Surgical robot systems, control methods, and surgical robot devices

Abstract

This application relates to a surgical robot system, control method, and surgical robot device. The system includes a scope-holding arm, a surgical arm, a scanning unit, a modeling unit, a first positioning unit, and a second positioning unit. The scanning unit acquires first image data of the lesion area; the modeling unit creates a three-dimensional model of the lesion area based on the first image data; the first positioning unit determines the position of a first aperture (the aperture of the scope-holding arm) based on the three-dimensional model of the lesion area; the second positioning unit determines the position of a second aperture (the aperture of the surgical arm) based on the three-dimensional model of the lesion area and the position of the first aperture; the second aperture is the aperture of the surgical arm. Using this surgical robot system can save time and effort and improve the accuracy of aperture positioning.

Description

Technical Field

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

[0002] With the advancement of robotics technology, surgical robots are being used more and more widely in minimally invasive surgery. Surgical robots also need to locate the lesion, then determine the location of the incision points on the patient's body surface based on the lesion's location, and then make incisions at those points so that surgical instruments connected to the surgical robot can enter the patient's body to perform the surgical procedure.

[0003] In existing surgical robots, operators need to determine the position of the holes in the robotic arm based on their own experience. However, this operation is time-consuming and laborious, and the accuracy of the determined hole positions is low. Summary of the Invention

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

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

[0006] The scanning unit is used to acquire the first image data of the lesion area;

[0007] The modeling unit is used to create a three-dimensional model of the lesion area based on the first image data;

[0008] The first positioning unit is used to determine the position of the first port based on the three-dimensional model of the lesion area; the first port is the port of the endoscope arm.

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

[0010] In one embodiment, the second positioning unit is further configured to determine the position of the second hole based on 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 embodiment, 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] The first determining subunit is used to determine the position of the candidate pore corresponding to each preset distance based on the three-dimensional model of the lesion area, the position of the first pore, and multiple preset distances;

[0013] The second determining subunit is used to determine the arm spacing between the lens holding arm and the mechanical holding arm under each candidate aperture position;

[0014] The third determining subunit is used to determine the position of the candidate hole corresponding to the maximum arm distance between the lens-holding arm and the mechanical arm as the position of the second hole.

[0015] In one embodiment, the first determining subunit is further configured to: determine a first relative pose between the first hole and the lesion region based on the position of the first hole in the three-dimensional model; determine a second relative pose between the first hole and candidate holes corresponding to each preset distance based on the position of the first hole and each preset distance; determine a third relative pose between the lesion region and candidate holes corresponding to each preset distance based on the first relative pose and each second relative pose; and determine the position of the candidate holes corresponding to each preset distance based on the three-dimensional model and each third relative pose.

[0016] In one embodiment, the second determining subunit is further configured to, for each target hole, determine the end-effector pose of the robotic arm based on the position of the target hole; perform inverse kinematics calculation on the robotic arm based on the end-effector pose to obtain the joint angles of the robotic arm; and determine the arm spacing between the lens-holding arm and the robotic arm at the candidate hole based on the joint angles of the robotic arm; each target hole includes a first hole and each candidate hole.

[0017] In one embodiment, the surgical robot system also includes a calibration unit;

[0018] The scanning unit is also used to acquire second imaging data of the lesion area, including images before the establishment of pneumoperitoneum;

[0019] The calibration unit is used to correct the second image data based on the first image data to obtain the third image data;

[0020] The modeling unit is also used to create a three-dimensional model of the lesion area based on third-party image data.

[0021] In one embodiment, the first positioning unit is further configured to, in response to the first operation, determine a target point in a three-dimensional model of the lesion region; and determine the position of the first aperture based on the target point in the three-dimensional model of the lesion region.

[0022] Secondly, this application also provides a control method for a surgical robot system, the method comprising:

[0023] Acquire first-image data of the lesion area;

[0024] Based on the first image data, a three-dimensional model of the lesion area was established;

[0025] The location of the first port is determined based on the three-dimensional model of the lesion area; the first port is the port of the endoscope arm in the surgical robot.

[0026] Based on the three-dimensional model of the lesion area and the location of the first port, the location of the second port is determined; the second port is the port of the surgical robot's holding arm.

[0027] Thirdly, this application also provides a surgical robot device. The surgical robot device includes a scanning component, a scope-holding arm, a surgical arm, and a control component;

[0028] The scanning component scans and acquires first image data of the lesion area and sends the first image data to the control component. The control component uses any of the methods described above to determine the hole positions of the endoscope arm and the mechanical arm.

[0029] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of any of the methods described above.

[0030] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0031] Sixthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0032] The aforementioned surgical robot system, control method, and surgical robot equipment include a scope-holding arm, a surgical arm, a scanning unit, a modeling unit, a first positioning unit, and a second positioning unit. The scanning unit acquires first image data of the lesion area; the modeling unit builds a three-dimensional model of the lesion area based on the first image data; the first positioning unit determines the position of the first port based on the three-dimensional model of the lesion area; and the second positioning unit determines the position of the second port based on the three-dimensional model of the lesion area and the position of the first port. Since the first image data accurately reflects the condition of the patient's lesion area (e.g., the first image data is the image data after the patient has undergone pneumoperitoneum), the accuracy of the three-dimensional model of the lesion area built based on the first image data is also good. Therefore, a relatively accurate position of the first port can be determined based on the three-dimensional model of the lesion area. Furthermore, when determining the position of the second port, the three-dimensional model of the lesion area and the position of the first port can be combined, thus improving the accuracy of the second port. Moreover, the entire process reduces reliance on the operator, saving time and effort. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a surgical robot according to an embodiment of this application;

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

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

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

[0037] Figure 5 This is a schematic diagram of a hole position in an embodiment of this application;

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

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

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

[0041] Figure 9 This is a flowchart illustrating a control method for a surgical robot system according to an embodiment of this application;

[0042] Figure 10 This is a schematic diagram of a process for determining the position of the second hole in an embodiment of this application;

[0043] Figure 11 This is a schematic diagram of a process for determining candidate hole positions in an embodiment of this application;

[0044] Figure 12 This is a schematic diagram of a process for determining arm spacing in an embodiment of this application;

[0045] Figure 13 This is a schematic diagram illustrating a process for creating a three-dimensional model in an embodiment of this application;

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

[0047] Figure 15 This is a schematic diagram of a surgical robot system control method in an embodiment of this application;

[0048] Figure 16 This is a schematic diagram of the structure of a surgical robot device according to an embodiment of this application;

[0049] Figure 17 This is a diagram showing the internal structure of a computer device in an embodiment of this application. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] Figure 1 This is a schematic diagram of the structure of a surgical robot according to an embodiment of this application, such as... Figure 1 As shown, the surgical robot may include a trolley arm 101, an adjusting arm 102, and a telecentric mechanism 103. The trolley arm 101, the adjusting arm 102, and the telecentric mechanism 103 can move as needed to perform surgery.

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

[0053] Taking abdominal surgery as an example, Figure 1 Let's take four robotic arms as an example. Figure 1 As shown, the four robotic arms, from left to right, are robotic arm 1, robotic arm 2, lens-holding arm 3, and robotic arm 4. Each of the four robotic arms can include at least one joint. Among them, robotic arm 3 can be a lens-holding arm, and robotic arms 1, 2, and 4 can be robotic arms.

[0054] Figure 1 This embodiment only illustrates a schematic diagram of one type of surgical robot. It does not limit the type of surgical robot, the number of joint degrees of freedom, or the number of robotic arms. A surgical robot need to include at least one robotic arm and one endoscope arm.

[0055] During surgery, the telecentric mechanism of the surgical robot ensures the incision remains unchanged through mechanical structures or control methods. The incision location is determined by the operator during the preoperative preparation stage, taking into account the patient's lesion area and the surgical robot's motion capabilities. A well-placed incision, or incision, helps to allocate the operating space for surgical instruments connected to the end effector of the surgical robot around the lesion area during surgery. Furthermore, it significantly reduces collisions and interference between robotic arms during surgery, improving operability and safety. Therefore, the appropriate placement of the incision is extremely important for the operator.

[0056] Currently, operators rely on their experience to determine the positions of the robotic arms' holes. However, the accuracy of hole positions determined by experience is relatively low. Furthermore, the pre-determined hole positions dictate the robotic arm's orientation, potentially causing interference between the robotic arms during surgery. This can make it difficult for surgical instruments to reach their intended positions, disrupting the smoothness of the surgical procedure.

[0057] In some existing technologies, a 3D model is constructed based on the patient, the pre-drilling location, and the surgical robot. The robot's positioning is then planned by integrating patient information and the pre-drilling location, and the planned 3D model is registered with the actual patient's coordinates to adjust the robot's positioning. However, the pre-operatively calibrated surgical area is relatively coarse, resulting in a certain distance error between the constructed positioning plan and the actual required drilling location, placing high demands on the surgical robot's motion space performance.

[0058] In some existing technologies, 3D modeling can be performed based on information from the patient's body and surface. The placement of apertures on the 3D model can then be planned according to the range of motion and interference of surgical instruments and endoscopes within the body. However, this approach requires the operator to be very familiar with the maximum range of motion of the surgical robot's arms and instruments, as well as the actual range of motion required for the surgery. This presents a learning curve and is not beginner-friendly.

[0059] Therefore, it is necessary to provide a surgical robot system that can improve the accuracy of the hole placement, addressing the aforementioned technical problems. This surgical robot system will be described below.

[0060] Figure 2 This is a schematic diagram of the structure of a surgical robot system according to an embodiment of this application, such as... Figure 2 As shown, the surgical robot system 200 may include a surgical robot 100; in other words, the surgical robot system 200 includes at least... Figure 1 The lens-holding arm 104 and the mechanical 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 acquire first image data of the lesion area. Optionally, the scanning unit 201 may include, but is not limited to, a CT (Computed Tomography) device, a PET (Positron Emission Computed Tomography) device, an MRI (Magnetic Resonance Imaging) device, a PET-CT device, and a PET-MR device.

[0063] The first imaging data includes images of the patient after pneumoperitoneum has been established. During the operation, changes in patient position and the establishment of pneumoperitoneum can affect the position of the incision port. Therefore, acquiring the first imaging data of the lesion area can more accurately reflect the condition of the lesion area and improve the accuracy of the incision port location.

[0064] It is understandable 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 not only needs to include the lesion area, but also other areas around the lesion area, such as the patient's body surface information.

[0065] Alternatively, in order to improve the accuracy of the subsequently established 3D model, the first image data can be image data that can reflect the 3D information of the lesion area.

[0066] For example, taking abdominal surgery as an example, the scanning unit 201 can be a CT device, and the first image data can be the patient's abdominal CT image.

[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 based on the first image data. That is, the modeling unit 202 is used to build a three-dimensional model of the lesion area based on the first image data.

[0068] The 3D model of the lesion area can include the set of coordinates of the lesion area in the world coordinate system. Taking the 3D model of the patient's abdomen as an example, the condition of the patient's abdomen and the condition of the lesion area within the abdomen can be determined through the 3D model of the abdomen.

[0069] Optionally, the modeling unit 202 can establish a three-dimensional model of the lesion area based on volumetric roaming technology, virtual endoscopy technology, multi-layer reconstruction and other methods.

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

[0071] Taking laparoscopic surgery as an example, since the endoscope arm is a robotic arm that connects to the endoscope, and the endoscope is used to provide a surgical field of view during the operation, the requirements for the operation and movement ability of the endoscope arm are not high. Therefore, the first positioning unit 203 can first determine the position of the port of the endoscope arm based on the three-dimensional model of the lesion area, that is, determine the position of the first port.

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

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

[0074] In one embodiment, optionally, the first positioning unit 203 is further configured to, in response to a first operation, determine a target point in the three-dimensional model of the lesion region; and determine the position of the first aperture based on the target point in the three-dimensional model of the lesion region. 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 to determine the location of the first hole position. The first positioning unit 203 can also modify 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 critical organs, and use the modified target point as the first hole position to determine the location of the first hole position. This embodiment does not impose any limitations.

[0076] For example, 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 use gestures to select a target point on the displayed three-dimensional model so that the first positioning unit 203 can determine the position of the first aperture based on the target point in the three-dimensional model of the lesion area.

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

[0078] Figure 3 This is a schematic diagram of a first hole position in an embodiment of this application. Taking the robotic arm 3 as an example, the position of the first hole position is as follows: Figure 3 As shown, the preset lesion point, the first port position, and the axis of the endoscope arm 3 in the lesion area are aligned. The preset lesion point in the lesion area can be any point within the lesion area, such as the centroid of the lesion area. Optionally, the position of the first port position allows the endoscope to capture the entire range of the lesion area.

[0079] Please continue to refer to Figure 3 An endo coordinate system can be established with the first port as the origin, and a focus coordinate system can be established with the preset lesion points in the lesion area. Since the three-dimensional model of the lesion area is based on the first image data after pneumoperitoneum is established, the relative positional relationship between the preset lesion points and the first port can be obtained relatively accurately based on the position of the first port.

[0080] After determining the location of the first port, the operator can adjust the endoscope's viewing angle, connect the endoscope arm to the endoscope's cannula, and complete the alignment of the suspension plate to position the endoscope arm. Please refer to... Figure 1 ,like Figure 1 As shown, after the suspension plate is aligned, the cross laser can be aligned with the preset lesion point in the lesion area.

[0081] Furthermore, to avoid interference between the robotic arms during surgery, the second positioning unit 204 can determine the position of the holding arm's port based on the three-dimensional model of the lesion area and the position of the first port, which is also the position of the second port. In other words, the second positioning unit 204 is used to determine the position of the second port based on the three-dimensional model of the lesion area and the position of the first port; the second port is the port of the holding arm.

[0082] The location of the second pore can be its coordinates in the world coordinate system, or it can be the relative position between the second pore and the lesion area in the three-dimensional model.

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

[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 lens-holding arm, and then determine the position 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 robotic arm 3, the second positioning unit 204 can first determine the position of the second hole of the robotic arm 2, then determine the position of the second hole of the robotic arm 4, and finally determine the position of the second hole of the robotic arm 1. The principles for determining the positions of the second holes corresponding to robotic arms 1, 2, and 4 are similar. It can be understood that determining the positions of the second holes corresponding to robotic arms 2 and 4 depends on the 3D model and the position of the first hole of the robotic arm 3. Similarly, determining the position of the second hole of the robotic arm 1 depends on the 3D model of the lesion area and the position of the second hole of the robotic arm 2.

[0086] exist Figure 2 In this system, the modeling unit 202, the first positioning unit 203, or the second positioning unit 204 can be located outside the surgical robot 100, and can be, but is not limited to, various personal computers, laptops, smartphones, and tablets. Alternatively, it can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0087] The modeling unit 202, the first positioning unit 203, or the second positioning unit 204 can also be placed inside the surgical robot. It 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 scope-holding arm, a surgical arm, a scanning unit, a modeling unit, a first positioning unit, and a second positioning unit. The scanning unit acquires first image data of the lesion area; the modeling unit builds a three-dimensional model of the lesion area based on the first image data; the first positioning unit determines the position of the first port based on the three-dimensional model of the lesion area; and the second positioning unit determines the position of the second port based on the three-dimensional model of the lesion area and the position of the first port. Since the first image data accurately reflects the condition of the patient's lesion area (e.g., the first image data is the image data after the patient has undergone pneumoperitoneum), the accuracy of the three-dimensional model of the lesion area built based on the first image data is also good. Therefore, the position of the first port can be determined more accurately based on the three-dimensional model of the lesion area. Furthermore, when determining the position of the second port, the three-dimensional model of the lesion area and the position of the first port can be combined, thus improving the accuracy of the second port. Moreover, the entire process reduces reliance on operators, saving time and effort.

[0089] In one embodiment, optionally, the second positioning unit 204 is used to determine the position of the second hole based on 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 can be an empirical value stored in the surgical robot system beforehand, or it can be an empirical value determined in response to a second operation initiated by the operator when the position of the second port needs to be determined. When the distance between the first and second ports is the preset distance, the possibility of interference between the endoscope arms is low or nonexistent.

[0091] Please combine Figure 3 Establish an endo coordinate system with the first hole as the origin, and if establish an If coordinate system with the second hole 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] Therefore, the second positioning unit 204 can determine the position of the second hole based on the preset distance, the three-dimensional model of the lesion area, and the position of the first hole.

[0093] For example, 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 based on the three-dimensional model of the lesion area, thereby determining the position of the second hole.

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

[0095] Figure 4 This is a schematic diagram of the structure of another surgical robot system in the embodiments of this application, as shown below. 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 the telecentric mechanism of the robotic arm will move during the operation of different instruments in different postures, the position of the second port should be such that the distance between the robotic arms is as large as possible. This reduces the risk of collision and interference between the telecentric mechanisms during the operation, thus ensuring smooth operation. To obtain a reasonable position for the second port, an iterative search can be performed based on multiple preset distances between the robotic arm and the endoscope arm, derived from prior experience.

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

[0098] The first determining subunit 401 is used to determine the position of the candidate pore corresponding to each preset distance based on the three-dimensional model of the lesion area, the position of the first pore, and multiple preset distances.

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

[0100] Therefore, the second determining subunit 402 is used to determine the arm spacing between the lens holding arm and the mechanical holding arm under each candidate aperture position.

[0101] Optionally, the second determining subunit 402 can perform inverse kinematics solutions based on the position of the first hole and the position of each candidate hole, and determine the posture of the lens-holding arm and the posture of the mechanical arm under each candidate hole after the solution. Then, based on the posture of the lens-holding arm and the posture of the mechanical arm under each candidate hole, the average arm spacing between the lens-holding arms under each candidate hole is determined for each candidate hole, that is, the arm spacing between the lens-holding arm and the mechanical arm under each candidate hole is determined.

[0102] Continue to use the robotic arm as Figure 3 Taking the middle holding robotic arm 4 as an example, with a preset distance A to a preset distance E, the second determining subunit 402 can determine the arm distance A between robotic arm 3 and robotic arm 4 when the candidate hole position is A, and determine the arm distance B between robotic arm 3 and robotic arm 4 when the candidate hole position is B, and so on, to determine the arm distance A to arm distance E corresponding to the candidate hole positions A to E respectively.

[0103] The third determining subunit 403 is used to determine the position of the candidate hole corresponding to the maximum arm-to-arm distance between the lens-holding arm and the mechanical arm as the position of the second hole. In this way, iterative search is performed based on multiple preset distances to determine the position of the candidate hole corresponding to the maximum arm-to-arm distance.

[0104] For example, assuming that arm spacing B is the largest among arm spacings A to E, the third determining subunit 403 will take 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 determining subunit 401 can determine the position of the candidate hole corresponding to each preset distance based on the three-dimensional model of the lesion area, the position of the first hole, and the multiple preset distances. Furthermore, since the second determining subunit 402 is used to determine the arm-to-arm distance between the endoscope arm and the robotic arm at each candidate hole position, and the third determining subunit 403 is used to determine the position of the candidate hole corresponding to the maximum arm-to-arm distance between the endoscope arm and the robotic arm as the position of the second hole, using the candidate hole corresponding to the maximum arm-to-arm distance as the second hole improves the accuracy of the second hole position and reduces interference between the robotic arms.

[0106] In one embodiment, optionally, the first determining subunit 401 is further configured to determine a first relative pose between the first hole and the lesion region based on the position of the three-dimensional model and the first hole; determine a second relative pose between the first hole and candidate holes corresponding to each preset distance based on the position of the first hole and each preset distance; determine a third relative pose between the lesion region and candidate holes corresponding to each preset distance based on the first relative pose and each second relative pose; and determine the position of the candidate holes corresponding to each preset distance based on the three-dimensional model and each third relative pose.

[0107] Figure 5 This is a schematic diagram of a hole position in an embodiment of this application, as shown below. Figure 5 As shown, after the position of the first hole is determined, the first determining subunit 401 can determine the first relative pose between the first hole and the lesion area, that is, determine the relative pose relationship between the endo coordinate system and the focus coordinate system.

[0108] Furthermore, the first determining subunit 401 can determine the distance between itself and the origin of the endo coordinate system as a preset distance, and the point intersecting with the patient's abdominal surface as candidate port locations. For example, as Figure 5 As shown, the distance between the origin of the If coordinate system and the origin of the endo coordinate system is a preset distance A, and the determined candidate hole position is candidate hole position A.

[0109] Please continue to refer to Figure 5 It is understandable that the preset lesion point, candidate port position and the axis of the surgical arm in the lesion area will be in the same straight line, so as to ensure that the surgical arm points to the lesion area, thereby reducing the process of adjusting the arm posture during preoperative positioning.

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

[0111] Furthermore, based on the first and second relative poses, the third relative pose between the lesion region and each candidate aperture can be determined. For example, based on the first and second relative poses A, the third relative pose A between the lesion region and candidate aperture A can be determined.

[0112] Since the location of the lesion region in the 3D model is fixed, the coordinates of the candidate aperture in the world coordinate system can be determined based on the third relative pose A and the 3D model, thus determining the location of the candidate aperture. For example, the coordinates of candidate aperture A in the world coordinate system are determined based on the third relative pose A and the 3D model.

[0113] In this embodiment, the first relative pose between the first hole and the lesion area is determined based on the position of the three-dimensional model and the first hole. Then, the second relative pose between the first hole and the candidate holes corresponding to each preset distance is determined based on the position of the first hole and each preset distance. Furthermore, the third relative pose between the lesion area and the candidate holes corresponding to each preset distance is determined based on the first relative pose and each second relative pose. Finally, the position of the candidate holes corresponding to each preset distance is determined based on the three-dimensional model of the lesion area, the position of the first hole, and multiple preset distances. Therefore, the position of the candidate holes corresponding to each preset distance can be determined efficiently and quickly based on the three-dimensional model of the lesion area, the position of the first hole, and multiple preset distances.

[0114] In one embodiment, optionally, the second determining subunit 403 is further configured to, for each target hole, determine the end-effector pose of the robotic arm based on the position of the target hole; perform inverse kinematics calculation on the robotic arm based on the end-effector pose to obtain the joint angles of the robotic arm; and determine the arm spacing between the lens-holding arm and the robotic arm at the candidate hole based on the joint angles of the robotic arm; each target hole includes a first hole and each candidate hole.

[0115] In this embodiment, after the position of the first hole is determined, a sleeve for the lens-holding arm can be installed in the first hole and connected to the lens-holding arm. Therefore, the position of the first hole is also the end-effector pose of the lens-holding arm. Similarly, the position of the candidate hole is also the end-effector pose of the lens-holding arm.

[0116] Furthermore, the second determining subunit 403 can determine the end-effector pose of the arm based on the position of the first hole, and determine the end-effector pose of the robotic arm at each candidate hole based on the position of each candidate hole. That is, the second determining subunit 403 is also used to determine the end-effector pose of the robotic arm based on the position of each target hole, where each target hole includes the first hole and each candidate hole.

[0117] Furthermore, by performing inverse kinematics on the robotic arm based on the end-effector pose, the rotation angles of each joint of the robotic arm can be obtained. Optionally, by performing inverse kinematics on the robotic arm based on the end-effector pose, if a solution is found, the rotation angles of each joint of the robotic arm are simultaneously determined; if no solution is found, a failure message can be returned.

[0118] Taking robotic arms 3 and 4, and candidate hole position A as an example, the second determining subunit 403 can use the position of the first hole position as the end pose of robotic arm 3, and perform inverse kinematics solution on robotic arm 3 based on the end pose of robotic arm 3. If there is a solution, the second determining subunit 403 also determines the joint angles of each joint of robotic arm 3.

[0119] Furthermore, the second determining subunit 403 can use the position of the candidate hole A as the end pose of the robotic arm 4, and perform inverse kinematics solution on the robotic arm 4 based on the end pose of the robotic arm 4. If there is a solution, the second determining subunit 403 also determines the joint angles of each joint of the robotic arm 4.

[0120] Thus, after determining the joint angles of each joint of robotic arm 3 and robotic arm 4, the postures of robotic arms 3 and 4 are fixed and determined. Therefore, the second determining subunit 403 can determine the arm spacing between robotic arms 3 and 4 based on the joint angles of each joint of robotic arm 3 and robotic arm 4. That is, the arm spacing between the lens-holding arm and the mechanical arm at candidate hole position A is determined based on the joint angles of the robotic arms.

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

[0122] In this embodiment, for each target hole, the end effector pose of the robotic arm is determined based on the position of the target hole; inverse kinematics of the robotic arm is solved based on the end effector pose to obtain the joint angles of the robotic arm; and the arm distance between the lens-holding arm and the robotic arm at the candidate hole position is determined based on the joint angles of the robotic arm. Each target hole position includes a first hole position and each candidate hole position. Therefore, the arm distance between the lens-holding arm and the robotic arm at each candidate hole position can be determined so that the position of the candidate hole position corresponding to the largest arm distance can be used as the position of the second hole position, thereby reducing interference between the robotic arms.

[0123] Figure 6 This is a schematic diagram of the structure of another surgical robot system in the embodiments of this application, as shown below. Figure 6 As shown, in one embodiment, the surgical robot system 200 may optionally include a calibration unit 601.

[0124] The scanning unit 201 is also used to acquire second image data of the lesion area, including images before the establishment of pneumoperitoneum.

[0125] In other words, the scanning unit 201 can acquire the patient's imaging data before the establishment of pneumoperitoneum, which is generally imaging data for preoperative diagnosis or preoperative planning. The first and second imaging data can be of the same or different types; for example, both the first and second imaging data can be abdominal CT images.

[0126] Similarly, due to the promotion and application of hybrid operating rooms, the methods for acquiring second image data include, but are not limited to, CT (Computed Tomography), PET (Positron Emission Computed Tomography), MRI (Magnetic Resonance Imaging), PET-CT, 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] Alternatively, to improve efficiency and conserve scanning resources, the second image data may need to represent the three-dimensional information of the lesion area, while the first image data may only need to represent the two-dimensional information of the lesion area. For example, the second image data may be an abdominal ultrasound image or an abdominal CT image.

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

[0130] The corrections include, but are not limited to, correcting distortions, missing data, color differences, and blurring in the second image data. Optionally, the calibration unit 601 can first register the first and second image data, and then perform corrections based on the registration result.

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

[0132] This embodiment uses first image data to correct second image data to obtain third image data. Therefore, it can use image data after the patient has undergone pneumoperitoneum to correct the image data before pneumoperitoneum. Compared with images based on endoscopic images or other visual information, the third image data is more accurate, while reducing post-pneumoperitoneum procedures and improving surgical efficiency. Furthermore, it avoids the problem of low accuracy caused by the invisibility of endophytic lesions in endoscopic images of flexible organs. Further, it also improves the accuracy of the three-dimensional model determined by the third image data.

[0133] Figure 7 This is a schematic diagram of the structure of another surgical robot system in the embodiments of this application, as shown below. Figure 7As shown, in one embodiment, the surgical robot system 200 may optionally include an adjustment unit 701.

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

[0135] In this embodiment, the adjustment operation 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 these operations.

[0136] For example, after obtaining the positions of the second holes corresponding to robotic arms 1, 2, and 4, 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 adjustment operations on the positions of the three second holes based on their own experience. For example, if the operator moves the position of the second hole corresponding to robotic arm 1 1 cm to the right, the adjustment unit 701 can respond to this adjustment operation to adjust the position of the second hole.

[0137] This embodiment improves the accuracy of the second hole position and increases the flexibility in determining its position because the position of the second hole can be adjusted.

[0138] Figure 8 This is a schematic diagram of the structure of another surgical robot system in the embodiments of this application, as shown below. Figure 8 As shown, in one embodiment, optionally, the surgical robot system 200 includes a scope 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 description of each unit in the surgical robot system 200 can be found in the above embodiments, and will not be repeated here.

[0139] Each unit in the aforementioned surgical robot system control device can be implemented entirely or partially through software, hardware, or a combination thereof. These units can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each unit.

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

[0141] Figure 9 This is a flowchart illustrating a control method for a surgical robot system according to an embodiment of this application. This method can be applied to... Figure 2 In the surgical robot system shown, in one embodiment, such as Figure 9 As shown, it includes the following steps:

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

[0143] S902, based on the first image data, establish a three-dimensional model of the lesion area.

[0144] S903, determine the position of the first port based on the three-dimensional model of the lesion area; the first port is the port of the endoscope arm in the surgical robot.

[0145] S904, based on the three-dimensional model of the lesion area and the position of the first port, determine the position of the second port; the second port is the port of the surgical robot's holding arm.

[0146] The surgical robot system control method provided in this embodiment acquires first image data of the lesion area, establishes a three-dimensional model of the lesion area based on the first image data, determines the position of the first port based on the three-dimensional model of the lesion area, and determines the position of the second port based on the three-dimensional model of the lesion area and the position of the first port. Since the first image data can accurately reflect the condition of the patient's lesion area (e.g., the first image data is the image data after the patient has undergone pneumoperitoneum), the accuracy of the three-dimensional model of the lesion area established based on the first image data is also good. Therefore, the position of the first port can be determined relatively accurately based on the three-dimensional model of the lesion area. Furthermore, when determining the position of the second port, the three-dimensional model of the lesion area and the position of the first port can be combined, thus improving the accuracy of the second port. Moreover, the entire process reduces reliance on operators, saving time and effort.

[0147] Optionally, in one embodiment, the above-described S904, determining the position of the second hole based on the three-dimensional model of the lesion area and the position of the first hole, can be achieved in the following way:

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

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

[0150] Figure 10 This is a flowchart illustrating the process of determining the position of the second hole in an embodiment of this application. (Refer to...) Figure 10 This embodiment relates to an optional implementation of how to determine the location of the second pore. Based on the above embodiment, the number of preset distances is multiple; the aforementioned "determining the location of the second pore based on the preset distance, the three-dimensional model of the lesion area, and the location of the first pore" includes the following steps:

[0151] S1001, based on the three-dimensional model of the lesion area, the position of the first pore, and multiple preset distances, determine the position of the candidate pore corresponding to each preset distance.

[0152] S1002, determine the arm spacing between the lens-holding arm and the mechanical arm under each candidate aperture position.

[0153] S1003, determine the position of the candidate hole corresponding to the maximum arm distance between the lens-holding arm and the mechanical arm as the position of the second hole.

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

[0155] Figure 11 This is a schematic diagram of a process for determining candidate hole positions in an embodiment of this application, referring to... Figure 11 This embodiment relates to an optional implementation of how to determine the positions of multiple candidate pore sites. Based on the above embodiment, step S1001, which determines the position of the candidate pore site corresponding to each preset distance based on the three-dimensional model of the lesion area, the position of the first pore site, and multiple preset distances, includes the following steps:

[0156] S1101, based on the position of the three-dimensional model and the first hole, determine the first relative pose between the first hole and the lesion area.

[0157] S1102, based on the position of the first hole and each preset distance, determine the second relative pose between the first hole and the candidate holes corresponding to each preset distance.

[0158] S1103, based on the first relative pose and each of the second relative poses, determine the third relative pose between the lesion area and the candidate holes corresponding to each preset distance, and based on the three-dimensional model and each of the third relative poses, determine the position of the candidate holes corresponding to each preset distance.

[0159] In this embodiment, the first relative pose between the first hole and the lesion area is determined based on the position of the three-dimensional model and the first hole. Then, the second relative pose between the first hole and the candidate holes corresponding to each preset distance is determined based on the position of the first hole and each preset distance. Furthermore, the third relative pose between the lesion area and the candidate holes corresponding to each preset distance is determined based on the first relative pose and each second relative pose. Finally, the position of the candidate holes corresponding to each preset distance is determined based on the three-dimensional model of the lesion area, the position of the first hole, and multiple preset distances. Therefore, the position of the candidate holes corresponding to each preset distance can be determined efficiently and quickly based on the three-dimensional model of the lesion area, the position of the first hole, and multiple preset distances.

[0160] Figure 12 This is a schematic diagram of a process for determining arm spacing in an embodiment of this application. (Refer to...) Figure 12 This embodiment relates to an optional implementation method for determining the arm spacing between the lens-holding arm and the mechanical arm at each candidate aperture position. Based on the above embodiment, step S1002, determining the arm spacing between the lens-holding arm and the mechanical arm at each candidate aperture position, includes the following steps:

[0161] S1201, for each target hole, determine the end effector pose of the robotic arm based on the position of the target hole.

[0162] S1202, perform inverse kinematics calculation on the robotic arm based on the end-effector pose to obtain the rotation angles of each joint of the robotic arm.

[0163] S1203, determine the arm spacing between the lens-holding arm and the robotic arm under the candidate hole position based on the joint rotation angles of each joint of the robotic arm; each target hole position includes the first hole position and each candidate hole position.

[0164] In this embodiment, for each target hole, the end effector pose of the robotic arm is determined based on the position of the target hole; inverse kinematics of the robotic arm is solved based on the end effector pose to obtain the joint angles of the robotic arm; and the arm distance between the lens-holding arm and the robotic arm at the candidate hole position is determined based on the joint angles of the robotic arm. Each target hole position includes a first hole position and each candidate hole position. Therefore, the arm distance between the lens-holding arm and the robotic arm at each candidate hole position can be determined so that the position of the candidate hole position corresponding to the largest arm distance can be used as the position of the second hole position, thereby reducing interference between the robotic arms.

[0165] Figure 13 This is a schematic diagram of a process for creating a three-dimensional model in an embodiment of this application, with reference to... Figure 13 This embodiment relates to an optional implementation method for establishing a three-dimensional model. Based on the above embodiment, step S902, which establishes a three-dimensional model of the lesion area based on the first image data, includes the following steps:

[0166] S1301, acquire second imaging data of the lesion area, including images before pneumoperitoneum was established.

[0167] S1302, the second image data is corrected based on the first image data to obtain the third image data.

[0168] S1303, a three-dimensional model of the lesion area is established based on the third image data.

[0169] This embodiment uses first image data to correct second image data to obtain third image data. Therefore, it can use image data after the patient has undergone pneumoperitoneum to correct image data before pneumoperitoneum. Compared to images based on endoscopic images or other visual information, the accuracy of the obtained third image data is higher. Furthermore, it avoids the problem of low accuracy caused by the invisibility of endophytic lesions in endoscopic images of flexible organs. Further, it also improves the accuracy of the three-dimensional model determined by the third image data.

[0170] Figure 14 This is a schematic diagram of a process for determining the first hole position in an embodiment of this application, referring to... Figure 14 This embodiment relates to an optional implementation of how to determine the location of the first pore. Based on the above embodiment, step S903, which determines the location of the first pore based on the three-dimensional model of the lesion area, includes the following steps:

[0171] S1401, in response to the first operation, determines the target point in the three-dimensional model of the lesion region.

[0172] S1402, determine the location of the first pore based on the target point in the three-dimensional model of the lesion area.

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

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

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

[0176] This embodiment improves the accuracy of the second hole position and increases the flexibility in determining its position because the position of the second hole can be adjusted.

[0177] To more clearly illustrate the surgical robot system control method in this application, this paper combines... Figure 15 Please provide an explanation. Figure 15 This is a schematic diagram of a surgical robot system control method according to an embodiment of this application, such as... Figure 15 As shown, the surgical robot system executes its control method according to the following procedure.

[0178] S1501, acquire the first imaging data of the lesion area. The second imaging data includes images after pneumoperitoneum is established.

[0179] S1502, acquire second imaging data of the lesion area, wherein the second imaging data includes images before the establishment of pneumoperitoneum.

[0180] S1503, the second image data is corrected based on the first image data to obtain the third image data.

[0181] S1504, a three-dimensional model of the lesion area is established based on the third image data.

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

[0183] S1506, Determine the location of the first port based on the target point in the 3D model of the lesion area. The first port is the port of the endoscope arm in the surgical robot.

[0184] S1507, Based on the position of the three-dimensional model and the first hole, determine the first relative pose between the first hole and the lesion area.

[0185] S1508, based on the position of the first hole and each preset distance, determine the second relative pose between the first hole and the candidate holes corresponding to each preset distance. The preset distances indicate the distance between the first hole and the second hole; the second hole is the hole on the surgical robot's holding arm.

[0186] S1509, based on the first relative pose and each of the second relative poses, determine the third relative pose between the lesion area and the candidate holes corresponding to each preset distance, and based on the three-dimensional model and each of the third relative poses, determine the position of the candidate holes corresponding to each preset distance.

[0187] S1510, for each target hole, determine the end effector pose of the robotic arm based on the position of the target hole. Each target hole includes a first hole and candidate holes.

[0188] S1511, perform inverse kinematics calculation on the robotic arm based on the end-effector pose to obtain the rotation angles of each joint of the robotic arm.

[0189] S1512, determine the arm spacing between the lens-holding arm and the robotic arm at the candidate hole position based on the joint rotation angles of each joint of the robotic arm.

[0190] S1513, determine the position of the candidate hole corresponding to the maximum arm distance between the lens-holding arm and the mechanical arm as the position of the second hole.

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

[0192] As can be seen, the surgical robot system control method provided in this embodiment can effectively reduce intraoperative robotic arm interference and ensure the smooth completion of the surgery. Furthermore, it is beginner-friendly, allowing beginners to quickly master the drilling technique of the surgical robot system, shortening the learning curve for positioning and drilling with the surgical robot system, and reducing the overall surgical time.

[0193] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed 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 portion of steps or stages in other steps.

[0194] Figure 16 This is a schematic diagram of the structure of a surgical robot device according to an embodiment of this application. Based on the same inventive concept, in one embodiment, such as Figure 16 As shown, a surgical robot device 1600 is provided, which includes a scope arm 1601, a surgical arm 1602, a scanning component 1603, and a control component 1604.

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

[0196] The control component 1604 uses the surgical robot system control method described above to determine the positions of the aperture holding arm and the surgical arm.

[0197] Figure 17 This is an internal structure diagram of a computer device in an embodiment of this application. This application provides a computer device, which may be a server, and its internal structure diagram can be as follows. Figure 17As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores relevant data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a surgical robot system control method.

[0198] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0199] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[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 that, when executed by a processor, implements the steps in the above method embodiments.

[0202] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0203] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0204] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A surgical robot system, comprising a scope-holding arm and a robotic arm, characterized in that, Also includes: The scanning unit is used to acquire the first image data of the lesion area; A modeling unit is used to establish a three-dimensional model of the lesion area based on the first image data; The first positioning unit is used to determine the position of the first hole based on the three-dimensional model of the lesion area; the first hole is the hole of the endoscope arm; The second positioning unit is used to determine the position of the second hole based on a preset distance, the three-dimensional model of the lesion area, and the position of the first hole; the second hole is the hole of the holding arm; the preset distance is used to indicate the distance between the first hole and the second hole; 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; The first determining subunit is used to determine the position of the candidate pore corresponding to each preset distance based on the three-dimensional model of the lesion area, the position of the first pore, and multiple preset distances; The second determining subunit is used to determine the arm spacing between the lens-holding arm and the mechanical arm at each of the candidate aperture positions; The third determining subunit is used to determine the position of the candidate hole corresponding to the maximum arm distance between the lens-holding arm and the mechanical arm as the position of the second hole.

2. The surgical robot system according to claim 1, characterized in that, The first determining subunit is further configured to: determine a first relative pose between the first hole and the lesion region based on the position of the three-dimensional model and the first hole; determine a second relative pose between the first hole and candidate holes corresponding to each preset distance based on the position of the first hole and each preset distance; determine a third relative pose between the lesion region and candidate holes corresponding to each preset distance based on the first relative pose and each second relative pose; and determine the position of the candidate holes corresponding to each preset distance based on the three-dimensional model and each third relative pose.

3. The surgical robot system according to claim 1 or 2, characterized in that, The second determining subunit is further configured to, for each target hole position, determine the end effector pose of the robotic arm based on the position of the target hole position; perform inverse kinematics calculation on the robotic arm based on the end effector pose to obtain the joint angles of the robotic arm; and determine the arm distance between the lens-holding arm and the mechanical arm at the candidate hole position based on the joint angles of the robotic arm; the target hole positions include the first hole position and each of the candidate hole positions.

4. The surgical robot system according to claim 1 or 2, characterized in that, The system also includes a calibration unit; The scanning unit is also used to acquire second image data of the lesion area, the second image data including images before the establishment of pneumoperitoneum; The calibration unit is used to correct the second image data based on the first image data to obtain the third image data; The modeling unit is also used to establish a three-dimensional model of the lesion area based on the third image data.

5. The surgical robot system according to claim 1 or 2, characterized in that, The first positioning unit is further configured to respond to the first operation by determining a target point in the three-dimensional model of the lesion region; and to determine the position of the first aperture based on the target point in the three-dimensional model of the lesion region.

6. A control method for a surgical robot system, characterized in that, The method includes: Acquire first-image data of the lesion area; Based on the first image data, a three-dimensional model of the lesion area is established; The location of the first port is determined based on the three-dimensional model of the lesion area; the first port is the port of the endoscope arm in the surgical robot; The location of the second hole is determined based on the preset distance, the three-dimensional model of the lesion area, and the location of the first hole; the second hole is the hole of the surgical robot's holding arm; the preset distance is used to indicate the distance between the first hole and the second hole; The number of preset distances is multiple; determining the position of the second hole based on the preset distances, the three-dimensional model of the lesion area, and the position of the first hole includes: Based on the three-dimensional model of the lesion area, the position of the first pore, and multiple preset distances, the positions of the candidate pores corresponding to each preset distance are determined; Determine the arm spacing between the lens-holding arm and the mechanical arm at each of the candidate aperture positions; The position of the candidate hole corresponding to the maximum arm distance between the lens-holding arm and the mechanical arm is determined as the position of the second hole.

7. The method according to claim 6, characterized in that, The step of determining the position of the candidate pore corresponding to each preset distance based on the three-dimensional model of the lesion area, the position of the first pore, and multiple preset distances includes: Based on the position of the three-dimensional model and the first hole, determine the first relative pose between the first hole and the lesion area; Based on the position of the first hole and each of the preset distances, a second relative pose between the first hole and the candidate holes corresponding to each of the preset distances is determined; Based on the first relative pose and each of the second relative poses, a third relative pose is determined between the lesion region and each of the candidate holes corresponding to the preset distances, and based on the three-dimensional model and each of the third relative poses, the position of each candidate hole corresponding to the preset distance is determined.

8. The method according to claim 6 or 7, characterized in that, Determining the arm spacing between the lens-holding arm and the mechanical arm at each of the candidate aperture positions includes: For each target hole, the end effector pose of the robotic arm is determined based on the position of the target hole. The inverse kinematics of the robotic arm are solved based on the end-effector pose to obtain the joint angles of the robotic arm. Based on the joint rotation angles of the robotic arm, the arm spacing between the lens-holding arm and the robotic arm at the candidate hole positions is determined; each target hole position includes the first hole position and each of the candidate hole positions.

9. The method according to claim 6 or 7, characterized in that, The step of establishing a three-dimensional model of the lesion region based on the first image data includes: Acquire second image data of the lesion area, the second image data including images before pneumoperitoneum was established; The second image data is corrected based on the first image data to obtain the third image data; A three-dimensional model of the lesion area is established based on the third image data.

10. The method according to claim 6 or 7, characterized in that, Determining the location of the first pore based on the three-dimensional model of the lesion area includes: In response to the first operation, a target point in the three-dimensional model of the lesion region is determined; The location of the first pore is determined based on the target point in the three-dimensional model of the lesion area.

11. A surgical robot device, characterized in that, Includes scanning components, scope arm, robotic arm, and control components; The scanning component scans and acquires 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 6 to 10 to determine the hole positions of the endoscope arm and the instrument arm.

12. 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, it implements the steps of the method according to any one of claims 6 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 6 to 10.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 6 to 10.

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