Surgical robot regulation and control method considering tail end flexibility

Abstract

The invention discloses a surgical robot regulation and control method considering tail end flexibility. The method comprises the steps that a flexible surgical robot tail end clamping jaw disc contact coupling kinematics relation is established; constructing a general kinetic model of the surgical robot clamping jaw disc according to the kinematics relationship; on the basis of the general dynamical model, establishing a dynamical model with unknown disturbance terms; an external disturbance observer is designed according to the tremor characteristic caused by clamping flexibility at the tail end; and according to the external disturbance observer and the dynamical model with the unknown disturbance term, designing a control law for realizing tail end clamping high-precision stable motion. By establishing an accurate coupling kinematics relation, a kinetic model and an integrated disturbance observer and designing a control law for clamping high-precision stable motion of the tail end, the precision and stability of the surgical robot in the aspect of tail end flexible regulation and control are remarkably improved, and the application range of the surgical robot in a complex surgical environment is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a surgical robot control method taking terminal flexibility into consideration. Background Art

[0002] Medical robots are integrated systems that integrate multiple modules such as mechanical structure, sensor technology, control system, display operation interface and communication. With the continuous iteration and update of technology, medical robots can accurately execute operation instructions, which has been well applied in industries such as minimally invasive surgery to reduce surgical risks. At this stage, with the help of integrated auxiliary devices, surgical robots can provide high-definition graphics, a large field of view, record and transmit patient vital signs data, etc., which can help doctors better identify and treat diseased tissues. Medical robots have brought innovative progress in improving surgical accuracy and safety, and help improve patients' treatment effects and quality of life. Therefore, medical robots have received widespread attention at this stage.

[0003] Current surgical robot control methods mainly focus on improving the tracking performance of the external mobile terminal. By constructing an external disturbance observer and a dynamic model based on position relations, a system that can accurately track the control law is designed. These methods ensure the accuracy of the operation during the operation to a certain extent. However, most existing technologies ignore the flexibility of the end support of the surgical robot, which is particularly critical in confined space operations because it directly affects the stability and accuracy of the operation.

[0004] Existing surgical robot control methods fail to fully consider the impact of the end-support flexibility, resulting in obvious tremors and instability of the robot end in complex or restricted operating environments. This deficiency limits the application of surgical robots in a wider range of surgical scenarios, especially in minimally invasive surgeries that require extremely high precision and stability. In addition, due to the lack of control over the end flexibility, existing technologies may pose a risk of injury when handling delicate or fragile tissues, affecting the safety and effectiveness of the surgery. Summary of the invention

[0005] In response to the above-mentioned defects or improvement needs of the prior art, the present invention provides a method for significantly improving the accuracy and stability of the surgical robot in terms of terminal flexible control by establishing accurate coupled kinematic relationships, dynamic models and integrated disturbance observers, and designing control laws that support high-precision and stable motion of the terminal, thereby expanding its application scope in complex surgical environments.

[0006] To achieve the above object, according to one aspect of the present invention, a surgical robot control method considering the flexibility of the end is proposed, comprising:

[0007] S100, establishing the contact coupling kinematic relationship of the end gripper disc of the flexible surgical robot;

[0008] S200, constructing a general dynamics model of the surgical robot gripper disc according to the kinematic relationship;

[0009] S300, establishing a dynamics model with unknown disturbance terms based on the general dynamics model;

[0010] S400. According to the vibration characteristics caused by the end-support flexibility, an external disturbance observer is designed to observe and obtain external disturbance data in real time;

[0011] S500: Design a control law for achieving high-precision stable motion of the end support according to the external disturbance data and the dynamic model with unknown disturbance terms.

[0012] Furthermore, the end clamping jaw disc contact coupling kinematic relationship in step S100 includes:

[0013] R f Δθ f =J f Δθ

[0014] In the formula, R f Denotes the radius of the end gripper disc, Δθ f Indicates the rotation angle of the end gripper disc, J f =[R1,R2] represents the Jacobian matrix of the gripper disk drive, Δθ = [Δθ1Δθ2] T represents the angle variable of the clamping selection, Δθ1 is the angle rotation variable of the first clamping arm, and Δθ2 is the angle rotation variable of the second clamping arm.

[0015] Furthermore, step S100 also includes calculating the flexible end contact Jacobian matrix:

[0016]

[0017] In the formula, J M is the contact Jacobian matrix between the contact force and the finger joint torque at the end of the surgical robot clamping arm, l represents the length of the contact arm, l1 represents the distance from the normal contact point of the contact arm to the root of the rotation axis of the contact arm, and l2 represents the distance from the normal contact point to the end rotation axis.

[0018] Furthermore, the general dynamics model in step S200 includes:

[0019]

[0020] In the formula, is the stiffness matrix, M1(Δθ1) and M2(Δθ2) are the stiffness of the two clamping arms, and are the dynamic model parameters of the surgical robot, and τ is the driving force vector.

[0021] Furthermore, step S200 also includes establishing a torque balance equation of the end-end force of the surgical robot in the initial static state:

[0022]

[0023] Where M is the selected stiffness matrix, M1 and M2 are the stiffness of the two clamping arms, and F N =[F1 F2] T represents the contact force on the two supporting arms, F d Represents the end selection torque.

[0024] Furthermore, the dynamic model of the unknown disturbance term in step S300 includes:

[0025]

[0026] In the formula, and is the state variable, u=τ is the torque vector input, D0 is the constructed dynamic term, and d is the unknown dynamic term such as flexible tremor.

[0027] Furthermore, the disturbance observer in step S400 includes:

[0028]

[0029] Where x = [x1, x2] T is the state variable, is the estimated state variable, is the state variable derivative, A is the model matrix, B is the inertia parameter matrix, L is the observer gain matrix, C is the state variable observation matrix, is the observed quantity.

[0030] Further, step S500 includes:

[0031] S501, define the surgical robot end tracking error term:

[0032]

[0033] In the formula, e, and Surgical robot tracking error, tracking error first-order mentor and tracking error second-order derivative, x d , and is the theoretical reference quantity, the first-order derivative of the theoretical reference quantity and the second-order derivative of the theoretical reference quantity, x, To track the state quantity and the first-order derivative of the state quantity and the second-order derivative of the state quantity.

[0034] Furthermore, step S500 further includes:

[0035] S502, Design sliding surface:

[0036]

[0037] s is the designed sliding surface, is the first-order derivative of the sliding surface, is the first-order partial derivative of the sliding mode with respect to time t, is the partial derivative of the sliding mode surface with respect to the state quantity x, A(x) and B(x) are the expressions of the model matrix and the inertia parameter matrix with respect to the state quantity.

[0038] Furthermore, step S500 further includes:

[0039] S503. Design control law:

[0040]

[0041] Where A -1 is the inverse matrix of matrix A, η is a positive constant, sign is the sign function, is the estimated disturbance fluctuation, and a is the compensation control gain.

[0042] Beneficial effects of the present invention:

[0043] 1. The present invention provides a surgical robot control method that takes terminal flexibility into consideration. This method significantly improves the accuracy and stability of the surgical robot in the flexible control of the terminal effector by establishing precise coupling kinematic relationships and dynamic models, integrating advanced disturbance observers, and coordinating with innovative control law design. This method not only solves the shortcomings of traditional surgical robots in terminal flexibility control, but also greatly expands its application range in complex surgical environments, especially in minimally invasive surgeries that require high precision and stability. By compensating for unknown disturbances and model uncertainties in real time, this solution ensures that every action during the operation can be performed accurately, thereby improving the success rate of the operation and reducing the risk to the patient.

[0044] 2. The present invention provides a surgical robot control method that takes into account the end flexibility. The disturbance observer integrated in this method can monitor and estimate the external disturbance and internal model uncertainty during the operation in real time, provide the control system with necessary compensation information, and ensure the continuity and stability of the surgical operation.

[0045] 3. The present invention provides a surgical robot control method that takes into account the flexibility of the end portion. The design of the control law of this method takes into account the characteristics of the flexibility of the end portion of the surgical robot. By adjusting the control input in real time, the robot can adapt to different surgical conditions and patient anatomical differences.

[0046] 4. The present invention provides a surgical robot control method taking into account the end flexibility. The method designs an external disturbance observer that can observe and obtain external disturbance data in real time, so that the control system can respond quickly to unknown disturbances, thereby improving the robustness of the surgical robot when facing unpredictable factors.

[0047] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0049] Figure 1 This is a general flow chart of a surgical robot control method considering terminal flexibility in an embodiment of the present invention;

[0050] Figure 2 This is a flow chart of step S100 of a surgical robot control method considering terminal flexibility in an embodiment of the present invention;

[0051] Figure 3 This is a flow chart of step S200 of a surgical robot control method considering terminal flexibility in an embodiment of the present invention;

[0052] Figure 4 This is a flow chart of step S300 of a surgical robot control method considering terminal flexibility in an embodiment of the present invention;

[0053] Figure 5 This is a flow chart of step S500 of a surgical robot control method taking terminal flexibility into consideration in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0055] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0056] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as in the embodiments of this application.

[0057] The present invention provides a surgical robot control method that takes terminal flexibility into consideration. This method significantly improves the accuracy and stability of the surgical robot in the flexible control of the terminal effector by establishing an accurate coupled kinematic relationship and dynamic model, integrating an advanced disturbance observer, and coordinating with an innovative control law design. This method not only solves the shortcomings of traditional surgical robots in terminal flexibility control, but also greatly expands its application range in complex surgical environments, especially in minimally invasive surgeries that require high precision and stability. By compensating for unknown disturbances and model uncertainties in real time, this solution ensures that every action during the operation can be performed accurately, thereby improving the success rate of the operation and reducing the risk to the patient.

[0058] Example 1

[0059] like Figure 1 As shown, an embodiment of the present invention provides a surgical robot control method considering the end flexibility, including:

[0060] S100, establishing the contact coupling kinematic relationship of the end gripper disc of the flexible surgical robot;

[0061] S200, constructing a general dynamics model of the surgical robot gripper disc according to the kinematic relationship;

[0062] S300, establishing a dynamics model with unknown disturbance terms based on the general dynamics model;

[0063] S400. According to the vibration characteristics caused by the end-support flexibility, an external disturbance observer is designed to observe and obtain external disturbance data in real time;

[0064] S500: Design a control law for achieving high-precision stable motion of the end support according to the external disturbance data and the dynamic model with unknown disturbance terms.

[0065] Specifically, Figure 2 As shown, step S100 includes:

[0066] S101. Define parameter R f Indicates the radius of the end gripper disc, with a value range of [0.3m, 0.35m]; Δθ f Indicates the rotation angle of the end gripper disc, the value range is [0.1rad, 0.15rad];

[0067] S102, calculate the Jacobian matrix J of the gripper disk drive f ,

[0068] Among them, the Jacobian matrix is ​​used to describe the relationship between the gripper disc joint velocity and the end gripper disc velocity. The specific form of the Jacobian matrix obtained by measurement and calculation is:

[0069] J f =[R1,R2]

[0070] Wherein, R1 represents the distance from the center of the clamping plate to the rotation axis of the first clamping arm; R2 represents the distance from the center of the clamping plate to the rotation axis of the second clamping arm.

[0071] S103, calculate the support selection angle variable Δθ

[0072] Among them, the holding selection angle variable is used to describe the relative position and posture of the gripper disc in different holding states, specifically:

[0073] Δθ=[Δθ1Δθ2] T

[0074] Wherein, Δθ1 is the angular rotation variable of the first clamping arm, and Δθ2 is the angular rotation variable of the second clamping arm.

[0075] S104, establish the end clamping claw plate contact coupling kinematic relationship: R f Δθ f =J f Δθ

[0076] Furthermore, step S100 also needs to calculate the flexible end contact Jacobian matrix:

[0077]

[0078] In the formula, J Mis the contact Jacobian matrix between the contact force and the finger joint torque at the end of the surgical robot clamping arm, l represents the length of the contact arm, l1 represents the distance from the normal contact point of the contact arm to the root of the rotation axis of the contact arm, and l2 represents the distance from the normal contact point to the end rotation axis.

[0079] Among them, the length l of the contact arm is 0.1m, the distance l1 from the normal contact point of the contact arm to the root of the rotation axis of the contact arm is 0.2m, and the distance l2 from the normal contact point to the end rotation axis is 0.15m.

[0080] Furthermore, after successfully establishing the coupled kinematic relationship between the end gripper and the object, a general dynamic model needs to be constructed to describe the dynamic behavior of the surgical robot gripper. This step is crucial to understanding the robot's behavior during actual surgery.

[0081] Among them, Figure 3 As shown, step S200 specifically includes:

[0082] S201, determine the parameters of the kinetic model and The dynamic model parameters include the mass and inertia parameters of the robot, the friction coefficient of the joint, and the interaction force when the gripper plate contacts the object, etc.;

[0083] S202, build stiffness matrix Among them, M1(Δθ1) and M2(Δθ2) are the stiffness of the two clamping arms, which are 0.4N / mm and 0.45N / mm respectively;

[0084] S203, defining a driving force vector τ, where the driving force vector represents the control torque acting on the joints of the surgical robot and is calculated by the controller according to the dynamic model and surgical task requirements.

[0085] S204, establishing a dynamic equation, using the Lagrange equation or the Newton-Euler method, combined with known physical parameters and driving force vectors, to establish a dynamic equation describing the motion of the surgical robot, specifically including:

[0086]

[0087] In the formula, is the stiffness matrix, M1(Δθ1) and M2(Δθ2) are the stiffness of the two clamping arms, and are the dynamic model parameters of the surgical robot, and τ is the driving force vector.

[0088] Furthermore, step S200 also includes establishing a torque balance equation of the end-end force of the surgical robot in the initial static state:

[0089]

[0090] Where M is the selected stiffness matrix, M1 and M2 are the stiffness of the two clamping arms, and F N =[F1 F2] T represents the contact force on the two supporting arms, F d Represents the end selection torque.

[0091] like Figure 4 As shown, step S300 specifically includes:

[0092] S301. Analyze the influence of end flexibility: First, it is necessary to analyze the flexibility characteristics of the end effector of the surgical robot in detail, including its deformation and vibration characteristics under different operating conditions. This may involve consideration of the material properties, geometry and connection method of the end effector of the robot.

[0093] S302, establishing a kinetic model with unknown disturbance terms according to the analysis data, including:

[0094]

[0095] In the formula, and is the state variable, u=τ is the torque vector input, D0 is the constructed dynamic term, and d is the unknown dynamic term such as flexible tremor.

[0096] Furthermore, the disturbance observer in step S400 includes:

[0097]

[0098] Where x = [x1, x2] T is the state variable, is the estimated state variable, is the state variable derivative, A is the model matrix, B is the inertia parameter matrix, L is the observer gain matrix, C is the state variable observation matrix, is the observed quantity.

[0099] Among them, the L observer gain matrix is ​​defined as [0.43, 0.75].

[0100] Furthermore, if Figure 5 As shown, step S500 includes:

[0101] S501, define the surgical robot end tracking error term:

[0102]

[0103] In the formula, e, and Surgical robot tracking error, tracking error first-order mentor and tracking error second-order derivative, x d , and is the theoretical reference quantity, the first-order derivative of the theoretical reference quantity and the second-order derivative of the theoretical reference quantity, x, To track the state quantity and the first-order derivative of the state quantity and the second-order derivative of the state quantity.

[0104] Furthermore, step S500 further includes:

[0105] S502, Design sliding surface:

[0106]

[0107] s is the designed sliding surface, is the first-order derivative of the sliding surface, is the first-order partial derivative of the sliding mode with respect to time t, is the partial derivative of the sliding surface with respect to the state quantity x, A(x) and B(x) are the expressions of the model matrix and the inertia parameter matrix with respect to the state quantity.

[0108] Furthermore, step S500 further includes:

[0109] S503. Design control law:

[0110]

[0111] Where u is the control law; A -1 is the inverse matrix of matrix A, η is a positive constant, sign is the sign function, is the estimated disturbance fluctuation, and a is the compensation control gain.

[0112] Furthermore, the designed control law is applied to the controller of the surgical robot to ensure that the end-gripping tool can accurately track the preset trajectory and maintain high-precision work even in the presence of disturbances.

[0113] Example 2

[0114] During the operation of the surgical robot, external disturbances and unknown dynamic factors will affect the stability and accuracy of the robot. In order to ensure that the end effector of the surgical robot can accurately perform minimally invasive surgery, these disturbances need to be observed and compensated in real time.

[0115] The specific steps include:

[0116] 1. Use a high-precision sensor array to monitor the position, velocity, and acceleration of the surgical robot’s end effector in real time.

[0117] 2. Continuously collect disturbance data, each set of data represents the amount of disturbance observed within a specific time interval.

[0118] 3. Filter the collected raw data to remove noise and extract useful signals.

[0119] 4. Analyze the statistical properties of the data, such as mean, variance, and trend, to assess the intensity and pattern of external disturbances.

[0120] 5. Based on the observed disturbance data, adjust the parameters of the external disturbance observer, such as the gain matrix, to optimize the estimation of the disturbance.

[0121] 6. Feed the estimated disturbance back into the control law and calculate the compensation control law to offset the impact of the external disturbance.

[0122] It can be understood that the disturbance observer of this embodiment can monitor and estimate the external disturbances and internal model uncertainties during the operation in real time, provide the control system with necessary compensation information, and ensure the continuity and stability of the surgical operation. By observing and compensating for disturbances in real time, the stability of the surgical robot end effector can be significantly improved. The optimization of the control law will enable the end effector to track the predetermined path more accurately, thereby improving the surgical accuracy.

[0123] Example 3

[0124] In minimally invasive heart surgery, surgical robots need to perform high-precision operations in a very small space. This control method can improve surgical accuracy by reducing the vibration of the end clamping tool. For example, during coronary artery bypass surgery, doctors need to place delicate stents on blood vessels, which requires the end clamping tool to have extremely high stability. By using the above control method, the tiny vibrations caused by the end flexibility can be effectively reduced to ensure the success of the operation. The specific steps include:

[0125] 1. By establishing the coupled kinematic relationship and dynamic model of the end clamping tool, the motion characteristics of the end clamping tool can be accurately described.

[0126] 2. By considering the flexibility of the end, a dynamic model with unknown disturbance terms is established to simulate various uncertain factors that may occur in actual operations.

[0127] 3. By designing an integrated observer that includes model uncertainty and external disturbances, the disturbance at the terminal can be estimated in real time.

[0128] 4. Design the controller to ensure that the end-gripping tool can accurately track the preset trajectory and maintain high accuracy even in the presence of disturbances.

[0129] Neurosurgery also requires very high precision, especially when dealing with sensitive areas such as the brain or spinal cord. Surgical robots need to be able to perform delicate operations in these areas, such as implanting electrodes or removing tumors. In this case, the stability of the end clamping tool is crucial. By adopting the above-mentioned control method, it can be ensured that the surgical robot can complete the surgical task accurately while reducing additional damage to the surgical area. For various other robots that need to perform delicate work, the controller can be designed by this method to significantly reduce the tremor caused by the end flexibility, thereby improving the operating accuracy of the surgical robot.

[0130] In some possible embodiments, the performance improvement of the control strategy can be evaluated by comparing the performance indicators of the surgical robot before and after the implementation of the control law, such as the position error and response time of the end effector.

[0131] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by 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 they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0132] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A surgical robot control method considering terminal flexibility, characterized in that: include: S100, establishing the contact coupling kinematic relationship of the end gripper disc of the flexible surgical robot; S200, constructing a general dynamics model of the surgical robot gripper disc according to the kinematic relationship; S300, establishing a dynamics model with unknown disturbance terms based on the general dynamics model; S400. Design an external disturbance observer based on the vibration characteristics caused by the end-support flexibility. S500. Design a control law for achieving high-precision stable motion of the end support based on the external disturbance observer and the dynamic model with unknown disturbance terms.

2. A surgical robot control method considering terminal flexibility according to claim 1, characterized in that: The end clamping jaw disc contact coupling kinematic relationship in step S100 includes: R f Dth f =J f Dth In the formula, R f Denotes the radius of the end gripper disc, Δθ f Indicates the rotation angle of the end gripper disc, J f =[R1,R2] represents the Jacobian matrix of the gripper disk drive, Δθ = [Δθ1Δθ2] T represents the angle variable of the clamping selection, Δθ1 is the angle rotation variable of the first clamping arm, and Δθ2 is the angle rotation variable of the second clamping arm.

3. A surgical robot control method considering terminal flexibility according to claim 1, characterized in that: Step S100 also includes calculating the flexible end contact Jacobian matrix: In the formula, J M is the contact Jacobian matrix between the contact force and the finger joint torque at the end of the surgical robot clamping arm, l represents the length of the contact arm, l1 represents the distance from the normal contact point of the contact arm to the root of the rotation axis of the contact arm, and l2 represents the distance from the normal contact point to the end rotation axis.

4. The method for controlling a surgical robot taking into account the flexibility of the distal end according to claim 1, characterized in that: The general dynamics model in step S200 includes: In the formula, is the stiffness matrix, M1(Δθ1) and M2(Δθ2) are the stiffness of the two clamping arms, and are the dynamic model parameters of the surgical robot, and τ is the driving force vector.

5. A surgical robot control method considering the end flexibility according to claim 4, characterized in that: Step S200 also includes establishing a torque balance equation for the end-end force of the surgical robot in the initial static state: Where M is the selected stiffness matrix, M1 and M2 are the stiffness of the two clamping arms, and F N =[F1 F2] T represents the contact force on the two holding arms, and Fd represents the end selection torque.

6. The method for controlling a surgical robot taking into account the flexibility of the distal end according to claim 1, characterized in that: The dynamic model of the unknown disturbance term in step S300 includes: In the formula, and is the state variable, u=τ is the torque vector input, D0 is the constructed dynamic term, and d is the unknown dynamic term such as flexible tremor.

7. The method for controlling a surgical robot taking into account the flexibility of the distal end according to claim 1, characterized in that: The disturbance observer in step S400 includes: Where x = [x1, x2] T is the state variable, is the estimated state variable, is the state variable derivative, A is the model matrix, B is the inertia parameter matrix, L is the observer gain matrix, C is the state variable observation matrix, is the observed quantity.

8. A surgical robot control method considering terminal flexibility according to any one of claims 1 to 7, characterized in that: The step S500 includes: S501, define the surgical robot end tracking error term: In the formula, e, and The tracking error of the surgical robot, the first-order derivative of the tracking error, and the second-order derivative of the tracking error, xd, and is the theoretical reference quantity, the first-order derivative of the theoretical reference quantity and the second-order derivative of the theoretical reference quantity, x, To track the state quantity and the first-order derivative of the state quantity and the second-order derivative of the state quantity.

9. A surgical robot control method considering terminal flexibility according to any one of claims 1 to 7, characterized in that: The step S500 further includes: S502, Design sliding surface: s is the designed sliding surface, is the first-order derivative of the sliding surface, is the first-order partial derivative of the sliding mode with respect to time t, is the partial derivative of the sliding surface with respect to the state quantity x, A(x) and B(x) are the expressions of the model matrix and the inertia parameter matrix with respect to the state quantity.

10. A surgical robot control method considering terminal flexibility according to any one of claims 1 to 7, characterized in that: The step S500 further includes: S503. Design control law: In the formula, u is the control input variable, A -1 is the inverse matrix of matrix A, η is a positive constant, sign is the sign function, is the estimated disturbance fluctuation, and a is the compensation control gain.

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