Surgical robot system, control method, and surgical robot apparatus

Abstract

The invention relates to a surgical robot system, a control method and surgical robot equipment. The system comprises a lens holding arm, an instrument holding arm, a scanning unit, a modeling unit, a first positioning unit and a second positioning unit. Wherein the scanning unit is used for acquiring first image data of a focus area; the modeling unit is used for establishing a three-dimensional model of the focus area according to the first image data; the first positioning unit is used for determining the position of a first hole site according to the three-dimensional model of the focus area; the first hole site is a hole site of the lens holding arm; the second positioning unit is used for determining the position of a second hole site according to the three-dimensional model of the focus area and the position of the first hole site; and the second hole site is a hole site of the holding arm. By adopting the surgical robot system, time and labor can be saved, and the accuracy of the position of the hole site is improved.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a surgical robot system, a control method, and a surgical robot device. Background Art

[0002] With the advancement of robotics technology, surgical robots are increasingly being used in minimally invasive surgeries. The surgical robot also needs to locate the lesion, and then determine the location of the hole on the patient's body surface based on the location of the lesion, and then drill a hole at the location of the hole, so that the surgical instrument connected to the surgical robot can enter the patient's body through the hole to perform the surgical operation.

[0003] In existing surgical robots, operators are required to determine the positions of the holes of the robotic arm based on their own experience, but the above operation is time-consuming and laborious, and the accuracy of the determined hole positions is low. Summary of the invention

[0004] Based on this, it is necessary to provide a surgical robot system, a control method and a surgical robot device that can save time and effort and improve the accuracy of the hole position in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a surgical robot system including a scope holding arm and a tool holding arm, the surgical robot system further comprising:

[0006] A scanning unit, used for acquiring first image data of a lesion area;

[0007] A modeling unit, used for establishing a three-dimensional model of the lesion area according to the first image data;

[0008] A first positioning unit is used to determine the position of a first hole position according to a three-dimensional model of the lesion area; the first hole position is a hole position of the scope holding arm;

[0009] The second positioning unit is used to determine the position of the second hole position according to the three-dimensional model of the lesion area and the position of the first hole position; the second hole position is the hole position of the robotic arm.

[0010] In one of the embodiments, the second positioning unit is further used to determine the position of the second hole according to a preset distance, a three-dimensional model of the lesion area and the position of the first hole; the preset distance is used to indicate the distance between the first hole and the second hole.

[0011] In one of the embodiments, the number of preset distances is multiple, and the second positioning unit includes a first determining subunit, a second determining subunit, and a third determining subunit;

[0012] A first determination subunit is used to determine the positions of candidate hole positions corresponding to the preset distances according to the three-dimensional model of the lesion area, the position of the first hole position and a plurality of preset distances;

[0013] The second determination subunit is used to determine the arm distance between the mirror holding arm and the tool holding arm at each candidate hole position;

[0014] The third determination subunit is used to determine the position of the candidate hole position corresponding to the maximum arm distance between the mirror holding arm and the robot holding arm as the position of the second hole position.

[0015] In one of the embodiments, the first determination subunit is also used to determine a first relative posture between the first hole position and the lesion area based on the three-dimensional model and the position of the first hole position; determine a second relative posture between the first hole position and candidate hole positions corresponding to each preset distance based on the position of the first hole position and each preset distance; determine a third relative posture between the lesion area and candidate hole positions corresponding to each preset distance based on the first relative posture and each second relative posture; and determine the position of the candidate hole positions corresponding to each preset distance based on the three-dimensional model and each third relative posture.

[0016] In one of the embodiments, the second determination subunit is also used to determine the end posture of the robot arm according to the position of the target hole position for each target hole position; perform inverse kinematics solution on the robot arm according to the end posture to obtain the joint angles of the robot arm; determine the arm spacing between the mirror holding arm and the robot holding arm at the candidate hole position according to the joint angles of the robot arm; each target hole position includes a first hole position and each candidate hole position.

[0017] In one of the embodiments, the surgical robotic system further comprises a calibration unit;

[0018] The scanning unit is further used to obtain second image data of the lesion area, wherein the second image data includes images before the establishment of pneumoperitoneum;

[0019] a calibration unit, configured to correct the second image data according to the first image data to obtain third image data;

[0020] The modeling unit is also used to establish a three-dimensional model of the lesion area according to the third image data.

[0021] In one of the embodiments, the first positioning unit is further used to determine a target point in the three-dimensional model of the lesion area in response to the first operation; and determine the position of the first hole according to the target point in the three-dimensional model of the lesion area.

[0022] In a second aspect, the present application also provides a surgical robot system control method, the method comprising:

[0023] Acquiring first image data of a lesion area;

[0024] Establishing a three-dimensional model of the lesion area according to the first image data;

[0025] Determine the position of the first hole position according to the three-dimensional model of the lesion area; the first hole position is the hole position of the scope holding arm in the surgical robot;

[0026] The position of the second hole is determined according to the three-dimensional model of the lesion area and the position of the first hole; the second hole is the hole position of the robotic arm in the surgical robot.

[0027] In a third aspect, the present application also provides a surgical robot device. The surgical robot device includes a scanning component, a mirror holding arm, a tool holding arm, and a control component;

[0028] The scanning component scans and obtains first image data of the lesion area, and sends the first image data to the control component. The control component uses any of the above methods to determine the hole position of the mirror holding arm and the hole position of the mechanical holding arm.

[0029] In a fourth aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0030] In a fifth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0031] In a sixth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0032] The above-mentioned surgical robot system, control method and surgical robot equipment, the surgical robot system includes a mirror holding arm, a mechanical holding arm, a scanning unit, a modeling unit, a first positioning unit and a second positioning unit. Among them, the scanning unit is used to obtain the first image data of the lesion area; the modeling unit is used to establish a three-dimensional model of the lesion area according to the first image data; the first positioning unit is used to determine the position of the first hole according to the three-dimensional model of the lesion area; the second positioning unit is used to determine the position of the second hole according to the three-dimensional model of the lesion area and the position of the first hole. Since the first image data can more accurately reflect the situation of the patient's lesion area, for example, the first image data is the image data of the patient after the establishment of pneumoperitoneum, the accuracy of the three-dimensional model of the lesion area established based on the first image data is also good. Then, the more accurate position of the first hole can be determined based on the three-dimensional model of the lesion area. Further, when determining the position of the second hole, the three-dimensional model of the lesion area and the position of the first hole can be combined, thereby improving the accuracy of the second hole. In addition, the whole process reduces the dependence on the operator, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the structure of a surgical robot in an embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of the structure of a surgical robot system in an embodiment of the present application;

[0035] Figure 3 This is a schematic diagram of a first hole position in an embodiment of the present application;

[0036] Figure 4 This is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of a hole position in an embodiment of the present application;

[0038] Figure 6 This is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application;

[0039] Figure 7 This is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application;

[0040] Figure 8 This is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application;

[0041] Fig. 9 This is a flow chart of a surgical robot system control method according to an embodiment of the present application;

[0042] Fig.10 A schematic diagram of a process for determining the position of a second hole in an embodiment of the present application;

[0043] Fig.11 A schematic diagram of a process for determining candidate hole positions in an embodiment of the present application;

[0044] Fig.12 This is a schematic diagram of a process for determining the arm spacing in an embodiment of the present application;

[0045] Fig.13 A schematic diagram of a process of establishing a three-dimensional model in an embodiment of the present application;

[0046] Fig.14 This is a schematic diagram of a process for determining a first hole position in an embodiment of the present application;

[0047] Fig.15 This is a process diagram of a surgical robot system control method in an embodiment of the present application;

[0048] Fig.16 This is a schematic diagram of the structure of a surgical robot device in an embodiment of the present application;

[0049] Fig.17 Schematic diagram of the internal structure of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] Figure 1 Schematic diagram of the structure of a surgical robot in an embodiment of the present application. Figure 1 As shown, the surgical robot may include a trolley arm 101, an adjustment arm 102, and a telecentric mechanism 103. The trolley arm 101, the adjustment arm 102, and the telecentric mechanism 103 may move according to requirements to perform surgery.

[0052] The adjustment arm 102 and the telecentric mechanism 103 can also be collectively referred to as a robotic arm. Taking laparotomy as an example, the robotic arm can be divided into a scope holding arm 104 and a tool holding arm 105 according to the actual operation purpose. The scope holding arm 104 is used to connect the endoscope, and the tool holding arm 105 is used to connect the surgical instrument. In other words, the scope holding arm includes the adjustment arm and the telecentric mechanism corresponding to the scope holding arm, and the tool holding arm also includes the adjustment arm and the telecentric mechanism corresponding to the tool holding arm.

[0053] Taking abdominal surgery as an example, Figure 1 Take 4 robotic arms as an example. Figure 1 As shown, the four robotic arms are, from left to right, robotic arm 1, robotic arm 2, mirror holding arm 3 and robotic arm 4, and each of the four robotic arms may include at least one joint. Among them, robotic arm 3 may be a mirror holding arm, and robotic arm 1, robotic arm 2 and robotic arm 4 may be robotic arms.

[0054] Figure 1 The schematic diagram of the structure of only one surgical robot is exemplified, and the present embodiment does not limit the type of surgical robot, the number of joint degrees of freedom in the surgical robot, and the number of mechanical arms. The surgical robot may include at least one mechanical arm and one scope arm.

[0055] During the operation, the telecentric mechanism of the surgical robot will ensure that the wound remains unchanged during the operation through mechanical structure or control methods. Among them, the wound is the hole position determined by the operator in the preoperative preparation stage based on the patient's lesion area and the motion performance of the surgical robot. A reasonable wound, that is, a reasonable hole position, helps to reasonably allocate the operating space of the surgical instruments connected to the end of the surgical robot around the lesion area during the operation. In addition, it can also greatly reduce the collision and interference between the robotic arms during the operation, and improve the operability and safety of the operation. Therefore, the reasonable position of the hole is extremely important for the operator.

[0056] Currently, operators determine the location of the holes of the robotic arm based on their own experience. However, the accuracy of the hole locations determined by their own experience is low. The location of the holes predetermines the position of the robotic arm, which may cause the robotic arms to interfere with each other during surgery, making it difficult for surgical instruments to reach the expected position, which interferes with the smoothness of the surgical process.

[0057] In some existing technologies, a three-dimensional model of the patient, pre-drilling positions, and the surgical robot is constructed, and the positioning of the robotic arm is further planned based on the patient information and the pre-drilling positions. The planned three-dimensional model is then aligned with the real patient's coordinates, and the robotic arm is adjusted to achieve positioning planning. However, the preoperatively calibrated surgical area is relatively rough, so there is a certain distance error between the constructed positioning planning scheme and the actual required hole position, which places high requirements on the motion space performance of the surgical robot.

[0058] In some existing technologies, three-dimensional modeling can also be performed based on the patient's internal and external body information, and hole layout planning can be performed on the three-dimensional model according to the range of motion and interference of surgical instruments and endoscopes in the body. However, this method requires the operator to be very familiar with the maximum range of motion of the surgical robot's mechanical arm and surgical instruments, as well as the range of motion actually required for the operation. There is a certain learning curve, which is not friendly to beginners.

[0059] Based on this, it is necessary to provide a surgical robot system that can improve the accuracy of the hole position in order to solve the above technical problems. The surgical robot system will be introduced below.

[0060] Figure 2 FIG. 1 is a schematic diagram of the structure of a surgical robot system in an embodiment of the present application. Figure 2 As shown, the surgical robot system 200 may include the surgical robot 100. In other words, the surgical robot system 200 at least includes Figure 1 A mirror holding arm 104 and a robot holding arm 105 are shown.

[0061] Furthermore, in order to accurately determine the position of the hole, the surgical robot system 200 also includes a scanning unit 201 , a modeling unit 202 , a first positioning unit 203 and a second positioning unit 204 .

[0062] The scanning unit 201 is used to obtain first image data of the lesion area. Optionally, the scanning unit 201 may include but is not limited to CT (Computed Tomography) equipment, PET (Positron Emission Computed Tomography) equipment, MRI (Magnetic Resonance Imaging) equipment, PET-CT equipment and PET-MR equipment.

[0063] The first image data includes image data after the patient has established pneumoperitoneum. During the operation, the position of the hole will be affected by the patient's body position change, the establishment of pneumoperitoneum, etc. Therefore, obtaining the first image data of the lesion area can more accurately reflect the situation of the patient's lesion area, so as to improve the accuracy of the located hole.

[0064] It can be understood that the first image data of the lesion area refers to the first image data including the lesion area. In most application scenarios, the first image data of the lesion area needs to include not only the lesion area, but also other areas around the lesion area, such as the patient's body surface information.

[0065] Further optionally, in order to improve the accuracy of the subsequently established three-dimensional model, the first image data is image data that can reflect the three-dimensional information of the lesion area.

[0066] Exemplarily, taking abdominal surgery as an example, the scanning unit 201 may be a CT device, and the first image data may be an abdominal CT image of the patient.

[0067] After acquiring the first image data, the scanning unit 201 sends the first image data to the modeling unit 202, so that the modeling unit 202 can build a three-dimensional model of the lesion area according to the first image data. That is, the modeling unit 202 is used to build a three-dimensional model of the lesion area according to the first image data.

[0068] The three-dimensional model of the lesion area may include a coordinate set of the lesion area of ​​the patient in the world coordinate system. Taking the three-dimensional model of the patient's abdomen as an example, the patient's abdominal condition and the condition of the lesion area in the abdomen can be determined through the three-dimensional model of the abdomen.

[0069] Optionally, the modeling unit 202 may establish a three-dimensional model of the lesion area based on volume roaming technology, virtual endoscopy technology, multi-plane reconstruction, and the like.

[0070] Furthermore, the first positioning unit 203 is used to determine the position of the first hole position according to the three-dimensional model of the lesion area; the first hole position is the hole position of the mirror holding arm.

[0071] Taking laparotomy as an example, since the endoscope holding arm is a robotic arm connected to the endoscope, the endoscope is carried to provide intraoperative surgical field of view, and the operational movement capability of the endoscope holding arm is not required to be high, the first positioning unit 203 can first determine the position of the hole of the endoscope holding arm according to the three-dimensional model of the lesion area, that is, determine the position of the first hole.

[0072] The position of the first hole position may be the coordinates of the first hole position in the world coordinate system, or may be the relative position between the first hole position and the lesion area in the three-dimensional model.

[0073] Optionally, the first positioning unit 203 may use a preset point on the three-dimensional model of the lesion area as the position of the first hole. For example, the first positioning unit 203 may use the surface point of the abdomen closest to the lesion area in the three-dimensional model of the abdomen as the position of the first hole.

[0074] In one embodiment, optionally, the first positioning unit 203 is further used to determine a target point in the three-dimensional model of the lesion area in response to a first operation; and determine the position of the first hole according to the target point in the three-dimensional model of the lesion area. The first operation may include but is not limited to keyboard input, mouse selection, voice input, and gesture control.

[0075] Optionally, the first positioning unit 203 can directly use the target point in the three-dimensional model of the lesion area as the first hole position, thereby determining the position of the first hole position. The first positioning unit 203 can also correct the target point in the three-dimensional model of the lesion area, for example, move the target point 1 cm to the right to avoid key organs, and use the corrected target point as the first hole position, thereby determining the position of the first hole position, which is not limited in this embodiment.

[0076] Exemplarily, the surgical robot system 200 may provide a display unit, which may include but is not limited to at least one of a display, an augmented reality (AR) device, a virtual reality (VR) device, and a holographic projection device. Furthermore, the display unit can be used to display a three-dimensional model of the lesion area, and the operator can select a target point on the displayed three-dimensional model using gestures, so that the first positioning unit 203 can determine the position of the first hole according to the target point in the three-dimensional model of the lesion area.

[0077] Since the first positioning unit 203 can be used to determine the target point in the three-dimensional model of the lesion area in response to the first operation, and determine the position of the first hole according to the target point in the three-dimensional model of the lesion area, the surgical robot system can determine the position of the first hole more accurately and quickly based on the first image data and with the help of the operator's experience.

[0078] Figure 3 Schematic diagram of a first hole position in the embodiment of the present application. Taking the robot arm 3 as a mirror holding arm as an example, the position of the first hole position is as follows Figure 3 As shown. It can be seen that the preset lesion point in the lesion area, the first hole position and the axis of the endoscope holding arm 3 are in the same straight line. The preset lesion point in the lesion area can be any point in the lesion area, for example, the centroid of the lesion area. Optionally, the position of the first hole position can enable the endoscope to obtain the entire range of the lesion area.

[0079] Please continue to refer to Figure 3 , the endo coordinate system can be established with the first hole position as the origin, and the focus coordinate system can be established with the preset lesion point in the lesion area. Since the three-dimensional model of the lesion area is established based on the first image data after the establishment of pneumoperitoneum, the relative position relationship of the preset lesion point relative to the first hole position can be obtained more accurately according to the position of the first hole position.

[0080] After determining the position of the first hole, the operator can adjust the endoscope viewing angle, connect the endoscope arm to the endoscope sleeve, and complete the suspension plate position alignment and other steps to complete the positioning of the endoscope arm. Figure 1 ,like Figure 1 As shown, after completing the suspension plate posture alignment action, the cross laser can be aligned with the preset lesion point in the lesion area.

[0081] Furthermore, in order to avoid interference between the robotic arms during the operation, the second positioning unit 204 can determine the position of the hole of the robotic arm according to the three-dimensional model of the lesion area and the position of the first hole, that is, determine the position of the second hole. That is, the second positioning unit 204 is used to determine the position of the second hole according to the three-dimensional model of the lesion area and the position of the first hole; the second hole is the hole of the robotic arm.

[0082] The position of the second hole position may be the coordinates of the second hole position in the world coordinate system, or may be the relative position between the second hole position and the lesion area in the three-dimensional model.

[0083] Optionally, the second positioning unit 204 may display the position of the first hole on the displayed three-dimensional model, and then continue to determine the position of the second hole on the displayed three-dimensional model in response to the selection operation of the operator.

[0084] It should be noted that if there are multiple robotic arms, the second positioning unit 204 will first determine the position of the second hole corresponding to the robotic arm adjacent to the mirror holding arm, and then determine the positions of the second hole corresponding to the remaining robotic arms adjacent to the calculated robotic arm one by one.

[0085] by Figure 3 For example, after the first positioning unit 203 determines the position of the first hole of the robot arm 3, the second positioning unit 204 can first determine the position of the second hole of the robot arm 2, then determine the position of the second hole of the robot arm 4, and finally determine the position of the second hole of the robot arm 1. Among them, the principles of determining the positions of the second holes corresponding to the robot arm 1, the robot arm 2 and the robot arm 4 are similar. It can be understood that when determining the positions of the second holes corresponding to the robot arm 2 and the robot arm 4, it will rely on the three-dimensional model and the position of the first hole of the robot arm 3. And determining the position of the second hole of the robot arm 1 will rely on the three-dimensional model of the lesion area and the position of the second hole of the robot arm 2.

[0086] exist Figure 2 In the present invention, the modeling unit 202, the first positioning unit 203 or the second positioning unit 204 can be arranged outside the surgical robot 100, which can be but not limited to various personal computers, laptops, smart phones, tablet computers. Alternatively, it can also be implemented by an independent server or a server cluster composed of multiple servers.

[0087] The modeling unit 202, the first positioning unit 203 or the second positioning unit 204 may also be placed inside the surgical robot, which may include a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA) or other programmable logic devices.

[0088] The surgical robot system provided in this embodiment includes a mirror holding arm, a mechanical holding arm, a scanning unit, a modeling unit, a first positioning unit, and a second positioning unit. Among them, the scanning unit is used to obtain the first image data of the lesion area; the modeling unit is used to establish a three-dimensional model of the lesion area according to the first image data; the first positioning unit is used to determine the position of the first hole according to the three-dimensional model of the lesion area; the second positioning unit is used to determine the position of the second hole according to the three-dimensional model of the lesion area and the position of the first hole. Since the first image data can more accurately reflect the situation of the patient's lesion area, for example, the first image data is the image data of the patient after the establishment of pneumoperitoneum, the accuracy of the three-dimensional model of the lesion area established based on the first image data is also good. Then, the more accurate position of the first hole can be determined based on the three-dimensional model of the lesion area. Further, when determining the position of the second hole, the three-dimensional model of the lesion area and the position of the first hole can be combined, thereby improving the accuracy of the second hole. In addition, the dependence on the operator is reduced throughout the process, saving time and effort.

[0089] In one embodiment, optionally, the second positioning unit 204 is used to determine the position of the second hole according to a preset distance, a three-dimensional model of the lesion area and the position of the first hole; the preset distance is used to indicate the distance between the first hole and the second hole.

[0090] In this embodiment, the preset distance may be an empirical value stored in advance in the surgical robot system, or may be an empirical value determined in response to a second operation initiated by an operator when the position of the second hole position needs to be determined. When the distance between the first hole position and the second hole position is the preset distance, the mirror holding arms will not interfere with each other or the possibility of interference is small.

[0091] Please combine Figure 3 , the endo coordinate system is established with the first hole position as the origin. Assuming that the If coordinate system is established with the second hole position as the origin, the preset distance represents the distance between the origin of the endo coordinate system and the origin of the If coordinate system.

[0092] Furthermore, the second positioning unit 204 can determine the position of the second hole according to the preset distance, the three-dimensional model of the lesion area and the position of the first hole.

[0093] Exemplarily, the second positioning unit 204 can find a point on the surface of the three-dimensional model of the abdomen that is a preset distance away from the position of the first hole as the second hole position based on the three-dimensional model of the lesion area, thereby determining the position of the second hole position.

[0094] In this embodiment, since the preset distance is used to indicate the distance between the first hole position and the second hole position, and the second positioning unit can be used to determine the position of the second hole position based on the preset distance, the three-dimensional model of the lesion area and the position of the first hole position, the determined positions of the first hole position and the second hole position can reduce interference between the robotic arms.

[0095] Figure 4 FIG. 1 is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application. Figure 4 As shown, in one embodiment, optionally, the second positioning unit 204 includes a first determining subunit 401 , a second determining subunit 402 and a third determining subunit 403 .

[0096] Considering that during the operation, the telecentric mechanism of the robot arm will move to ensure the operation of different instruments in different postures, the position of the second hole should ensure that the arm spacing between the robot arms is as large as possible, thereby reducing the risk of collision and interference between the telecentric mechanisms during the operation to ensure the smoothness of the operation. In order to obtain a reasonable position of the second hole, an iterative search can be performed based on multiple preset distances between the robot arm and the scope arm based on prior experience.

[0097] Therefore, in this embodiment, the number of preset distances is multiple. For example, multiple preset distances can be obtained by taking values ​​within a target range.

[0098] The first determination subunit 401 is used to determine the positions of candidate hole positions corresponding to the preset distances according to the three-dimensional model of the lesion area, the position of the first hole position and a plurality of preset distances.

[0099] Exemplarily, when the preset distance is A, the position of candidate hole position A corresponding to the preset distance A can be determined according to the position of the first hole position; when the preset distance is B, the position of candidate hole position B corresponding to the preset distance A can be determined according to the position of the first hole position, and so on. Taking 5 candidate distances as an example, the first determination subunit 401 can determine the positions of candidate hole positions A to candidate hole positions E corresponding to the preset distances A to preset distances E, respectively.

[0100] Therefore, the second determining subunit 402 is used to determine the arm distance between the mirror holding arm and the robot holding arm at each candidate hole position.

[0101] Optionally, the second determination subunit 402 can perform inverse kinematics solutions according to the position of the first hole position and the positions of each candidate hole position, and determine the posture of the mirror holding arm and the posture of the robot arm at each candidate hole position after the solution, and then according to the posture of the mirror holding arm and the posture of the robot arm at each candidate hole position, for each candidate hole position, determine the average arm spacing between the mirror holding arms and the robot arms at each candidate hole position, that is, determine the arm spacing between the mirror holding arm and the robot arm at each candidate hole position.

[0102] Continue with the robotic arm Figure 3 Taking the preset distance A to the preset distance E of the robot arm 4 in the middle as an example, the second determining subunit 402 can determine the arm spacing A between the robot arm 3 and the robot arm 4 in the case of the candidate hole position A, and determine the arm spacing B between the robot arm 3 and the robot arm 4 in the case of the candidate hole position B, and so on, determine the arm spacing A to the arm spacing E corresponding to the candidate hole position A to the candidate hole position E respectively.

[0103] The third determination subunit 403 is used to determine the position of the candidate hole corresponding to the maximum arm distance between the mirror holding arm and the mechanical holding arm as the position of the second hole. In this way, it is achieved to perform an iterative search based on multiple preset distances to determine the position of the candidate hole corresponding to the maximum arm distance.

[0104] Exemplarily, assuming that arm spacing B is the largest among arm spacings A to E, the third determining subunit 403 uses the position of candidate hole position B as the position of the second hole position.

[0105] In this embodiment, since there are multiple preset distances, the first determination subunit 401 can determine the positions of the candidate hole positions corresponding to the preset distances according to the three-dimensional model of the lesion area, the position of the first hole position, and the multiple preset distances. Furthermore, since the second determination subunit 402 is used to determine the arm spacing between the mirror holding arm and the mechanical arm under each candidate hole position, the third determination subunit 403 is used to determine the position of the candidate hole position corresponding to the maximum arm spacing between the mirror holding arm and the mechanical arm as the position of the second hole position, therefore, the candidate hole position corresponding to the maximum arm spacing is used as the second hole position, which improves the accuracy of the second hole position and reduces the interference between the mechanical arms.

[0106] In one embodiment, optionally, the first determination subunit 401 is also used to determine a first relative posture between the first hole position and the lesion area based on the three-dimensional model and the position of the first hole position; determine a second relative posture between the first hole position and candidate hole positions corresponding to each preset distance based on the position of the first hole position and each preset distance; determine a third relative posture between the lesion area and candidate hole positions corresponding to each preset distance based on the first relative posture and each second relative posture, and determine the position of the candidate hole position corresponding to each preset distance based on the three-dimensional model and each third relative posture.

[0107] Figure 5 Schematic diagram of a hole position in an embodiment of the present application, such as Figure 5 As shown, after the position of the first hole position is determined, the first determination subunit 401 can determine the first relative posture between the first hole position and the lesion area, that is, determine the relative posture relationship between the endo coordinate system and the focus coordinate system.

[0108] Further, the first determination subunit 401 can determine that the distance from the origin of the endo coordinate system is the preset distance, and the point intersecting with the patient's abdominal surface is used as a candidate hole position. Figure 5 As shown, the distance between the coordinate origin of the If coordinate system and the coordinate origin of the endo coordinate system is the preset distance A, and the determined candidate hole position is candidate hole position A.

[0109] Please continue to refer to Figure 5 It can be understood that the preset lesion point in the lesion area, the candidate hole position and the axis of the robotic arm will be in the same straight line, thereby ensuring that the robotic arm points to the lesion area to reduce the process of adjusting the arm posture during preoperative positioning.

[0110] In this way, the first determining subunit 401 can determine the second relative posture between the endo coordinate system and the If coordinate system at each preset distance. For example, the preset distance A can determine the second relative posture A, the preset distance B can determine the second relative posture B, and so on.

[0111] Furthermore, according to the first relative posture and the second relative posture, a third relative posture between the lesion area and each candidate hole position can be determined. For example, according to the first relative posture and the second relative posture A, a third relative posture A between the lesion area and the candidate hole position A can be determined.

[0112] Since the position of the lesion area in the three-dimensional model is fixed, the coordinates of the candidate hole position in the world coordinate system can be determined based on the third relative posture and the three-dimensional model, that is, the position of the candidate hole position is determined. Exemplarily, the coordinates of the candidate hole position A in the world coordinate system are determined based on the third relative posture A and the three-dimensional model.

[0113] In this embodiment, the first relative posture between the first hole position and the lesion area is determined according to the three-dimensional model and the position of the first hole position, and the second relative posture between the first hole position and the candidate hole positions corresponding to the preset distances is determined according to the position of the first hole position and the preset distances. Then, the third relative posture between the lesion area and the candidate hole positions corresponding to the preset distances is determined according to the first relative posture and the second relative postures, and the position of the candidate hole positions corresponding to the preset distances is determined according to the three-dimensional model and the third relative postures. Therefore, the position of the candidate hole positions corresponding to the preset distances can be determined efficiently and quickly according to the three-dimensional model of the lesion area, the position of the first hole position and multiple preset distances.

[0114] In one embodiment, optionally, the second determination subunit 403 is also used to determine the end posture of the robot arm according to the position of the target hole position for each target hole position; perform inverse kinematics solution on the robot arm according to the end posture to obtain the joint angles of the robot arm; determine the arm spacing between the mirror holding arm and the robot holding arm at the candidate hole position according to the joint angles of the robot arm; each target hole position includes a first hole position and each candidate hole position.

[0115] In this embodiment, after the position of the first hole is determined, the sleeve of the scope holding arm can be set in the first hole and connected to the scope holding arm. Therefore, the position of the first hole is also the end position of the scope holding arm. Similarly, the position of the candidate hole is also the end position of the robotic arm.

[0116] Then, the second determination subunit 403 can determine the end position of the mirror holding arm according to the position of the first hole position, and determine the end position of the robot holding arm at each candidate hole position according to the position of each candidate hole position. That is, the second determination subunit 403 is also used to determine the end position of the robot arm according to the position of each target hole position, and each target hole position includes the first hole position and each candidate hole position.

[0117] Furthermore, by solving the inverse kinematics of the robot arm according to the end position, the rotation angles of each joint of the robot arm can be obtained. Optionally, the inverse kinematics of the robot arm is solved according to the end position. If there is a solution, the rotation angles of each joint of the robot arm are also determined synchronously; if there is no solution, a failure message can be returned.

[0118] Taking robot arm 3 and robot arm 4, candidate hole position A as an example, the second determination subunit 403 can use the position of the first hole position as the end position of robot arm 3, and perform inverse kinematics solution for robot arm 3 according to the end position of robot arm 3. When there is a solution, the second determination subunit 403 also determines the joint angles of each joint of robot arm 3.

[0119] Furthermore, the second determination subunit 403 can use the position of the candidate hole position A as the end position of the robot 4, and perform inverse kinematics solution for the robot 4 according to the end position of the robot 4. When there is a solution, the second determination subunit 403 also determines the joint angles of each joint of the robot 4.

[0120] In this way, after the joint rotation angles of each joint of the robot arm 3 and the joint rotation angles of each joint of the robot arm 4 are determined, the postures of the robot arm 3 and the robot arm 4 are fixed and determined, so the second determination subunit 403 can determine the arm spacing between the robot arm 3 and the robot arm 4 according to the joint rotation angles of each joint of the robot arm 3 and the joint rotation angles of each joint of the robot arm 4. That is, according to the joint rotation angles of the robot arms, the arm spacing between the mirror holding arm and the robot holding arm under the candidate hole position A is determined.

[0121] Optionally, the second determining subunit 403 may take the minimum distance between the robotic arm 3 and the robotic arm 4 as the arm distance between the robotic arm 3 and the robotic arm 4 .

[0122] In this embodiment, for each target hole position, the end position posture of the robot arm is determined according to the position of the target hole position; the inverse kinematics of the robot arm is solved according to the end position to obtain the joint rotation angles of the robot arm; according to the joint rotation angles of the robot arm, the arm spacing between the mirror holding arm and the robot holding arm at the candidate hole position is determined; each target hole position includes a first hole position and each candidate hole position, therefore, the arm spacing between the mirror holding arm and the robot holding arm at each candidate hole position can be determined, so that the position of the candidate hole position corresponding to the maximum arm spacing can be used as the position of the second hole position later, thereby reducing interference between the robot arms.

[0123] Figure 6 FIG. 1 is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application. Figure 6 As shown, in one embodiment, optionally, the surgical robot system 200 also includes a calibration unit 601.

[0124] The scanning unit 201 is further used to obtain second image data of the lesion area, and the second image data includes images before establishing pneumoperitoneum.

[0125] That is, the scanning unit 201 can obtain the image data of the patient before the establishment of pneumoperitoneum, which is generally the image data for preoperative diagnosis or preoperative planning. The types of the first image data and the second image data can be the same or different, for example, the first image data and the second image data can both be abdominal CT images.

[0126] Similarly, due to the promotion and application of hybrid operating rooms, the methods of acquiring the second image data include but are not limited to CT (Computed Tomography) equipment, PET (Positron Emission Computed Tomography) equipment, MRI (Magnetic Resonance Imaging) equipment, PET-CT equipment and PET-MR equipment.

[0127] In some embodiments, the second image data may also be image data sent to the scanning unit 201 by other electronic devices.

[0128] Further optionally, in order to improve efficiency and save scanning resources, the second image data needs to reflect the three-dimensional information of the lesion area, and the first image data can reflect the two-dimensional information of the lesion area. For example, the second image data can be an abdominal ultrasound image, and the second image data can be an abdominal CT image.

[0129] The calibration unit 601 is used to correct the second image data according to the first image data to obtain the third image data.

[0130] The correction includes but is not limited to the correction of the distortion, loss, color difference, blur, etc. of the second image data. Optionally, the calibration unit 601 may first register the first image data and the second image data, and then perform correction based on the registration result.

[0131] Furthermore, the modeling unit 202 is also used to establish a three-dimensional model of the lesion area according to the third image data. That is, after the calibration unit 601 obtains the third image data, it sends the third image data to the modeling unit 202, so that the modeling unit 202 performs three-dimensional reconstruction based on the corrected third image data to obtain a three-dimensional model of the lesion area.

[0132] Since the present embodiment uses the first image data to correct the second image data to obtain the third image data, the image data after the patient establishes pneumoperitoneum can be used to correct the image data before the patient establishes pneumoperitoneum. Compared with the third image data based on endoscopic images or other visual information, the accuracy of the third image data obtained is higher, and the operation after the patient establishes pneumoperitoneum is reduced, thereby improving the efficiency of the operation. In addition, the problem of low accuracy caused by the invisibility of endogenous lesions in endoscopic images of flexible organs is avoided. Furthermore, the accuracy of the three-dimensional model determined by the third image data is also improved.

[0133] Figure 7 FIG. 1 is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application. Figure 7As shown, in one embodiment, optionally, the surgical robot system 200 also includes an adjustment unit 701 .

[0134] The adjusting unit 701 is used to adjust the position of the second hole in response to an adjustment operation on the position of the second hole.

[0135] In this embodiment, the adjustment operation also includes but is not limited to keyboard input, mouse selection, voice input, and gesture control. In other words, the operator can adjust the position of the second hole through the adjustment operation.

[0136] For example, after obtaining the positions of the second holes corresponding to the robot arms 1, 2, and 4, respectively, the surgical robot system 200 can display the coordinate information of the three second holes in the world coordinate system through the display unit. The operator can initiate an adjustment operation on the positions of the three second holes based on his own experience. For example, the operator moves the position of the second hole corresponding to the robot arm 1 to the right by 1 cm. In this way, the adjustment unit 701 can respond to the adjustment operation to adjust the position of the second hole.

[0137] Since the position of the second hole can be adjusted in this embodiment, the accuracy of the second hole is improved, and the flexibility of determining the position of the second hole is improved.

[0138] Figure 8 FIG. 1 is a schematic diagram of the structure of another surgical robot system in an embodiment of the present application. Figure 8 As shown, in one embodiment, optionally, the surgical robot system 200 includes a mirror holding arm 104, a mechanical arm 105, a scanning unit 201, a calibration unit 601, a modeling unit 202, a first positioning unit 203, a second positioning unit 204 and an adjustment unit 701. The introduction of each unit in the surgical robot system 200 can refer to the above embodiment and will not be repeated here.

[0139] Each unit in the above-mentioned surgical robot system control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned units can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above-mentioned units.

[0140] Based on the same inventive concept, the embodiment of the present application also provides a surgical robot system control method applied to the above surgical robot system. The implementation solution provided by the surgical robot system control method is similar to the implementation solution recorded in the above surgical robot system, so the specific limitations in one or more surgical robot system control method embodiments provided below can refer to the above limitations on the surgical robot system, and will not be repeated here.

[0141] Fig. 9 This is a flow chart of a surgical robot system control method in an embodiment of the present application. The method can be applied to Figure 2 In the surgical robot system shown in FIG. Fig. 9 As shown, the following steps are included:

[0142] S901, acquiring first image data of the lesion area.

[0143] S902: Establish a three-dimensional model of the lesion area according to the first image data.

[0144] S903, determining the position of a first hole position according to the three-dimensional model of the lesion area; the first hole position is the hole position of the scope holding arm in the surgical robot.

[0145] S904, determining the position of a second hole according to the three-dimensional model of the lesion area and the position of the first hole; the second hole is the hole of the robotic arm in the surgical robot.

[0146] The control method of the surgical robot system provided in the present embodiment obtains the first image data of the lesion area, and establishes a three-dimensional model of the lesion area based on the first image data, and then determines the position of the first hole according to the three-dimensional model of the lesion area, and determines the position of the second hole according to the three-dimensional model of the lesion area and the position of the first hole. Since the first image data can more accurately reflect the situation of the patient's lesion area, for example, the first image data is the image data of the patient after the establishment of pneumoperitoneum, the accuracy of the three-dimensional model of the lesion area established based on the first image data is also good. Then, the position of the first hole can be determined more accurately based on the three-dimensional model of the lesion area. Further, when determining the position of the second hole, the three-dimensional model of the lesion area and the position of the first hole can be combined, thereby improving the accuracy of the second hole. Moreover, the dependence on the operator is reduced throughout the process, saving time and effort.

[0147] Optionally, in one embodiment, the above S904, determining the position of the second hole according to the three-dimensional model of the lesion area and the position of the first hole, can be implemented in the following manner:

[0148] The position of the second hole is determined according to the preset distance, the three-dimensional model of the lesion area and the position of the first hole; the preset distance is used to indicate the distance between the first hole and the second hole.

[0149] In this embodiment, since the preset distance is used to indicate the distance between the first hole position and the second hole position, and the position of the second hole position is determined based on the preset distance, the three-dimensional model of the lesion area and the position of the first hole position, the determined positions of the first hole position and the second hole position can reduce interference between the robotic arms.

[0150] Fig.10 This is a schematic diagram of a process for determining the position of the second hole in an embodiment of the present application, referring to Fig.10 This embodiment relates to an optional implementation method of how to determine the position of the second hole. Based on the above embodiment, the number of preset distances is multiple; the above "determine the position of the second hole according to the preset distance, the three-dimensional model of the lesion area and the position of the first hole". It includes the following steps:

[0151] S1001, determining the positions of candidate hole positions corresponding to the preset distances according to the three-dimensional model of the lesion area, the position of the first hole position and a plurality of preset distances.

[0152] S1002, determining the arm distance between the mirror holding arm and the tool holding arm at each candidate hole position.

[0153] S1003, determining the position of the candidate hole position corresponding to the maximum arm distance between the mirror holding arm and the tool holding arm as the position of the second hole position.

[0154] In this embodiment, since there are multiple preset distances, the positions of candidate hole positions corresponding to each preset distance can be determined according to the three-dimensional model of the lesion area, the position of the first hole position, and multiple preset distances. Furthermore, the candidate hole position corresponding to the maximum arm spacing is used as the second hole position, which improves the accuracy of the second hole position and reduces the interference between the mechanical arms.

[0155] Fig.11 This is a schematic diagram of a process for determining candidate hole positions in an embodiment of the present application, referring to Fig.11 This embodiment relates to an optional implementation method of how to determine the positions of multiple candidate hole positions. Based on the above embodiment, the above S1001, according to the three-dimensional model of the lesion area, the position of the first hole position and multiple preset distances, determines the positions of the candidate hole positions corresponding to the preset distances, including the following steps:

[0156] S1101, determining a first relative posture between the first hole position and the lesion area according to the three-dimensional model and the position of the first hole position.

[0157] S1102, determining a second relative posture between the first hole position and candidate hole positions corresponding to each preset distance according to the position of the first hole position and each preset distance.

[0158] S1103, determining a third relative posture between the lesion area and the candidate hole positions corresponding to each preset distance based on the first relative posture and each second relative posture, and determining the position of the candidate hole positions corresponding to each preset distance based on the three-dimensional model and each third relative posture.

[0159] In this embodiment, the first relative posture between the first hole position and the lesion area is determined according to the three-dimensional model and the position of the first hole position, and the second relative posture between the first hole position and the candidate hole positions corresponding to the preset distances is determined according to the position of the first hole position and the preset distances. Then, the third relative posture between the lesion area and the candidate hole positions corresponding to the preset distances is determined according to the first relative posture and the second relative postures, and the position of the candidate hole positions corresponding to the preset distances is determined according to the three-dimensional model and the third relative postures. Therefore, the position of the candidate hole positions corresponding to the preset distances can be determined efficiently and quickly according to the three-dimensional model of the lesion area, the position of the first hole position and multiple preset distances.

[0160] Fig.12 This is a schematic diagram of a process for determining the arm spacing in an embodiment of the present application, referring to Fig.12 This embodiment relates to an optional implementation method of how to determine the arm spacing between the mirror holding arm and the tool holding arm at each candidate hole position. Based on the above embodiment, the above S1002, determining the arm spacing between the mirror holding arm and the tool holding arm at each candidate hole position, includes the following steps:

[0161] S1201, for each target hole position, determine the end position of the robot arm according to the position of the target hole position.

[0162] S1202, performing inverse kinematics solution on the robot arm according to the end position to obtain the rotation angles of each joint of the robot arm.

[0163] S1203, determining the arm distance between the mirror holding arm and the robot holding arm at the candidate hole positions according to the joint rotation angles of the robot arm; each target hole position includes the first hole position and each candidate hole position.

[0164] In this embodiment, for each target hole position, the end position posture of the robot arm is determined according to the position of the target hole position; the inverse kinematics of the robot arm is solved according to the end position to obtain the joint rotation angles of the robot arm; according to the joint rotation angles of the robot arm, the arm spacing between the mirror holding arm and the robot holding arm at the candidate hole position is determined; each target hole position includes a first hole position and each candidate hole position, therefore, the arm spacing between the mirror holding arm and the robot holding arm at each candidate hole position can be determined, so that the position of the candidate hole position corresponding to the maximum arm spacing can be used as the position of the second hole position later, thereby reducing interference between the robot arms.

[0165] Fig.13 This is a schematic diagram of a process for establishing a three-dimensional model in an embodiment of the present application, referring to Fig.13 This embodiment relates to an optional implementation method of how to establish a three-dimensional model. Based on the above embodiment, the above S902, based on the first image data, establishes a three-dimensional model of the lesion area, including the following steps:

[0166] S1301, acquiring second image data of the lesion area, where the second image data includes images before establishing pneumoperitoneum.

[0167] S1302: Correct the second image data according to the first image data to obtain third image data.

[0168] S1303: Establish a three-dimensional model of the lesion area according to the third image data.

[0169] In this embodiment, since the second image data is corrected by using the first image data to obtain the third image data, the image data of the patient before the establishment of pneumoperitoneum can be corrected by using the image data after the patient establishes pneumoperitoneum. Compared with the third image data obtained based on the endoscopic image or other visual information, the accuracy of the third image data is higher. In addition, the problem of low accuracy caused by the invisibility of endogenous lesions in the endoscopic image of flexible organs is avoided. Furthermore, the accuracy of the three-dimensional model determined by the third image data is also improved.

[0170] Fig.14 This is a schematic diagram of a process for determining a first hole position in an embodiment of the present application, referring to Fig.14 This embodiment relates to an optional implementation method of how to determine the position of the first hole. Based on the above embodiment, the above S903, determining the position of the first hole according to the three-dimensional model of the lesion area, includes the following steps:

[0171] S1401: In response to a first operation, determine a target point in a three-dimensional model of a lesion area.

[0172] S1402, determining the position of the first hole according to the target point in the three-dimensional model of the lesion area.

[0173] Since this embodiment can determine the target point in the three-dimensional model of the lesion area in response to the first operation, and determine the position of the first hole according to the target point in the three-dimensional model of the lesion area, it can determine the position of the first hole more accurately and quickly based on the first image data and with the help of the operator's experience.

[0174] In one embodiment, optionally, the above-mentioned surgical robot system control method further includes the following steps:

[0175] In response to the adjustment operation on the position of the second hole, the position of the second hole is adjusted.

[0176] Since the position of the second hole can be adjusted in this embodiment, the accuracy of the second hole is improved, and the flexibility of determining the position of the second hole is improved.

[0177] In order to more clearly introduce the surgical robot system control method in this application, Fig.15 Provide explanation. Fig.15 FIG. 1 is a process diagram of a surgical robot system control method in an embodiment of the present application. Fig.15 As shown, the surgical robot system executes the surgical robot system control method according to the following process.

[0178] S1501, acquiring first image data of the lesion area, wherein the second image data includes images after establishing pneumoperitoneum.

[0179] S1502, acquiring second image data of the lesion area, wherein the second image data includes images before establishing pneumoperitoneum.

[0180] S1503, correcting the second image data according to the first image data to obtain third image data.

[0181] S1504: Establish a three-dimensional model of the lesion area according to the third image data.

[0182] S1505 , in response to the first operation, determining a target point in the three-dimensional model of the lesion area.

[0183] S1506: Determine the position of a first hole according to the target point in the three-dimensional model of the lesion area, wherein the first hole is a hole of a scope holding arm in the surgical robot.

[0184] S1507, determining a first relative position between the first hole position and the lesion area according to the three-dimensional model and the position of the first hole position.

[0185] S1508, determining a second relative posture between the first hole position and the candidate hole positions corresponding to the preset distances according to the position of the first hole position and the preset distances, wherein the preset distance is used to indicate the distance between the first hole position and the second hole position; the second hole position is the hole position of the robotic arm in the surgical robot.

[0186] S1509, determining a third relative posture between the lesion area and the candidate hole positions corresponding to each preset distance based on the first relative posture and each second relative posture, and determining the position of the candidate hole positions corresponding to each preset distance based on the three-dimensional model and each third relative posture.

[0187] S1510: For each target hole position, determine the end position of the robot arm according to the position of the target hole position, wherein each target hole position includes a first hole position and each candidate hole position.

[0188] S1511, performing inverse kinematics solution on the robot arm according to the end posture to obtain the rotation angles of each joint of the robot arm.

[0189] S1512, determining the arm spacing between the mirror holding arm and the robot holding arm at the candidate hole position according to the rotation angles of each joint of the robot arm.

[0190] S1513, determining the position of the candidate hole position corresponding to the maximum arm distance between the mirror holding arm and the tool holding arm as the position of the second hole position.

[0191] S1514, in response to the adjustment operation on the position of the second hole, adjusting the position of the second hole.

[0192] It can be seen that the surgical robot system control method provided in this embodiment can effectively reduce the interference of the robot arm during surgery and ensure the smooth completion of the surgery. It is also friendly to beginners, who can quickly master the drilling technology of the surgical robot system, shorten the learning curve of the surgical robot system positioning and drilling, and reduce the overall operation time.

[0193] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0194] Fig.16 FIG. 1 is a schematic diagram of the structure of a surgical robot device in an embodiment of the present application. Based on the same inventive concept, in one embodiment, Fig.16 As shown, a surgical robot device 1600 is provided, and the surgical robot device 1600 includes a mirror holding arm 1601, a tool holding arm 1602, a scanning component 1603 and a control component 1604.

[0195] The scanning component 1603 scans and obtains first image data of the lesion area, and sends the first image data to the control component 1604 .

[0196] The control component 1604 uses any of the above-mentioned surgical robot system control methods to determine the hole positions of the scope holding arm and the hole positions of the instrument holding arm.

[0197] Fig.17 : is an internal structure diagram of a computer device in an embodiment of the present application. In an embodiment of the present application, a computer device is provided. The computer device may be a server. The internal structure diagram thereof may be as shown in FIG. Fig.17As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a surgical robot system control method is implemented.

[0198] Those skilled in the art will understand that Fig.17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0199] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0200] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0201] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0202] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0203] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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.

[0204] The above-described 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 present application. 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 present application shall be subject to the attached claims.

Claims

1. A surgical robot system, comprising a scope holding arm and a tool holding arm, characterized in that: Also includes: A scanning unit, used for acquiring first image data of a lesion area; A modeling unit, used for establishing a three-dimensional model of the lesion area according to the first image data; A first positioning unit, used to determine the position of a first hole position according to the three-dimensional model of the lesion area; the first hole position is the hole position of the mirror holding arm; The second positioning unit is used to determine the position of a second hole position according to the three-dimensional model of the lesion area and the position of the first hole position; the second hole position is the hole position of the robotic arm.

2. The surgical robot system according to claim 1, characterized in that: The second positioning unit is further used to determine the position of the second hole position according to a preset distance, the three-dimensional model of the lesion area and the position of the first hole position; the preset distance is used to indicate the distance between the first hole position and the second hole position.

3. The surgical robot system according to claim 2, characterized in that: The number of the preset distances is multiple, and the second positioning unit includes a first determining subunit, a second determining subunit and a third determining subunit; The first determination subunit is used to determine the position of the candidate hole position corresponding to each preset distance according to the three-dimensional model of the lesion area, the position of the first hole position and the multiple preset distances; The second determination subunit is used to determine the arm distance between the mirror holding arm and the tool holding arm at each of the candidate hole positions; The third determination subunit is used to determine the position of the candidate hole position corresponding to the maximum arm distance between the mirror holding arm and the robot holding arm as the position of the second hole position.

4. The surgical robot system according to claim 3, characterized in that: The first determination subunit is also used to determine a first relative posture between the first hole position and the lesion area based on the three-dimensional model and the position of the first hole position; determine a second relative posture between the first hole position and each candidate hole position corresponding to the preset distance based on the position of the first hole position and each preset distance; determine a third relative posture between the lesion area and the candidate hole position corresponding to each preset distance based on the first relative posture and each second relative posture, and determine the position of the candidate hole position corresponding to each preset distance based on the three-dimensional model and each third relative posture.

5. The surgical robot system according to claim 3 or 4, characterized in that: The second determination subunit is also used to determine the end posture of the robot arm for each target hole position according to the position of the target hole position; perform inverse kinematics solution on the robot arm according to the end posture to obtain the joint angles of the robot arm; determine the arm spacing between the mirror holding arm and the robot holding arm at the candidate hole position according to the joint angles of the robot arm; the target hole positions include the first hole position and the candidate hole positions.

6. The surgical robot system according to any one of claims 1 to 4, characterized in that: The system further comprises a calibration unit; The scanning unit is further used to obtain second image data of the lesion area, wherein the second image data includes an image before establishing pneumoperitoneum; The calibration unit is used to correct the second image data according to the first image data to obtain third image data; The modeling unit is further used to establish a three-dimensional model of the lesion area according to the third image data.

7. The surgical robot system according to any one of claims 1 to 4, characterized in that: The first positioning unit is further used to determine a target point in the three-dimensional model of the lesion area in response to a first operation; and determine the position of the first hole according to the target point in the three-dimensional model of the lesion area.

8. A surgical robot system control method, characterized in that: The method comprises: Acquiring first image data of a lesion area; Establishing a three-dimensional model of the lesion area according to the first image data; Determine the position of a first hole position according to the three-dimensional model of the lesion area; the first hole position is the hole position of the scope holding arm in the surgical robot; The position of the second hole is determined according to the three-dimensional model of the lesion area and the position of the first hole; the second hole is the hole of the robotic arm in the surgical robot.

9. The method according to claim 8, characterized in that Determining the position of the second hole according to the three-dimensional model of the lesion area and the position of the first hole includes: The position of the second hole is determined according to a preset distance, the three-dimensional model of the lesion area and the position of the first hole; the preset distance is used to indicate the distance between the first hole and the second hole.

10. The method according to claim 9, characterized in that The number of the preset distances is multiple; and determining the position of the second hole according to the preset distances, the three-dimensional model of the lesion area and the position of the first hole includes: Determining the positions of candidate hole positions corresponding to the preset distances according to the three-dimensional model of the lesion area, the positions of the first hole positions, and the plurality of preset distances; Determine the arm distance between the mirror holding arm and the tool holding arm at each of the candidate hole positions; The position of the candidate hole position corresponding to the maximum arm distance between the mirror holding arm and the robot holding arm is determined as the position of the second hole position.

11. The method according to claim 10, characterized in that The determining, according to the three-dimensional model of the lesion area, the position of the first hole position and the plurality of preset distances, the position of the candidate hole position corresponding to each preset distance comprises: Determining a first relative position between the first hole position and the lesion area according to the three-dimensional model and the position of the first hole position; Determining a second relative posture between the first hole position and the candidate hole positions corresponding to the preset distances according to the position of the first hole position and the preset distances; According to the first relative posture and each of the second relative postures, a third relative posture between the lesion area and each of the candidate hole positions corresponding to the preset distance is determined, and according to the three-dimensional model and each of the third relative postures, the position of the candidate hole position corresponding to each of the preset distances is determined.

12. The method according to claim 10 or 11, characterized in that: The determining of the arm spacing between the mirror holding arm and the tool holding arm at each of the candidate hole positions includes: For each target hole position, determining the end position of the robot arm according to the position of the target hole position; Performing inverse kinematics solution on the robotic arm according to the end position to obtain the rotation angles of each joint of the robotic arm; According to the joint rotation angles of the robotic arm, the arm spacing between the mirror holding arm and the robot holding arm at the candidate hole positions is determined; the target hole positions include the first hole positions and the candidate hole positions.

13. The method according to any one of claims 8 to 11, characterized in that: The step of establishing a three-dimensional model of the lesion area according to the first image data includes: Acquiring second image data of the lesion area, wherein the second image data includes an image before establishing pneumoperitoneum; Correcting the second image data according to the first image data to obtain third image data; A three-dimensional model of the lesion area is established according to the third image data.

14. The method according to any one of claims 8 to 11, characterized in that: Determining the position of the first hole according to the three-dimensional model of the lesion area includes: In response to a first operation, determining a target point in the three-dimensional model of the lesion area; The position of the first hole is determined according to the target point in the three-dimensional model of the lesion area.

15. A surgical robot device, characterized in that: It includes a scanning component, a mirror holding arm, a mechanical arm and a control component; The scanning component scans and obtains first image data of the lesion area, and sends the first image data to the control component. The control component uses the method described in any one of claims 8 to 14 to determine the hole position of the mirror holding arm and the hole position of the mechanical arm.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 8 to 14 are implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 8 to 14 are implemented.

18. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 8 to 14 are implemented.

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