relative to the weapon device and maintains the weapon device stationary.

[0028] The present application provides a surgical robot in a first aspect, comprising:

[0029] a robotic arm comprising a plurality of joints;

[0030] An instrument holding device, which is rotatably connected to a joint at the distal end of the robotic arm, and is used to load surgical instruments;

[0031] a force sensor mounted on the holding device;

[0032] A control device configured to:

[0033] Acquire a first force value and a first torque value detected by the force sensor;

[0034] In response to activating a first drag mode command and according to the first torque value, the control device controls the movement of the mechanical arm to change the posture of the holding device;

[0035] In response to activating a second drag mode command and based on the first force value, the control device controls the movement of the robotic arm to rotate the weapon device around a remote center of motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic top view of a surgical robot-assisted medical system according to an embodiment of the present application;

[0037] Figure 2A A schematic diagram of a main control console of a surgical robot according to an embodiment of the present application;

[0038] Figure 2B A schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a surgical instrument according to an embodiment of the present application;

[0040] Figure 4A A schematic diagram of a slave operating device according to an embodiment of the present application;

[0041] Figure 4B A schematic diagram of a kinematic model of a slave operating device according to an embodiment of the present application;

[0042] Figure 5A A schematic diagram of a holding device according to an embodiment of the present application;

[0043] Figure 5B for Figure 5A The schematic diagram of the rotation process of the holding device shown;

[0044] Figure 5C is a flow chart of determining a first force command value and a first torque command value for dragging control of a weapon holding device according to an embodiment of the present application;

[0045] Figure 5D for Figure 5A The schematic diagram of the process of the holding device rotating and the driving device moving is shown;

[0046] Figure 5E A flowchart of determining a first force command value and a first torque command value for dragging control of a weapon holding device according to an embodiment of the present application;

[0047] Figure 6 A schematic diagram of a holding device according to an embodiment of the present application;

[0048] Fig. 7A This is a control flow chart of the first dragging mode of the weapon holding device according to one embodiment of the present application;

[0049] Figure 7B This is a control flow chart of the second drag mode of the weapon holding device according to one embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood, and is not a limitation of the present application.

[0051] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time, or it may refer to that the two elements are interactively connected through signals. When an element is considered to be "coupled" / "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time, or it may refer to that the two elements are interactively connected through signals. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are only for the purpose of illustration and are not intended to be the only implementation method. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, the elements or features described as "below" or "below" other elements or features will be oriented as "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0052] The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the surgeon during surgery, and "proximal end" refers to the end close to the surgeon during surgery. The term "plurality" used herein includes two or more.

[0053] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical instrument for performing a surgical procedure, such as a biopsy needle, an electrocautery device, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Further, the end effector also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include storage information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "and / or" and "and / or" used herein include any and all combinations of one or more related listed items.

[0055] A surgical robot-assisted medical system according to an embodiment of the present application is as follows: 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, and the surgeon S can remotely operate and control the slave operating device 10 on the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired from the slave operating device 10 according to the operation of the surgeon S. The surgeon S can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional images of the patient's body, the surgeon S can control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive feeling.

[0056] The slave operation device 10 includes a control device, a mechanical arm 11, and a holding device 12. The control device can be arranged in the base of the slave operation device 10 or on the mechanical arm 11. In one embodiment, the control device is used to control the joint movement of the mechanical arm 11 and the movement of the driving system in the holding device 12. A plurality of surgical instruments can be mounted on the holding device 12, and the driving system of the holding device 12 is used to drive the movement of the surgical instruments so that the surgical instruments can perform various surgeries.

[0057] In one embodiment, the surgical robot-assisted medical system further includes a gas insufflation device, a lumen group (not shown) and a cannula 13, wherein the lumen group connects the cannula 13 to the gas insufflation device fluid. The cannula 13 is connected to the distal end of the instrument holding device 12, and the cannula is inserted into the body cavity of the patient P lying on the operating table T. The end effectors of multiple surgical instruments or the camera at the distal end of the endoscope pass through the cannula 13 and extend into the body cavity of the patient P to perform surgery-related operations or obtain images of the patient P's internal environment.

[0058] In one embodiment, surgeon S can control the working mode of the gas insufflation device through the main console 10, such as injecting gas from the gas source into the body cavity of the patient P to form artificial pneumoperitoneum, or extracting gas from the body cavity of the patient P. Assistant A installs the surgical instrument 40 on the instrument holder 12 according to the surgical conditions, or replaces the surgical instrument 40 from the instrument holder 12. Surgeon S, assistant A and anesthesiologist B form a basic surgical team. The surgical instrument 40 can be a surgical instrument such as an electric cauterizer, a clamp, a stapler, an ultrasonic scalpel, etc. for performing surgical operations, or an imaging device (such as an endoscope) or other surgical tools for acquiring images.

[0059] The main control console 10 is also connected to the electronic device cart 30 by remote communication, and the electronic device cart 30 is remotely connected to the slave operating device 10 by remote communication. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the above-mentioned gas blowing device and other devices. In this embodiment, the main control console 10 and the slave operating device 10 and the electronic device cart 30 use wired Ethernet communication to communicate remotely, but the remote communication is not limited to wired Ethernet communication, and 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.

[0060] In one embodiment, Figure 2A As shown, the main 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, wherein the display device 21 is used to display the image acquired by the above-mentioned imaging system. The armrest 22 is used to place the operator's arm and / or hand so that the operator can operate the input device 23 more comfortably, and the observation device 24 is used to observe the image displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device 24 can be omitted, and direct observation can be performed in this case. The operator controls the movement of the surgical instrument of the slave operation device 10 by operating the input device 23. The control signal processing system of the main console 20 processes the input signal of the input device 23 and then sends a control command to the slave operation device. The slave operation device 10 responds to the control command of the main console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be set in the slave operation device 10, for example, in the base of the slave operation device 10. The control signal processing system 25 can be a device with the above-mentioned control device.

[0061] The surgical robot also typically includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system portion typically includes a video image acquisition function (e.g., an instrument 40 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 40 with an image acquisition function includes an optical device of one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 40 with an image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly to be processed and displayed on a video display device.

[0062] In one embodiment, Figure 2B As shown, the mechanical arm 11 of the slave operating device 10 of the surgical robot-assisted medical system includes a base 110, a column 120 connected to the base 110, an upper arm 130, a lower arm 140 and a vertical arm 150 connected in sequence. The mechanical arm also includes a plurality of joints J1-J5 for connecting the column 120, the upper arm 160, the lower arm 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, and the first joint J1 is a linear motion joint. The lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the part of the mechanical arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 through the second joint J2, the upper arm 130 is connected to the lower arm 140 through the third joint J3, and the lower arm 140 is connected to the vertical arm 150 through 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 perpendicular to the horizontal plane. The vertical arm 150 and the weapon holding device 112 are connected through the fifth joint J5, and the axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0063] The control device 160 is configured to control the linkage of multiple joints J1-J5 to achieve various positions of the entire robotic arm 11, adjust the position and posture of the weapon holding device 112, and realize the rotational movement of the weapon holding device 112 around the 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.

[0064] In one embodiment, the instrument holding device 112 further includes a sleeve 115, which is detachably connected to the instrument holding device 112 via a docking device 114. The central axis 106 of the instrument holding device 112 substantially coincides with the axis 118 of the sleeve 115. The instrument holding device 112 drives the sleeve 115 to rotate around a remote motion center 116. Since the remote motion center 116 is located in the incision 117, the patient P will not be injured when the sleeve 115 rotates around the remote motion center 116.

[0065] The operating device 10 also includes a control panel 170 arranged on the support column 121, and the control panel 170 includes at least one switch 171. The switch 171 is used to input positioning instructions to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robot arm 100 to quickly realize the positioning of various predetermined postures of the basic 100, such as unfolding into a posture for arranging sterile curtains.

[0066] In one embodiment, the device 112 can be loaded with multiple instruments 40, and the multiple instruments 40 pass through the same cannula 115 and enter the body from the incision 117. Figure 3 As shown, the instrument 40 includes an instrument box 41, a long shaft 42, a joint assembly 43, and an end effector 44. The instrument 40 is detachably mounted on the drive system on the holding device 112 of the slave operating device 10. The instrument box 41 has a transmission device (not shown in the figure), which includes multiple transmission units (such as winches). The transmission units are connected to the joint assembly 43 and the end effector 44 through multiple cables. The multiple transmission units are respectively coupled to multiple actuators (such as motors) in the drive system and driven by the actuators. Multiple actuators receive control instructions from the control device, and according to the control instructions, they drive the transmission units to move to drive the end effector 44 to move. For example, the drive unit drives the transmission unit to rotate to retract / pull the cable to control the movement of the end effector. The end effector 44 can perform multiple Cartesian degrees of freedom through the joint assembly 43, such as translation (including lateral and / or longitudinal movement), pitch, yaw, etc. It can be understood that translation and pitch, translation and yaw can move independently or simultaneously. The end effector 44 is used to perform operations related to surgical operations. Depending on the requirements of the surgical operation, the end effector 44 can be an electric cauterizer, a clamp, a stapler, scissors, an ultrasonic scalpel, a camera, an imaging device, etc., wherein the camera or imaging device is used to obtain images of the inside of the human body.

[0067] Figure 4A is a schematic diagram of a slave operating device 200 according to an embodiment of the present application. Figure 4B FIG. 2 is a schematic diagram of a kinematic model of a slave operating device 200 according to an embodiment. Figure 4AAs shown, the kinematic model 600 includes kinematic information associated with many active devices, and the kinematic information is based on known kinematic models for the various mechanism links (such as the above-mentioned column, upper arm, lower arm and vertical arm) and joints of the slave operating device 200. The kinematic information is further based on information associated with the position and posture of each joint of the slave operating device 200. The information associated with the position and posture of the joint is obtained by measuring the linear position of the linear motion joint and the rotational position of the rotational joint using one or more position sensors (such as encoders). The kinematic model 600 includes several coordinate systems or coordinate systems and coordinate system transformation relationships (such as homogeneous transformation of coordinate systems) to transform the position and posture of the target object from the description in one coordinate system to the description in another coordinate system. The kinematic model 600 can simultaneously use one or several coordinate systems and coordinate system transformation relationships involved therein to establish a kinematic relationship between adjacent or non-adjacent coordinate systems through forward transformation or reverse transformation. In some embodiments, the kinematic model 600 is used to Figure 4A The kinematic relationship of the slave operating device 200 is modeled.

[0068] The kinematic model 600 includes a base coordinate system 610 for kinematic modeling of the positions and postures of the joints 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 is used as a benchmark reference point for modeling between the moving joints of the slave operating device 200. Once the base coordinate system 610 is determined, the geometric relationship between the origin of the coordinate system and the orientation of the coordinate axes on the mechanical components of the base 210 is also determined. In addition, in order to facilitate an intuitive description of the motion information of each moving 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.

[0069] The kinematic model 600 further includes a column coordinate system 620, which is used to model the position and posture of the lifting column 240, and the coordinate system and the lifting column 240 that is allowed to move remain in a relatively static state. In some embodiments, considering the convenience and rapidity of establishing the coordinate system transformation relationship between adjacent coordinate systems, on the basis of 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 the Y axis of the column coordinate system 620 can be parallel to the coordinate axis 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 translation position of the lifting column 240 relative to the fixed support column 220, and further used to determine the coordinate system transformation relationship 615 between the column coordinate system 620 and the base coordinate system 610.

[0070] 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, and is used to describe the motion information of the boom 250. On the basis of satisfying the coordinate system establishment rule, 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 rotation position of the boom 250 relative to the lifting column 240, and 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 the coordinate systems 630 and 610 can be established, and can further be used to describe the motion information of the position and posture of the boom 250 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and posture of the upper arm 250 in the base coordinate system 610, 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.

[0071] 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 can 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, and is used to describe the motion information of the forearm 260. On the basis of satisfying the coordinate system establishment rule, the Z axis of the forearm coordinate system 640 can coincide with the central axis 204 of the vertical arm 270. In some embodiments, one or more sensors can be used to measure the rotation position of the forearm 260 relative to the boom 250, and further used to determine the coordinate system transformation relationship 635 between the forearm coordinate system 640 and the boom coordinate system 630. In some embodiments, based on the coordinate system transformation relationships 625 and 635, a kinematic model between the coordinate systems 640 and 620 can be established, and can further be used to describe the posture motion information of the forearm 260 relative to the lifting column 240. In some embodiments, based on the combination of coordinate system transformation relationships 615, 625 and 635, a kinematic model between coordinate systems 640 and 610 can be established, and can further be used to describe the motion information of the position and posture of the forearm 260 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and posture of the forearm 260 in the base coordinate system 610, based on the coordinate system transformation relationships 615, 625 and 635, after kinematic inverse transformation, the motion information of the joints of the lifting column 240, the upper arm 250 and the forearm 260 can be determined.

[0072] 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, and is used to describe the motion information of the vertical arm 270. On the basis of satisfying 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 rotation position of the vertical arm 270 relative to the forearm 260, and 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 615-645, a kinematic model between the coordinate systems 650 and 610 can be established, and can further be used to describe the motion information of the position and posture of the vertical arm 270 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and posture of the vertical arm 270 in the base coordinate system 610, based on the coordinate system transformation relationship 615~645, after inverse kinematic transformation, 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.

[0073] The kinematic model 600 further includes a handheld device coordinate system 660, which is established at the end of the handheld device 280. In some embodiments, the coordinate system 660 can be established at the end of the handheld device 280 and on the vertical center plane 207 of the handheld device 280 (for example, on the docking portion of the end of the handheld device 214), and is used to describe the motion information of the handheld device 280. In some embodiments, one or more sensors can be used to measure the rotational position of the handheld device 280 relative to the vertical arm 270, and further used to determine the coordinate system transformation relationship 655 between the handheld device coordinate system 660 and the vertical arm coordinate system 650. In some embodiments, based on the combination of coordinate system transformation relationships 615-655, a kinematic model between coordinate systems 660 and 610 can be established, and can further be used to describe the motion information of the position and posture of the handheld device 280 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and posture of the armed device 280 in the base coordinate system 610, based on the coordinate system transformation relationship 615~655, after inverse kinematic transformation, the motion information of each joint of the robotic arm 211 can be determined, and the end point of the robotic arm 211 from the operating device 200 can be accurately controlled.

[0074] The kinematic model 600 further includes a remote motion center coordinate system 670 of the manipulator 211, the origin of which coincides with the remote motion center 116. In some embodiments, the coordinate system transformation relationship 665 between the remote motion center coordinate system 670 and the arm coordinate system 660 can be determined through the geometric relationship of the mechanism on the arm 280. In addition, based on the combination of the coordinate system transformation relationships 615-665, a coordinate transformation relationship 675 between the coordinate systems 670 and 610 can be established, and can be further used to describe the position motion information of the remote motion center 116 of the manipulator 211 in the cart base base coordinate system 610 and the posture motion information of the arm 280. In some embodiments, the position motion information of the remote motion center 116 in the base coordinate system 610 and the posture motion information of the arm 280 are known. Based on the coordinate transformation relationship 675, after kinematic inverse transformation, the motion information of each joint of the manipulator 211 can be determined, and then the translation and rotation motion of the handheld and dragged arm 280 in the workspace can be realized.

[0075] In one embodiment, a force sensor 281 is provided on the weapon 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 robot arm 211 is hand-held and dragged to move, the assistant A holds the handle 282 located on the weapon holding device 280 and drags the weapon holding device 280 to move. The force sensor 281 detects the force applied by the assistant A to the weapon 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 slave operating device 200 according to the input of the force sensor 281 to make the weapon holding device 160 rotate around the remote motion center 116; or allows the weapon holding device 160 to move freely to adjust the position of the remote motion center 116.

[0076] In one embodiment, Figure 5A As shown, the instrument holding device 280 includes driving devices 283a, 283b. It can be understood that the driving devices 283a, 283b are used to drive the instrument 40 loaded thereon. It can be understood that the number of driving devices can be any number, preferably four driving devices, and the four driving devices are loaded with four instruments, one of the four instruments is an endoscope, and the other three are surgical instruments. The driving device 283a and the driving device 283b are respectively mounted on the guide rails 284a and 284b. The driving devices 283a, 283b can move linearly along the guide rails 284a, 284b to enable the instrument 40 mounted on the driving devices 283a, 283b to perform a feeding motion. The feeding motion can cause the instrument 40 to move linearly along the axis 118 of the sleeve 115 to move the end effector 44 close to or away from the lesion.

[0077] In one embodiment, Figure 5BAs described above, after the fifth joint J5 rotates by an angle θ in time, due to the change in the angle between the direction of the gravity G of the holding device 280 and the force sensor 281, the gravity G of the holding device 280 will affect the force and torque detected by the force sensor 281. The force referred to here does not include torque, but only refers to the force in the translation direction.

[0078] The first force component of the force sensor 281 affected by the rotation of the holding device 280 is f1, and its model is f1 = h(θ); the first moment component of the force sensor 281 affected by the rotation of the holding device 280 is m s , whose 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 weapon holding device 280 rotates.

[0079] like Figure 5C As described above, a method for determining a first force command value F1 and a first torque command value M1 ultimately used to control the movement of the armed device 280 is provided in one embodiment of the present application. In step S10, the control device 160 detects an actual first force value F and a first torque value M according to the force sensor 281;

[0080] In step S11, the control device 160 obtains the rotation angle θ of the weapon holding device 280, for example, by reading the angle sensor of the fifth joint J5 to obtain the rotation angle θ of the weapon holding device 280;

[0081] In step S13, the control device 160 determines the first force component f1 and the first moment component m according to the rotation angle θ of the holding device 280. s , the first force component f1 and the first moment component m can be determined by the above model s , that is, f1=h(θ),m s =g(θ);

[0082] In step S15, the control device 160 controls the first force value F and the first moment value M, and the first force component f1 and the first moment 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 taking the difference, F1 = F-f1, M1 = Mm s ;

[0083] In step S17 , the control device 160 controls the movement of the arm 280 according to the first force command value F1 and the first torque command value M1 , which may be to perform admittance control on the robot arm 211 through the first force command value F1 and the first torque command value M1 , thereby performing dragging control on the arm 280 .

[0084] By removing 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 external force and torque applied to the holding device 280 for dragging the holding device, thereby making the dragging of the holding device 280 more precise.

[0085] When the driving devices 283a, 283b move along the guide rails 284a and 283b, as shown in FIG. Figure 5D As shown, for example, the driving device 283a moves Δd1 along the proximal direction of the guide rail 284a, and the driving device 283a moves Δd2 along the proximal direction of the guide rail 284a, which 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.

[0086] In one embodiment, in order to more accurately control the dragging of the armed device 280, the displacement of the driving device is taken into consideration 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 obtains the rotation angle θ of the holding device 280 and the displacement of the driving device, and 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 n ;

[0087] In step S14, the control device determines the first force component f1 according to the rotation angle θ of the holding device 280, and determines the first force component f1 and Figure 5C The same as step S13 in FIG. 1 ; but the first moment component m at this time s Taking the movement of the drive device into consideration, the model is m s =h(θ,Δd1,Δd2,…,Δd n ), the first torque command value M1 = Mm s In this way, the first torque command value can be closer to the actual torque value applied to the mechanical device 280 by the outside world.

[0088] 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 which the weapon device 380 is dragged and moved in a five-degree-of-freedom manner, the five degrees of freedom of movement including three translational degrees of freedom and two rotational degrees of freedom of movement of the docking portion 314a at the far end of the docking device 314 in Cartesian space, wherein the three translational degrees of freedom include translational movements along axes 301, 302, 303 located at the docking portion 314a, the three translational degrees of freedom change the position of the weapon device 380, and the two rotational degrees of freedom include rotational movement of axis 301 and rotational rotation of axis 302, the two rotational degrees of freedom change the posture of the weapon device 380. Axes 301 and 302 are located between the remote motion center 116 and the bottom of the weapon device 380, and the three axes 301, 302, 303 are perpendicular to each other.

[0089] The first dragging mode can be used to adjust the position of the remote motion center 116 by changing the position and posture of the holding device 380. In other words, the first dragging 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.

[0090] The second dragging mode is to control the fixed-point dragging of the weapon holding device 380 around the remote motion center 116. After the sleeve 315 is successfully docked with the docking device 314, after the assistant A switches to the second dragging mode, the weapon holding device 380 is constrained to rotate only around the fourth axis 304 and around the fifth axis 305 to change the posture of the weapon holding device 380, thereby preventing the sleeve 315 from pulling the incision during the operation. It can be understood that the second dragging mode can also be activated when the sleeve 315 is not docked with the docking device 314.

[0091] In one embodiment, the method for controlling the device 160 to execute the first drag mode is as follows: Fig. 7A As shown, in step 20, the control device 160 receives a command input for activating the first drag mode, such as assistant A pressing the first drag mode button 382a on the handle.

[0092] 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 by 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 according to the acquired first force value and the first torque value and the pre-stored algorithm model. The specific process can be referred to Figure 5C , when the drive devices 383a, 383b move, Figure 5E The illustrated embodiment determines the first torque command value M1, which will not be described in detail herein.

[0093] In step S23, the control device 160 controls the translational movement of the docking portion 314a of the holding device 380 along the axes 301, 302, and 303 according to the first force command value F1; the control device 160 controls the rotation of the holding device 380 around the axis 301 or the axis 302 according to the first torque command value M1.

[0094] In one embodiment, the method for controlling the device 160 to execute the second drag mode is as follows: Figure 7B As described above, in step S30, the control device 160 receives a command input for activating the second drag mode, such as assistant A pressing the second drag mode button 382b on the handle.

[0095] In step S31 , in response to activating the second drag mode, the control device 160 receives a first force value input by the force sensor 381 , or receives both the first force value and the first torque value.

[0096] In step S32, the control device 160 determines the first force command value F1 according to the acquired first force value and the pre-stored algorithm model. Figure 5C or Figure 5E Similar to the embodiment shown, for example, the control device 160 only determines Figure 5C Step S15 or Figure 5E or determine the first force command value F1 and the first torque command value M1, but only apply the first force command value F1 in step S33.

[0097] In step S32 , the control device 160 controls the weapon 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 weapon device 380 to rotate around the remote motion center 116 .

[0098] In one embodiment, in response to a command to activate the second drag mode and based on the 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 work in conjunction so that the weapon device 380 rotates around the first axis 304, and the first axis 304 runs through the remote motion center 116. For example, the first component F11 of the first force command value F1 is a command associated with the up and down force applied to the weapon device 380, and the rotation of the weapon device 380 around the first axis 304 realizes the pitch motion of the weapon device 380 around the remote motion center 116.

[0099] In one embodiment, in response to a command to activate the second drag mode and according to the 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 link together so that the weapon device rotates around the second axis 305, and the second axis 305 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 to the front-rear direction of the weapon device 380, and the rotation of the weapon device around the second axis 305 realizes the yaw motion of the weapon device 380 around the remote motion center 116.

[0100] As described above, the control device 160 controls the movement of the instrument holding device 380 around the remote motion center 116 based on the first force command value F1, which can make the doctor's operation more intuitive and labor-saving. For example, if the first torque command value M1 is used to control the rotation of the instrument holding device 380 around the first axis 304, the assistant A needs to apply a large torque when holding the handle 382 to realize the rotation of the instrument holding device 380 around the first axis 304, while when the first force command value F1 is used to control, the assistant A only needs to apply a force in the up and down directions when holding the handle 382.

[0101] In one embodiment, the position of the remote motion center 116 can be reconfigured. Compared with the form in which the position of the remote motion center 116 is fixed, the position of the remote motion center 116 can be reconfigured, which can make the surgical robot suitable for more complex surgical scenarios. For example, when the lesion is close to the human belly, the surgical instrument may not be able to reach the lesion. By reconfiguring the position of the remote motion center 116, the remote motion center 116 can be close to the lesion, so that the surgical instrument can reach the lesion. In one embodiment, in response to the instruction to reconfigure the remote motion center 116, the control device 160 changes the origin of the remote motion center coordinate system 670, so that the position of the remote motion center 116 is reconfigured. During the process of reconfiguring the remote motion center 116, the holding device 116 remains motionless to avoid harming the patient. For example, the position of the remote motion center 116 can be reconfigured along the axis 303, that is, the distance H of the remote motion center 116 relative to the bottom edge 384 of the holding device 380 is changed.

[0102] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0103] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A surgical robot, characterized in that: include: a robotic arm comprising a plurality of joints; An instrument holding device, which is rotatably connected to a joint at the distal end of the robotic arm, and is used to carry a plurality of surgical instruments; a force sensor mounted on the holding device; A control device configured to: Acquire a first force value detected by the force sensor, and determine a first force command value according to the first force value; In response to activating a first drag mode command and based on the first force command value, controlling the movement of the robotic arm to translate the arm device to adjust a position of a remote center of motion; In response to activating a second drag mode command and based on the first force command value, the robotic arm is controlled to move so that the weapon device rotates about the remote center of motion.

2. The surgical robot according to claim 1, characterized in that: The control device is configured to: Acquire a first torque value detected by the force sensor, and determine a first torque command value according to the first torque value; In response to activating the first drag mode command and according to the first torque command value, the control device controls the movement of the robot arm to change the posture of the weapon device, thereby adjusting the position of the remote fixed point.

3. The surgical robot according to claim 1, characterized in that: The multiple joints include a first joint that moves linearly in a vertical direction, a second joint, a third joint and a fourth joint whose rotation axes are perpendicular to a 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 based on the first component of the first force command value, the control device controls the second joint, the third joint and the fourth joint to work in conjunction so that the holding device rotates around a first axis, and the first axis passes through the remote motion center.

4. The surgical robot according to claim 3, characterized in that: In response to the command to activate the second drag mode and based on the second component of the first force command value, the control device controls the first joint, the second joint, the third joint linkage and the fifth joint linkage to rotate the weapon device around a second axis, which passes through the remote motion center and is perpendicular to the first axis.

5. The surgical robot according to claim 2, characterized in that: Determining the first force command value according to the first force value comprises: The control device acquires a rotation angle of the holding device, and determines a first force component applied by the holding device to the force sensor according to the rotation angle; A first force command value is determined based on the first force value and the first force component.

6. The surgical robot according to claim 5, characterized in that: Determining a first torque command value according to the first torque value includes: Determining a first torque component applied by the holding device to the force sensor according to the rotation angle; A first torque command value is determined according to the first torque value and the first torque component.

7. The surgical robot according to claim 6, characterized in that: The holding device further comprises at least one driving device, at least one of the surgical instruments is detachably mounted on the driving device, the driving device can move in a straight line to drive the surgical instrument to perform a feeding motion, and the control device is configured as follows: The displacement of the driving device is acquired, and the first torque component is determined according to the displacement and the rotation angle.

8. The surgical robot according to claim 4, characterized in that: The weapon holding device is rotatably connected to the fifth joint, and the force sensor is located on the rotation axis of the fifth joint.

9. The surgical robot according to claim 1, characterized in that: In response to a command to reconfigure the remote center of motion, the control device reconfigures the position of the remote center of motion relative to the weapon device and maintains the weapon device stationary.

10. A surgical robot, characterized in that: include: a robotic arm comprising a plurality of joints; An instrument holding device, which is rotatably connected to a joint at the distal end of the robotic arm, and is used to load surgical instruments; a force sensor mounted on the holding device; A control device configured to: Acquire a first force value and a first torque value detected by the force sensor; In response to activating a first drag mode command and according to the first torque value, the control device controls the movement of the mechanical arm to change the posture of the holding device; In response to activating a second drag mode command and based on the first force value, the control device controls the movement of the robotic arm to rotate the weapon device around a remote center of motion.

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