Collision detection method, device and system of surgical robot and storage medium

Abstract

The invention provides a collision detection method, device and system of a surgical robot and a storage medium, and relates to the technical field of medical equipment. The method comprises the following steps: acquiring poses of two instrument arms; according to the poses of the two instrument arms, collision detection is conducted on the rigid sections of the two instrument arms, and a first collision detection result is obtained; according to the poses, collision detection is conducted on the flexible sections of the two instrument arms, and a second collision detection result is obtained; according to the poses, collision detection is conducted on the flexible sections and the rigid ends of the two instrument arms, and a third collision detection result is obtained; and determining a target collision detection result of the two instrument arms according to the first collision detection result, the second collision detection result and the third collision detection result. According to the technical scheme, collision detection is conducted on the rigid sections, the flexible sections, the flexible sections and the rigid ends of the two instrument arms, the target collision detection result is obtained, a doctor can conveniently find whether collision occurs between the two instrument arms in time, the use experience of the doctor on the instrument arms is improved, and the safety of a patient can be effectively guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a collision detection method, device, system and storage medium for a surgical robot. Background Art

[0002] A flexible surgical robot may generally include a main operating end and a slave operating end. The doctor operates the main operating end to control the slave operating end to perform corresponding surgical operations.

[0003] When operating a flexible surgical robot, if there are two slave operating ends controlled at the same time, that is, there are two or more instrument arms, it is inevitable that the two instrument arms will contact or collide with each other during the movement. Since the flexible part of the instrument arm has a low stiffness, the collision also causes its shape to change, which in turn leads to a decrease in the control accuracy of the end of the instrument arm, increases the difficulty of performing the operation, and may also affect the safety of the patient. Summary of the invention

[0004] The purpose of the present application is to provide a collision detection method, device, system and storage medium for a surgical robot in order to solve the above-mentioned technical problems existing in the related technology in view of the above-mentioned deficiencies in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a collision detection method for a surgical robot, wherein the surgical robot includes at least two instrument arms, and the method includes:

[0007] Acquiring the positions and postures of the two instrument arms;

[0008] According to the positions and postures of the two instrument arms, performing collision detection on the rigid sections of the two instrument arms to obtain a first collision detection result;

[0009] performing collision detection on the flexible segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result;

[0010] performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result;

[0011] The target collision detection results of the two instrument arms are determined according to the first collision detection result, the second collision detection result and the third collision detection result.

[0012] Optionally, performing collision detection on the rigid segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a first collision detection result includes:

[0013] According to the positions and postures of the two instrument arms, a preset first collision detection algorithm is used to perform collision detection on the rigid sections of the two instrument arms to obtain the first collision detection result.

[0014] Optionally, performing collision detection on the flexible segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result includes:

[0015] If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both 0, a preset first collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result;

[0016] If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm is 0, and the bending angle of the flexible segment of the second instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result;

[0017] If the posture of the two instrument arms indicates that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, a preset third collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result.

[0018] Optionally, performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions of the two instrument arms to obtain a third collision detection result includes:

[0019] If, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible section of the first instrument arm is 0, a preset first collision detection algorithm is used to perform collision detection on the flexible section of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result;

[0020] If, among the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result.

[0021] Optionally, if, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is 0, a preset first collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result, including:

[0022] If the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is 0, determine information on a first central axis of the flexible segment of the first instrument arm and information on a second central axis of the rigid end of the second instrument arm according to the postures of the two instrument arms;

[0023] Calculating a first shortest distance between the first central axis and the second central axis according to information of the first central axis and information of the second central axis;

[0024] Based on the first shortest distance, the first cross-sectional radius of the flexible segment of the first instrument arm and the second cross-sectional radius of the rigid end of the second instrument arm, collision detection is performed on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result.

[0025] Optionally, the determining, according to the positions of the two instrument arms, information on a first central axis of the flexible segment of the first instrument arm and information on a second central axis of the rigid end of the second instrument arm, respectively, includes:

[0026] Determine, according to the positions and postures of the two instrument arms, the coordinates of a first point on the first central axis and a first unit vector in the direction of the first central axis, and the coordinates of a second point on the second central axis and a second unit vector in the direction of the second central axis;

[0027] The calculating, based on the information of the first central axis and the information of the second central axis, a first shortest distance between the first central axis and the second central axis comprises:

[0028] The first shortest distance is calculated according to the coordinates of the first point, the first unit vector, the coordinates of the second point, and the second unit vector.

[0029] Optionally, if, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result, including:

[0030] If the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, determining a third cross-sectional radius, a first rotation angle, and a first length of the rigid end of the second instrument arm according to the posture of the second instrument arm;

[0031] Calculating a spatial position of a third point on a third central axis of the rigid end of the second instrument arm according to the third cross-sectional radius, the first rotation angle and the first length;

[0032] Determine, on a fourth central axis of the flexible segment of the first instrument arm, a fourth point closest to the third point according to the spatial position of the third point and the posture of the first instrument arm;

[0033] Based on the third point, the fourth point, the third cross-sectional radius and the fourth cross-sectional radius of the flexible segment of the first instrument arm, a collision detection is performed on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result.

[0034] Optionally, if the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, a preset third collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result, including:

[0035] If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, determining a fifth cross-sectional radius, a second rotation angle, and a second length of the flexible segment of the second instrument arm according to the posture of the second instrument arm;

[0036] Calculating a spatial position of a fifth point on the flexible segment of the second instrument arm according to the fifth cross-sectional radius, the second rotation angle, and the second length;

[0037] Determine, according to the spatial position of the fifth point and the posture of the first instrument arm, a sixth point closest to the fifth point on the fifth central axis of the flexible segment of the first instrument arm;

[0038] The flexible segments of the two instrument arms are subjected to collision detection based on the fifth point, the sixth point, the fifth cross-sectional radius and the sixth cross-sectional radius of the flexible segment of the first instrument arm to obtain the second collision detection result.

[0039] Optionally, determining a sixth point closest to the fifth point on a fifth central axis of the flexible segment of the first instrument arm according to the spatial position of the fifth point and the posture of the first instrument arm includes:

[0040] Determining the center and two end points of a fifth central axis of the flexible segment of the first instrument arm according to the position and posture of the first instrument arm;

[0041] According to the spatial positions of the center of the circle, the two endpoints and the fifth point, a sixth point on the fifth central axis that is closest to the fifth point is determined.

[0042] Optionally, each instrument arm at least includes a starting rigid segment, a flexible segment and a terminal rigid segment connected in sequence; the rigid segment includes a starting rigid segment and a terminal rigid segment; and performing collision detection on the rigid segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a first collision detection result includes:

[0043] According to the positions and postures of the two instrument arms, a collision detection is performed on a starting rigid segment of a first instrument arm and a terminal rigid segment of a second instrument arm of the two instrument arms, and a collision detection is performed on the terminal rigid segment of the first instrument arm and the starting rigid segment of the second instrument arm and the terminal rigid segment of the second instrument arm to obtain the first collision detection result;

[0044] The performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result includes:

[0045] According to the posture of the two instrument arms, a collision detection is performed on the starting rigid segment of the first instrument arm and the flexible segment of the second instrument arm, and a collision detection is performed on the flexible segment of the first instrument arm and the starting rigid segment and the end rigid segment of the second instrument arm, and a collision detection is performed on the end rigid segment of the first instrument arm and the flexible segment of the second instrument arm, and the third collision detection result.

[0046] In a second aspect, an embodiment of the present application provides a collision detection device for a surgical robot, wherein the surgical robot includes at least two instrument arms, and the device includes:

[0047] An acquisition module, used for acquiring the positions and postures of the two instrument arms;

[0048] A detection module, configured to perform collision detection on the rigid sections of the two instrument arms according to the positions and postures of the two instrument arms to obtain a first collision detection result; perform collision detection on the flexible sections of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result; perform collision detection on the flexible sections and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result;

[0049] A determination module is used to determine the target collision detection results of the two instrument arms according to the first collision detection result, the second collision detection result and the third collision detection result.

[0050] In a third aspect, an embodiment of the present application provides a surgical robot system, comprising:

[0051] The main operating terminal is used to control the surgical robot;

[0052] The surgical robot is used to perform surgical actions, and the surgical machine includes at least two instrument arms;

[0053] at least one processor, wherein the processor is disposed at the main operating end or the surgical robot;

[0054] and a memory communicatively coupled to the at least one processor;

[0055] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the collision detection method for the surgical robot described in any one of the first aspects above.

[0056] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement a collision detection method for a surgical robot as described in any one of the first aspects above.

[0057] The beneficial effects of the present application are as follows: the embodiment of the present application provides a collision detection method for a surgical robot, which may include: obtaining the positions of two instrument arms; performing collision detection on the rigid segments of the two instrument arms according to the positions of the two instrument arms to obtain a first collision detection result; performing collision detection on the flexible segments of the two instrument arms according to the positions of the two instrument arms to obtain a second collision detection result; performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions of the two instrument arms to obtain a third collision detection result; determining the target collision detection results of the two instrument arms according to the first collision detection result, the second collision detection result and the third collision detection result. Performing collision detection on the rigid segments, the flexible segments, and the flexible segments and the rigid ends of the two instrument arms to obtain the target collision detection result can achieve comprehensive collision detection of the two instrument arms, and the target collision detection result is helpful for doctors to timely discover whether a collision occurs between the two instrument arms, and can provide immediate feedback, thereby identifying and eliminating possible collision risks, ensuring the safety of patients, and effectively avoiding the occurrence of collision accidents. It reduces interruptions or adjustments caused by collisions, improves the overall efficiency of the operation, and eliminates the need for doctors to make frequent operational adjustments when using the robot, which helps to improve the accuracy and efficiency of the operation. It not only improves the doctor's experience of using the instrument arm, but also effectively ensures the safety of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 A schematic diagram of the structure of a surgical robot system provided in an embodiment of the present application;

[0060] Figure 2 A structure of a slave operating end of a surgical robot provided in an embodiment of the present application;

[0061] Figure 3 A structure of an instrument arm assembly provided in an embodiment of the present application;

[0062] Figure 4 A schematic diagram of the structure of a flexible segment and an end rigid segment provided in an embodiment of the present application;

[0063] Figure 5 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 1 ;

[0064] Figure 6 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 2 ;

[0065] Figure 7 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 3 ;

[0066] Figure 8 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 4 ;

[0067] Fig. 9 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 5 ;

[0068] Fig.10 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 6 ;

[0069] Fig.11 A schematic structural diagram of a collision detection device for a surgical robot provided in an embodiment of the present application;

[0070] Fig.12A schematic diagram of the structure of a processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0072] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0073] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0074] In addition, the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0075] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0076] Figure 1 A schematic diagram of the structure of a surgical robot system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the surgical robot system may include: a master operating end 100 and a slave operating end 200 .

[0077] Among them, the master operation terminal 100 and the slave operation terminal 200 are connected in communication, and the master operation terminal 100 has a control input device, which can send control commands to the slave operation terminal 200 according to the movements of the hands and / or feet of the operation object, so as to drive and adjust the posture of the instrument arm assembly 210 of the slave operation terminal 200, and drive the execution instrument of the instrument arm assembly 210 to perform the corresponding surgical operation. One master operation terminal 100 can control one slave operation terminal 200, and the master operation terminal 100 is a rigid mechanism composed of multiple connecting rods, and its end generally has a structure that is easy to grasp, such as a handle, a ring, etc. The operator can control the end of the slave operation terminal 200 to achieve corresponding movement by controlling the movement of the end of the master operation terminal 100, that is, there is a mapping relationship between the movement of the master operation terminal 100 and the movement of the slave operation terminal 200.

[0078] In the embodiment of the present application, the mapping relationship between the movement of the master operation end 100 and the slave operation end 200 can be based on the joint angle, that is, the angle change of the master operation end 100 will be reflected as the bending and rotation angle change of each flexible segment of the slave operation end 200. The mapping relationship between the movement of the master operation end 100 and the slave operation end 200 can also be based on the Cartesian posture, that is, the Cartesian posture change of the master operation end 100 will be reflected as the Cartesian posture change of the end of the slave operation end 200. The Cartesian posture of the master operation end 100 can be calculated based on its joint angle, and the change of the Cartesian posture of the end of the slave operation end 200 can be achieved by the inverse kinematics of the surgical robot, based on the Cartesian posture of the end to obtain the bending and rotation angles of each flexible segment, and then control the motor to control each flexible segment to move to these angles.

[0079] Therefore, the control relationship between the main operating end 100 and the slave operating end 200 can be understood as obtaining the desired bending and rotation angles of each flexible segment of the slave operating end 200 in the current cycle based on the joint angle of the main operating end 100 in the current cycle, and then controlling each flexible continuum to move to the desired position through the motor.

[0080] Figure 2 The structure of a slave operation end of a surgical robot provided in an embodiment of the present application is as follows: Figure 2 As shown, the slave operating end 200 includes: an instrument arm assembly 210, a driving device 220 for driving the instrument arm assembly 210 according to a control command, and a base 230 for supporting the driving device 220; Figure 3 The structure of an instrument arm assembly provided in an embodiment of the present application is as follows: Figure 3As shown, the instrument arm assembly 210 includes an instrument arm 211, which may specifically refer to a flexible instrument arm. An initial rigid section is provided at one end of the instrument arm 211 close to the driving device 220, and an end rigid section is provided at the other end away from the driving device 220. The initial rigid section and the end rigid section of the instrument arm 211 are connected by a flexible section, and the end rigid section is loaded with an execution instrument for performing different or the same surgical operations. A motor is provided in the driving device 220, and the movement of the initial rigid section, the flexible section, and the end rigid section of the instrument arm 211 is controlled by the motor.

[0081] Among them, the surgical operations that can be performed by the execution instrument include but are not limited to clamping, cutting, scissors, suturing, electrocuting or electrocoagulation, etc. For example, the execution instrument can be any one of but not limited to needle holders, scissors, graspers, and clip applicators. Needle holders are generally used to implement operations such as clamping, suturing, and knotting, scissors are generally used to implement operations such as cutting, dissecting, and cutting, graspers are generally used to implement operations such as grasping and pulling, and clip applicators are generally used to cooperate with ligation clips for ligation.

[0082] Optionally, the surgical robot system further includes a supporting device 300 (eg, an operating table) for supporting a surgical object for surgery. The supporting device 300 may also be replaced with other surgical platforms depending on the type of surgery, which is not limited in this embodiment.

[0083] Optionally, continue as Figure 1 As shown, the surgical robot system also includes an image device 400, which is used to obtain the surgical field image of the cavity (referring to the patient's body cavity) taken by the endoscope, and then image the surgical field image, and transmit it to the first display device of the image device 400 and / or the second display device (not shown in the figure) of the main operating device 100 for display, so that the operating object can observe the surgical field image. The surgical field image includes but is not limited to the type, number, position and posture of the executing instrument in the body cavity, the target organ tissue that needs to be operated, and the morphology of the surrounding blood vessels, etc. Further, a mechanical arm 211 in the mechanical arm assembly 210 of the operating device 200 can also be loaded with an endoscope for assisting in collecting images in the surgical field, or an independent endoscope, which can then be displayed through the first display device and / or the second display device. It should be understood that the image displayed by the image device 400 can be a two-dimensional or three-dimensional image. The endoscope may include various endoscopes used for surgery, such as a thoracoscope, an arthroscope, and a nasal mirror.

[0084] The surgical robot's slave operating end 200 may also include a detachable external channel device having at least two through channels inside the channel device, wherein the through channels can be used to accommodate the instrument arm 211 or the endoscope, thereby guiding the instrument arm and the endoscope to a difficult-to-access position in the patient's natural lumen, and the channel device can be adjusted manually or in the direction of guidance from the operating end 200.

[0085] Figure 4 A schematic diagram of the structure of a flexible segment and an end rigid segment provided in an embodiment of the present application, such as Figure 4 As shown, it includes N segments of flexible tubular continuum that can be radially bent and axially rotated, and the last flexible tubular continuum is connected to the end rigid segment. Each segment of the flexible continuum has its own bending angle and rotation angle. N etc. represent the bending angle of each flexible segment, which represents the center angle of the arc where the flexible continuum is located in the radial direction; Figure 4 As shown, except for the first and Nth flexible continuums, each flexible continuum has a flexible continuum connected to it at both ends, so as to be closer to the starting rigid segment ( Figure 4 The straight solid line in the middle is the proximal end, and the one closer to the end rigid segment clip is the distal end, φ1,…,φ N etc. represent the rotation angle of each flexible segment relative to the proximal flexible segment connected to it (the first flexible segment is relative to the base); the terminal rigid segment is a schematic diagram of the clamping instrument, representing a mechanical structure that can perform conventional surgical operations such as clamping, toggling, or electrocuting, electrocoagulation, etc.

[0086] It should be noted that one or more driving ropes are arranged inside a flexible segment, and the bending and rotation angles of the flexible segment can be changed by changing the length of the driving rope. Generally speaking, the length change of the driving rope is achieved by motor drive.

[0087] In actual applications, taking the two main controllers (master hands) in the main operation end 100 respectively controlling the two instrument arms 211 in the slave operation end 200 as an example, when the main operation end 100 controls the movement of the slave operation end 200, the two instrument arms 211 in the slave operation end 200 may collide. If the collision point occurs in the middle flexible segment, due to the low rigidity of the flexible segment itself, the contact force can easily cause the shape of the flexible segment to change, thereby causing the position accuracy of the end rigid segment to decrease. The end rigid segment is an instrument or clamping device related to surgery, and may also affect the safety of the patient, so it is necessary to detect and prevent the collision. In addition, the existing collision detection technology is either implemented based on point identification, which increases the hardware cost, or based on image recognition, discretization and other methods, which are limited by the computing power of real-time control and have limited accuracy.

[0088] In the embodiment of the present application, the slave operation end 200 can be considered as a surgical robot, which can be called a flexible surgical robot, which is used to perform surgical actions, and includes at least two instrument arms, and the master operation end 100 is used to control the surgical robot. Specifically, the master operation end 100 is used to control at least two instrument arms 211 in the slave operation end 200.

[0089] An embodiment of the present application provides a collision detection method for a surgical robot, which can be applied to a processing device, specifically, can be applied to a processor in the processing device. The processor can be set inside a slave operating terminal 200, or can be set in a master operating terminal 100, or can be set independently of the slave operating terminal 200 or the master operating terminal 100. The embodiment of the present application does not impose specific restrictions on this.

[0090] The collision detection method of the surgical robot provided in the embodiment of the present application is explained below.

[0091] Figure 5 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 1 ,like Figure 5 As shown, the method may include:

[0092] S101, obtaining the positions and postures of two instrument arms.

[0093] The two instrument arms are any two instrument arms from the plurality of instrument arms. A posture acquisition device is used to acquire the postures of two instrument arms from the plurality of instrument arms in each cycle, and the postures of the two instrument arms are sent to a processing device, so that the processing device can acquire the postures of the two instrument arms in each cycle.

[0094] In the embodiment of the present application, it is necessary to perform collision detection between every two instrument arms among the multiple instrument arms. The collision detection between every two instrument arms can adopt the methods in S101 to S105.

[0095] S102: Perform collision detection on the rigid segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a first collision detection result.

[0096] The first collision detection result is used to indicate whether a collision occurs between the rigid sections of the two instrument arms, specifically, whether a collision occurs between the rigid section of one instrument arm and the rigid section of the other instrument arm.

[0097] It should be noted that the processes from S102 to S103 may be executed simultaneously, or may be executed sequentially, or may be executed in other execution orders, and the embodiments of the present application do not impose specific limitations on this.

[0098] S103: Perform collision detection on the flexible segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result.

[0099] The second collision detection result is used to indicate whether a collision occurs between the flexible segments of the two instrument arms, specifically, whether a collision occurs between the flexible segment of one instrument arm and the flexible segment of the other instrument arm.

[0100] S104. Perform collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result.

[0101] It should be noted that the third collision detection result is used to indicate whether a collision occurs between the flexible sections and rigid ends of the two instrument arms.

[0102] In some embodiments, the third collision detection result is used to indicate whether a collision occurs between the flexible segment of one of the two instrument arms and the rigid segment of the other instrument arm. Whether a collision occurs between the rigid segment of one of the two instrument arms and the flexible segment of the other instrument arm.

[0103] S105 . Determine target collision detection results of the two instrument arms according to the first collision detection result, the second collision detection result, and the third collision detection result.

[0104] In the embodiment of the present application, if any one of the first collision detection result, the second collision detection result and the third collision detection result indicates that a collision occurs, then the target collision detection results of the two instrument arms indicate that the two instrument arms collide.

[0105] Among them, if the target collision detection result indicates that the two instrument arms have collided, the doctor can be prompted by a speaker, an LED (light emitting diode) indicator light, a UI interface (User Interface) pop-up window, etc.

[0106] In some embodiments, if the two instrument arms collide, the movement of any of the two instrument arms from the operating end in the current cycle should be corrected, or stopped at the current position, or a new expected position should be generated. When generating a new expected position, the midpoint on the line between the current position of the slave control end and the expected position of the next cycle is taken to determine whether a collision occurs at this point; if a collision occurs, the midpoint on the line between the current position of the slave control end and the point is taken to determine whether a collision occurs again; and so on, until a point on the line where no collision occurs is found, which is regarded as the new expected position.

[0107] In the embodiment of the present application, the processing device can send the target collision detection result to the main operation terminal, so that the doctor, i.e., the operation object, can promptly know the target collision detection result and make corresponding operation adjustments on the main operation terminal. The main operation terminal can remind the operation object by displaying a prompt or sound prompting according to the target collision detection result.

[0108] In summary, the embodiment of the present application provides a collision detection method for a surgical robot, which may include: obtaining the posture of two instrument arms; performing collision detection on the rigid segments of the two instrument arms according to the posture of the two instrument arms to obtain a first collision detection result; performing collision detection on the flexible segments of the two instrument arms according to the posture of the two instrument arms to obtain a second collision detection result; performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the posture of the two instrument arms to obtain a third collision detection result; determining the target collision detection results of the two instrument arms according to the first collision detection result, the second collision detection result and the third collision detection result. Performing collision detection on the rigid segments, the flexible segments, and the flexible segments and the rigid ends of two instrument arms among the multiple instrument arms to obtain the target collision detection result can achieve comprehensive collision detection of the two instrument arms, and the target collision detection result is helpful for doctors to promptly discover whether a collision occurs between the two instrument arms, and can provide immediate feedback, thereby identifying and eliminating possible collision risks, ensuring the safety of patients, and effectively avoiding the occurrence of collision accidents. It reduces interruptions or adjustments caused by collisions, improves the overall efficiency of the operation, and eliminates the need for doctors to make frequent operational adjustments when using the robot, which helps to improve the accuracy and efficiency of the operation. It not only improves the doctor's experience of using the instrument arm, but also effectively ensures the safety of the patient.

[0109] Optionally, the process of performing collision detection on the rigid segments of the two instrument arms according to the positions and postures of the two instrument arms in the above S102 to obtain a first collision detection result may include:

[0110] According to the positions and postures of the two instrument arms, a preset first collision detection algorithm is used to perform collision detection on the rigid segments of the two instrument arms to obtain a first collision detection result.

[0111] The two instrument arms can be regarded as two cylinders, and the rigid segments of the two instrument arms can be regarded as collision detection between the two cylinders. The first collision detection algorithm is an algorithm for collision detection between two cylinders. The rigid segment can be regarded as a cylinder whose radius is not less than its maximum radial distance.

[0112] In the embodiment of the present application, the spatial position of the rigid segment can be calculated based on the posture of the instrument arm, and a cylinder whose axial direction coincides with the central axis of the rigid segment can be constructed, and the radius of the cylinder is not less than the maximum radius of the rigid segment.

[0113] In some embodiments, the two instrument arms may include a first instrument arm and a second instrument arm. According to the positions of the two instrument arms, a preset first collision detection algorithm is used to perform collision detection on the rigid segment of the first instrument arm and the rigid segment of the second instrument arm to obtain a first collision detection result.

[0114] Optionally, the process of performing collision detection on the flexible segments of the two instrument arms according to the positions and postures of the two instrument arms in the above S103 to obtain a second collision detection result may include:

[0115] If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both 0, a preset first collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain a second collision detection result.

[0116] If the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both 0, the flexible segment of the first instrument arm and the flexible segment of the second instrument arm can be regarded as two cylinders, and a preset first collision detection algorithm can be used to perform collision detection on the flexible segments of the two instrument arms to obtain a second collision detection result. The central axis of the cylinder coincides with the central axis of the flexible segment, and its radius is not less than the maximum radial distance from the outer surface of the flexible segment to the central axis.

[0117] In addition, if the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are close to 0, the flexible segment of the first instrument arm and the flexible segment of the second instrument arm can also be regarded as two cylinders.

[0118] If the posture of the two instrument arms indicates that the bending angle of the flexible segment of the first instrument arm is 0, and the bending angle of the flexible segment of the second instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain a second collision detection result.

[0119] If the bending angle of the flexible segment of the second instrument arm is not 0, the flexible segment of the second instrument arm can be regarded as a part of a three-dimensional ring, the central axis of the ring coincides with the central axis of the flexible segment, and the radius is not less than the maximum radial distance from the outer surface of the flexible segment to the central axis. The bending angle of the flexible segment of the first instrument arm is 0, and the flexible segment of the first instrument arm is regarded as a cylinder.

[0120] In practical applications, based on the position and posture of the second instrument arm, a three-dimensional partial circular ring whose central axis coincides with the central axis of each flexible segment of the second instrument arm is located in sequence, and whose radius is not less than the maximum radius of each flexible segment of the second instrument arm. Based on the position and posture of the first instrument arm, the spatial position of the flexible segment of the first instrument arm can be calculated, and a cylinder whose axial direction coincides with the central axis of the flexible segment of the first instrument arm is constructed, and the radius of the cylinder is not less than the maximum radius of the flexible segment of the first instrument arm.

[0121] It should be noted that the collision detection between the flexible segment of the first instrument arm with a bending angle of 0 and the flexible segment of the second instrument arm with a bending angle not of 0 can be regarded as the collision detection between the cylinder and the ring. The preset second collision detection algorithm is an algorithm for collision detection between the cylinder and the ring.

[0122] If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, a preset third collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain a second collision detection result.

[0123] Wherein, the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are not 0, then the flexible segment of the first instrument arm and the flexible segment of the second instrument arm can be regarded as two circular rings. The third collision detection algorithm is preset as an algorithm for collision detection between two circular rings.

[0124] Optionally, the process of performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms in S104 to obtain a third collision detection result may include:

[0125] If, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible section of the first instrument arm is 0, a preset first collision detection algorithm is used to perform collision detection on the flexible section of the first instrument arm and the rigid end of the second instrument arm to obtain a third collision detection result;

[0126] In the embodiment of the present application, the bending angle of the flexible section of the first instrument arm is 0, then the flexible section of the first instrument arm is regarded as a cylinder, and the rigid end of the second instrument arm is also regarded as a cylinder. The preset first collision detection algorithm is an algorithm for performing collision detection between two cylinders, so the preset first collision detection algorithm is used to perform collision detection on the flexible section of the first instrument arm with a bending angle of 0 and the rigid end of the second instrument arm to obtain a third collision detection result.

[0127] If, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain a third collision detection result.

[0128] In some embodiments, if the bending angle of the flexible segment of the first instrument arm is not 0, the flexible segment of the first instrument arm is regarded as a ring, and the rigid end of the second instrument arm is regarded as a cylinder. The preset second collision detection algorithm is an algorithm for collision detection between a cylinder and a ring, so the preset second collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm whose bending angle is not 0 and the rigid end of the second instrument arm to obtain a third collision detection result.

[0129] From the above content, we can know that collision detection can be essentially divided into three categories: collision detection between cylinders, collision detection between partial rings and cylinders, and collision detection between partial rings and partial rings. The corresponding collision detection algorithms are: preset first collision detection algorithm, preset second collision detection algorithm, and preset third collision detection algorithm.

[0130] In practical applications, the posture can be measured by external cameras, laser measuring instruments, magnetic sensors and other posture acquisition equipment, or it can be obtained by calculating the bending and rotation angles based on the rotation angle and transmission ratio of the motor, and then calculated by the forward kinematics of the robot; it can also be obtained by obtaining the bending and rotation angles based on the tension on the drive rope and the forward dynamics model of the robot, and then calculated by the forward kinematics of the robot.

[0131] Among them, for a flexible segment, let its length in the fully stretched state be l, when the bending angle of the flexible segment is θ and the rotation angle is φ, the Cartesian space position of its end relative to the starting end of the continuum can be expressed as follows:

[0132]

[0133] For the above-mentioned single flexible continuum, when its bending angle is greater than zero, its central axis can be regarded as an arc with an arc length of l and a curvature of θ / l in three-dimensional space, and the center of the arc is:

[0134]

[0135] The normal direction of the arc is:

[0136]

[0137] Consider any point on its central axis. When the continuum is fully straightened, the distance from this point to the starting end of the continuum is αl, α∈[0,1], where l is the arc length of the central axis mentioned above, and α is a number between 0 and 1. Because on the central axis of the continuum, the distance from the far end to the near end is l, and the distance d from any point between the two to the near end is between 0 and l, α is the ratio of d to l, that is, d=αl. When the bending angle of the continuum is θ and the rotation angle is φ, the Cartesian space position of this point relative to the starting end of the continuum can be expressed as follows:

[0138]

[0139] Among them, for the above-mentioned single flexible segment, when its bending angle is very close to zero, its central axis can be regarded as a straight line segment with a length of l in three-dimensional space, and its direction is along the positive direction of the Y axis at the starting end.

[0140] Figure 6 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 2 ,like Figure 6 As shown, if the posture of the first instrument arm indicates that the bending angle of the flexible section of the first instrument arm is 0 in the posture of the two instrument arms, a preset first collision detection algorithm is used to perform collision detection on the flexible section of the first instrument arm and the rigid end of the second instrument arm to obtain a third collision detection result, the process may include:

[0141] S201. If the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is 0, determine information on the first central axis of the flexible segment of the first instrument arm and information on the second central axis of the rigid end of the second instrument arm according to the postures of the two instrument arms.

[0142] The flexible section of the first instrument arm with a bending angle of 0 and the rigid end of the second instrument arm can be considered as two cylinders. The first central axis can be the central axis of the first cylinder corresponding to the flexible section of the first instrument arm, and the second central axis is the central axis of the second cylinder corresponding to the rigid end of the second instrument arm.

[0143] S202 . Calculate a first shortest distance between the first central axis and the second central axis according to information of the first central axis and information of the second central axis.

[0144] In an embodiment of the present application, the first shortest distance between the first central axis and the second central axis.

[0145] S203, performing collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm according to the first shortest distance, the first cross-sectional radius of the flexible segment of the first instrument arm, and the second cross-sectional radius of the rigid end of the second instrument arm to obtain a third collision detection result.

[0146] In some embodiments, the sum of the first cross-sectional radius and the second cross-sectional radius is calculated to determine whether the first shortest distance is greater than the sum; if the first shortest distance is greater than the sum, it indicates that no collision occurs between the first cylinder and the second cylinder, that is, no collision occurs between the flexible segment of the first instrument arm and the rigid end of the second instrument arm; if the first shortest distance is less than or equal to the sum, it indicates that a collision occurs between the first cylinder and the second cylinder, that is, a collision occurs between the flexible segment of the first instrument arm and the rigid end of the second instrument arm.

[0147] It should be noted that the first cross-sectional radius can be expressed as r1, the second cross-sectional radius can be expressed as r2, and the first shortest distance can be expressed as d. If d>r1+r2, there is no collision between the flexible segment of the first instrument arm and the rigid end of the second instrument arm. If the first shortest distance is less than or equal to the sum, it indicates that a collision occurs between the flexible segment of the first instrument arm and the rigid end of the second instrument arm.

[0148] Optionally, Figure 7 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 3 ,like Figure 7 As shown, the process of determining the information of the first central axis of the flexible segment of the first instrument arm and the information of the second central axis of the rigid end of the second instrument arm respectively according to the positions of the two instrument arms in S201 may include:

[0149] S301. According to the positions and postures of the two instrument arms, respectively determine the coordinates of a first point on the first central axis and a first unit vector in the direction of the first central axis, and the coordinates of a second point on the second central axis and a second unit vector in the direction of the second central axis.

[0150] In some embodiments, the coordinates of the first point on the first central axis may be represented as P1, the coordinates of the second point on the second central axis may be represented as P2, and the first unit vector and the second unit vector may be represented as and The angle between them can be expressed as γ,

[0151] The process of calculating the first shortest distance between the first central axis and the second central axis according to the information of the first central axis and the information of the second central axis in S202 may include:

[0152] S302: Calculate a first shortest distance according to the coordinates of the first point, the first unit vector, the coordinates of the second point, and the second unit vector.

[0153] In some embodiments, if the angle between the first unit vector and the second unit vector is 0, that is, γ=0, the first central axis is parallel to the second central axis, and the first shortest distance may be: If γ≠0, the first shortest distance d between the first central axis and the straight line where the second central axis lies is:

[0154] In other embodiments, if there are certain requirements for the accuracy of collision detection, the first shortest distance d with higher accuracy can be obtained through the following steps: determine in turn whether the intersection of the common perpendicular line of the first center axis and the straight line where the second center axis is located and the straight line is on the straight line segment where the center axis of the cylinder is located. If so, take this point as the test point of the cylinder; otherwise, take the endpoint on the straight line segment closest to the common perpendicular line as the test point; the distance between the two test points is the first shortest distance d.

[0155] It should be noted that, for other situations where the preset first collision detection algorithm is applied, the calculation method is similar to the method in S201 to S203 and S301 to S302, and will not be repeated here. Among them, other situations where the preset first collision detection algorithm is applied include: when the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both 0, collision detection of the flexible segment of the first instrument arm and the flexible segment of the second instrument arm; the bending angle of the flexible segment of the first instrument arm is 0.

[0156] Optionally, Figure 8 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 4 ,like Figure 8 As shown, if the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0 in the posture of the two instrument arms, a preset second collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain a third collision detection result, the process may include:

[0157] S401: If the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, determine a third cross-sectional radius, a first rotation angle, and a first length of the rigid end of the second instrument arm according to the posture of the second instrument arm.

[0158] If the bending angle of the flexible section of the first instrument arm is not 0, the first instrument arm can be regarded as a partial ring, and the rigid end of the second instrument arm can be regarded as a cylinder.

[0159] S402: Calculate the spatial position of a third point on the third central axis of the rigid end of the second instrument arm according to the third cross-sectional radius, the first rotation angle, and the first length.

[0160] The third point on the third central axis of the rigid end of the second instrument arm is the starting point.

[0161] It should be noted that the process of calculating the spatial position of the third point in S402 is similar to the process of calculating the spatial position of the fifth point in S502 described below. For details, please refer to the relevant algorithm in S502, which will not be repeated here.

[0162] S403: Determine a fourth point closest to the third point on a fourth central axis of the flexible segment of the first instrument arm according to the spatial position of the third point and the posture of the first instrument arm.

[0163] In the embodiment of the present application, the method of determining the fourth point closest to the third point on the fourth central axis in S403 is similar to the method of determining the sixth point closest to the fifth point on the fifth central axis in the following S503, S601 to S602, and the number of times will not be repeated one by one.

[0164] S404, performing collision detection on the flexible section of the first instrument arm and the rigid end of the second instrument arm according to the third point, the fourth point, the third cross-sectional radius and the fourth cross-sectional radius of the flexible section of the first instrument arm to obtain a third collision detection result.

[0165] In some embodiments, the shortest distance between the third point and the fourth point, that is, the shortest distance between the fourth central axis of the flexible segment of the first instrument arm and the third central axis of the rigid end of the second instrument arm, is calculated, and the sum of the third cross-sectional radius and the fourth cross-sectional radius is calculated; if the shortest distance between the third point and the fourth point is greater than the sum, no collision occurs between the flexible segment of the first instrument arm and the rigid end of the second instrument arm; if the shortest distance between the third point and the fourth point is less than or equal to the sum, a collision occurs between the flexible segment of the first instrument arm and the rigid end of the second instrument arm.

[0166] It should be noted that for other situations where the preset second collision detection algorithm is applied, the calculation method is similar to the method in S401 to S404 above, and will not be repeated here. Among them, other situations where the preset second collision detection algorithm is applied include: when the bending angle of the flexible segment of one instrument arm is 0 and the bending angle of the flexible segment of the other instrument arm is not 0, collision detection of the flexible segments of the two instrument arms.

[0167] Optionally, Fig. 9 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 5 ,like Fig. 9As shown, if the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, then a preset third collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain a second collision detection result, which may include:

[0168] S501: If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, determine a fifth cross-sectional radius, a second rotation angle, and a second length of the flexible segment of the second instrument arm according to the posture of the second instrument arm.

[0169] Among them, the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are not 0, and the flexible segment of the first instrument arm and the flexible segment of the second instrument arm can be regarded as two partial rings, namely the first partial ring and the second partial ring.

[0170] In some embodiments, according to the posture of the second instrument arm, the fifth cross-sectional radius of the second partial circular ring corresponding to the flexible segment of the second instrument arm is determined to be r2, the second rotation angle is φ2, the second bending angle is θ2, and the second length is l2.

[0171] S502: Calculate the spatial position of a fifth point on the flexible segment of the second instrument arm according to the fifth cross-sectional radius, the second rotation angle, and the second length.

[0172] In the embodiment of the present application, an arbitrary point Q on the central axis of the second part of the circular ring is taken as the fifth point. When the flexible segment of the second instrument arm is fully extended, that is, when θ2=0, the distance from point Q to the starting end is ql2, q∈[0,1]. Then, when the bending angle is θ2 and the rotation angle is φ2, the Cartesian space position of the fifth point is:

[0173]

[0174] S503: Determine a sixth point closest to the fifth point on the fifth central axis of the flexible segment of the first instrument arm according to the spatial position of the fifth point and the posture of the first instrument arm.

[0175] The fifth point is a point on the central axis of the flexible section of the second instrument arm, namely the second part of the circular ring, and the sixth point is a point on the central axis of the flexible section of the first instrument arm, namely the first part of the circular ring.

[0176] S504 , performing collision detection on the flexible segments of the two instrument arms according to the fifth point, the sixth point, the fifth cross-sectional radius, and the sixth cross-sectional radius of the flexible segment of the first instrument arm to obtain a second collision detection result.

[0177] In the embodiment of the present application, the distance between the fifth point and the sixth point is the second shortest distance d between the flexible segment of the first instrument arm and the flexible segment of the second instrument arm.

[0178] It should be noted that, taking any point on the central axis of the second part of the circular ring as the starting point, that is, the fifth point as the starting point, and the second shortest distance d as the optimization target, through nonlinear optimization methods including but not limited to the golden section method, the Brent method, etc., the point on the central axis of the first part of the circular ring that is closest to the central axis of the second part of the circular ring can be found, and the second shortest distance between the central axis of the first part of the circular ring and the central axis of the second part of the circular ring is d, that is, the second shortest distance between the flexible segment of the first instrument arm and the flexible segment of the second instrument arm is d.

[0179] In some embodiments, the sixth cross-sectional radius is represented as r2, and the sum of the fifth cross-sectional radius and the sixth cross-sectional radius is calculated. If the second shortest distance is greater than the sum, it is determined that no collision occurs between the flexible segments of the two instrument arms, and if the second shortest distance is less than or equal to the sum, it is determined that a collision occurs between the flexible segments of the two instrument arms. That is, if d>r1+r2, no collision occurs between the two partial rings; otherwise, it is considered that a collision occurs between the two partial rings.

[0180] In an embodiment of the present application, r1+r2 can also be the minimum safety distance. The minimum safety distance refers to a number set before the collision detection occurs. Its specific value is related to clinical needs and is also related to the scenario in which the collision detection occurs: when adjusting the posture of the slave operating end before or after the operation, the risk of collision from the operating end is low, and the risk of a collision is also low, so it can be set to a smaller value, such as 1.5 times the maximum radius of the slave operating end; when adjusting the posture of the slave operating end during the operation, the risk of a collision from the operating end is greater, so it can be set to a larger value, such as 2.0 times the maximum radius of the slave operating end; a multi-level detection method can also be used to set multiple detection thresholds. With the permission of the operator, the detection threshold can be reduced step by step to improve the detection accuracy and adapt to the changing conditions during the operation.

[0181] In addition, if the flexible segment is composed of N flexible continua, the bending angle of each continuum is defined as θ i , the rotation angle is φ i , then the Cartesian space pose of its end relative to the starting end is calculated as follows:

[0182] T r =T1(θ1,φ1)T2(θ2,φ2)…T N (θ N ,φ N )

[0183] Among them, for the end rigid segment from the control end, the Cartesian space pose of its starting end is T e0 =T b T r , T b is the Cartesian space pose of the base from the control end.

[0184] Optionally, Fig.10 A schematic diagram of a collision detection method for a surgical robot provided in an embodiment of the present application Figure 6 ,like Fig.10 As shown, the process of determining the sixth point closest to the fifth point on the fifth central axis of the flexible segment of the first instrument arm according to the spatial position of the fifth point and the posture of the first instrument arm in the above S503 may include:

[0185] S601. Determine the center and two end points of the fifth central axis of the flexible segment of the first instrument arm according to the posture of the first instrument arm.

[0186] Among them, according to the posture of the first instrument arm, the radius of the sixth cross-section of the first part of the circular ring corresponding to the flexible section of the first instrument arm is determined to be r1, the second rotation angle is expressed as φ1, the second bending angle is expressed as θ1, the second length is expressed as l1, the center of the central axis of the first part of the circular ring is O1, and the two endpoints are respectively marked as E1 and E2.

[0187] S602. Determine a sixth point on the fifth central axis that is closest to the fifth point based on the spatial positions of the center of the circle, the two endpoints, and the fifth point.

[0188] In some embodiments, the shortest distance from the fifth point on the second part of the circular ring to the first part of the circular ring can be obtained by a geometric method: project the fifth point, i.e., point Q, onto the plane where the fifth central axis of the first part of the circular ring is located, and record the projection point as Q'; determine whether the angle between Q' and the line connecting the center O1 and the line connecting O1E1 is a negative value. If so, the point on the fifth central axis of the first part of the circular ring closest to point Q, i.e., the sixth point, is the endpoint E1; otherwise, determine whether the angle is greater than the bending angle θ1. If greater than, the point on the fifth central axis of the first part of the circular ring closest to point Q, i.e., the sixth point, is the endpoint E2; otherwise, the point on the fifth central axis of the first part of the circular ring closest to point Q, i.e., the sixth point, is the intersection of the extension line of O1Q' and the fifth central axis. After finding the sixth point, the distance between the sixth point and the fifth point is the second shortest distance d between the fifth point and the fifth central axis of the first part of the circular ring.

[0189] Optionally, each instrument arm includes at least a starting rigid segment, a flexible segment and a terminal rigid segment connected in sequence; the rigid segment includes a starting rigid segment and a terminal rigid segment; and the process of performing collision detection on the rigid segments of the two instrument arms according to the postures of the two instrument arms in the above S102 to obtain a first collision detection result may include:

[0190] According to the positions and postures of the two instrument arms, a collision detection is performed on the starting rigid segment of the first instrument arm and the end rigid segment of the second instrument arm, and a collision detection is performed on the end rigid segment of the first instrument arm and the starting rigid segment of the second instrument arm and the end rigid segment of the second instrument arm to obtain a first collision detection result.

[0191] Wherein, the two instrument arms include: a first instrument arm and a second instrument arm.

[0192] In some embodiments, a first preset collision detection algorithm is used to perform a collision detection between the starting rigid segment of the first instrument arm and the terminal rigid segment of the second instrument arm, which can be considered as a collision detection between two cylinders. A first preset collision detection algorithm is used to perform a collision detection between the terminal rigid segment of the first instrument arm and the starting rigid segment of the second instrument arm, which can be considered as a collision detection between two cylinders. A first preset collision detection algorithm is used to perform a collision detection between the terminal rigid segment of the first instrument arm and the terminal rigid segment of the second instrument arm, which can be considered as a collision detection between two cylinders, to obtain a first collision detection result.

[0193] The specific implementation process of the first preset collision detection algorithm may refer to the implementation process in S201 to S203 and S301 to S302 above, which will not be described in detail here.

[0194] The process of performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions of the two instrument arms in S103 to obtain the third collision detection result may include:

[0195] According to the posture of the two instrument arms, a collision detection is performed on the starting rigid segment of the first instrument arm and the flexible segment of the second instrument arm, and a collision detection is performed on the flexible segment of the first instrument arm and the starting rigid segment and the end rigid segment of the second instrument arm, and a collision detection is performed on the end rigid segment of the first instrument arm and the flexible segment of the second instrument arm, and a third collision detection result.

[0196] Among them, if the bending angle of the flexible segment of the second instrument arm is 0, or close to 0, the first preset collision detection algorithm is used to perform collision detection on the initial rigid segment of the first instrument arm and the flexible segment of the second instrument arm, which can be considered as a collision detection between two cylinders. If the bending angle of the flexible segment of the second instrument arm is not 0, or not close to 0, the second preset collision detection algorithm is used to perform collision detection on the initial rigid segment of the first instrument arm and the flexible segment of the second instrument arm, which can be considered as a collision detection between a cylinder and a partial circular ring.

[0197] Similarly, if the bending angle of the flexible segment of the first instrument arm is 0, or close to 0, the first preset collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the starting rigid segment of the second instrument arm, and on the flexible segment of the first instrument arm and the terminal rigid segment of the second instrument arm, which can be considered as collision detection between two cylinders. If the bending angle of the flexible segment of the first instrument arm is not 0, or close to 0, the second preset collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the starting rigid segment of the second instrument arm, and on the flexible segment of the first instrument arm and the terminal rigid segment of the second instrument arm, which can be considered as collision detection between a partial ring and a cylinder.

[0198] In addition, if the bending angle of the flexible segment of the second instrument arm is 0, or close to 0, the first preset collision detection algorithm is used to perform collision detection on the terminal rigid segment of the first instrument arm and the flexible segment of the second instrument arm, which can be considered as a collision detection between two cylinders. If the bending angle of the flexible segment of the second instrument arm is not 0, or not close to 0, the second preset collision detection algorithm is used to perform collision detection on the terminal rigid segment of the first instrument arm and the flexible segment of the second instrument arm, which can be considered as a collision detection between a cylinder and a partial circular ring.

[0199] In summary, the embodiment of the present application provides a collision detection method for a surgical robot, which performs collision detection on the rigid section, flexible section, and between the flexible section and the rigid end of two instrument arms among multiple instrument arms, and obtains a target collision detection result, which can realize comprehensive collision detection of the two instrument arms. The target collision detection result is helpful for doctors to promptly discover whether a collision occurs between the two instrument arms, and can provide instant feedback, thereby identifying and eliminating possible collision risks, ensuring the safety of patients, and effectively avoiding the occurrence of collision accidents. It reduces interruptions or adjustments caused by collisions, improves the overall efficiency of the operation, and makes it unnecessary for doctors to frequently perform operational adjustments when using the robot, which helps to improve the accuracy and efficiency of the operation, not only improving the doctor's experience of using the instrument arm, but also effectively ensuring the safety of patients.

[0200] Moreover, the entire collision detection does not require additional hardware costs, does not require high computing power, and the implementation process is flexible and convenient.

[0201] The following describes the collision detection device, processing equipment, storage medium, etc. of the surgical robot used to execute the collision detection method of the surgical robot provided in this application. Its specific implementation process and technical effects refer to the relevant content of the above-mentioned collision detection method of the surgical robot, which will not be repeated below.

[0202] Fig.11 A schematic diagram of a collision detection device for a surgical robot provided in an embodiment of the present application, wherein the surgical robot comprises at least two instrument arms, such as Fig.11 As shown, the device comprises:

[0203] An acquisition module 1001 is used to acquire the positions and postures of the two instrument arms;

[0204] The detection module 1002 is used to perform collision detection on the rigid segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a first collision detection result; perform collision detection on the flexible segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result; perform collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result;

[0205] The determination module 1003 is used to determine the target collision detection result of the two instrument arms according to the first collision detection result, the second collision detection result and the third collision detection result.

[0206] Optionally, the detection module 1002 is specifically configured to perform collision detection on the rigid segments of the two instrument arms according to the positions of the two instrument arms and adopt a preset first collision detection algorithm to obtain the first collision detection result.

[0207] Optionally, the detection module 1002 is specifically used to, if the posture of the two instrument arms indicates that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both 0, use a preset first collision detection algorithm to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result; if the posture of the two instrument arms indicates that the bending angle of the flexible segment of the first instrument arm is 0 and the bending angle of the flexible segment of the second instrument arm is not 0, use a preset second collision detection algorithm to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result; if the posture of the two instrument arms indicates that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, use a preset third collision detection algorithm to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result.

[0208] Optionally, the detection module 1002 is specifically used to, if in the posture of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is 0, then use a preset first collision detection algorithm to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result; if in the posture of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, then use a preset second collision detection algorithm to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result.

[0209] Optionally, the detection module 1002 is specifically used to determine, according to the postures of the two instrument arms, information on the first central axis of the flexible segment of the first instrument arm and information on the second central axis of the rigid end of the second instrument arm, respectively, if the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is 0; calculate a first shortest distance between the first central axis and the second central axis based on the information on the first central axis and the information on the second central axis; perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm based on the first shortest distance, the first cross-sectional radius of the flexible segment of the first instrument arm, and the second cross-sectional radius of the rigid end of the second instrument arm to obtain the third collision detection result.

[0210] Optionally, the detection module 1002 is specifically used to determine the coordinates of a first point on the first central axis and a first unit vector in the direction of the first central axis, and the coordinates of a second point on the second central axis and a second unit vector in the direction of the second central axis according to the positions of the two instrument arms; and calculate the first shortest distance according to the coordinates of the first point, the first unit vector, the coordinates of the second point and the second unit vector.

[0211] Optionally, the detection module 1002 is specifically used to determine the third cross-sectional radius, the first rotation angle and the first length of the rigid end of the second instrument arm according to the posture of the second instrument arm if the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0; calculate the spatial position of a third point on the third center axis of the rigid end of the second instrument arm according to the third cross-sectional radius, the first rotation angle and the first length; determine the fourth point closest to the third point on the fourth center axis of the flexible segment of the first instrument arm according to the spatial position of the third point and the posture of the first instrument arm; perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm according to the third point, the fourth point, the third cross-sectional radius and the fourth cross-sectional radius of the flexible segment of the first instrument arm to obtain the third collision detection result.

[0212] Optionally, the detection module 1002 is specifically used to determine the fifth cross-sectional radius, the second rotation angle and the second length of the flexible segment of the second instrument arm according to the posture of the second instrument arm if the posture of the two instrument arms indicates that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0; calculate the spatial position of the fifth point on the flexible segment of the second instrument arm according to the fifth cross-sectional radius, the second rotation angle and the second length; determine the sixth point closest to the fifth point on the fifth center axis of the flexible segment of the first instrument arm according to the spatial position of the fifth point and the posture of the first instrument arm; perform collision detection on the flexible segments of the two instrument arms according to the fifth point, the sixth point, the fifth cross-sectional radius and the sixth cross-sectional radius of the flexible segment of the first instrument arm to obtain the second collision detection result.

[0213] Optionally, the detection module 1002 is specifically used to determine the center and two endpoints of the fifth central axis of the flexible segment of the first instrument arm according to the posture of the first instrument arm; and determine the sixth point on the fifth central axis that is closest to the fifth point according to the spatial positions of the center, the two endpoints and the fifth point.

[0214] Optionally, each instrument arm includes at least a starting rigid segment, a flexible segment and a terminal rigid segment connected in sequence; the detection module 1002 is specifically used to perform collision detection on the starting rigid segment of the first instrument arm and the terminal rigid segment of the second instrument arm of the two instrument arms according to the posture of the two instrument arms, and perform collision detection on the terminal rigid segment of the first instrument arm and the starting rigid segment of the second instrument arm and the terminal rigid segment of the second instrument arm to obtain the first collision detection result; perform collision detection on the starting rigid segment of the first instrument arm and the flexible segment of the second instrument arm of the two instrument arms according to the posture of the two instrument arms, and perform collision detection on the flexible segment of the first instrument arm and the starting rigid segment and the terminal rigid segment of the second instrument arm, and perform collision detection on the terminal rigid segment of the first instrument arm and the flexible segment of the second instrument arm, and the third collision detection result.

[0215] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0216] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more digital singnal processors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0217] Fig.12 A schematic diagram of a processing device provided in an embodiment of the present application is shown in FIG. Fig.12 As shown, the processing device includes: a processor 2001 and a memory 2002. The memory 2002 is used to store programs, and the processor 2001 calls the program stored in the memory 2002 to execute the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0218] Optionally, the present application also provides a program product, such as a computer-readable storage medium, including a program, which is used to execute the above method embodiment when executed by a processor.

[0219] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0220] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0221] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0222] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0223] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A collision detection method for a surgical robot, characterized in that: The surgical robot comprises at least two instrument arms, and the method comprises: Acquiring the positions and postures of the two instrument arms; According to the positions and postures of the two instrument arms, performing collision detection on the rigid sections of the two instrument arms to obtain a first collision detection result; performing collision detection on the flexible segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result; performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result; The target collision detection results of the two instrument arms are determined according to the first collision detection result, the second collision detection result and the third collision detection result.

2. The method according to claim 1, characterized in that The step of performing collision detection on the rigid segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a first collision detection result includes: According to the positions and postures of the two instrument arms, a preset first collision detection algorithm is used to perform collision detection on the rigid sections of the two instrument arms to obtain the first collision detection result.

3. The method according to claim 1, characterized in that The performing collision detection on the flexible segments of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result includes: If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both 0, a preset first collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result; If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm is 0, and the bending angle of the flexible segment of the second instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result; If the posture of the two instrument arms indicates that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, a preset third collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result.

4. The method according to claim 1, characterized in that: The performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result includes: If, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible section of the first instrument arm is 0, a preset first collision detection algorithm is used to perform collision detection on the flexible section of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result; If, among the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result.

5. The method according to claim 4, characterized in that If, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is 0, a preset first collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result, including: If the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is 0, determine information on a first central axis of the flexible segment of the first instrument arm and information on a second central axis of the rigid end of the second instrument arm according to the postures of the two instrument arms; Calculating a first shortest distance between the first central axis and the second central axis according to information of the first central axis and information of the second central axis; Based on the first shortest distance, the first cross-sectional radius of the flexible segment of the first instrument arm and the second cross-sectional radius of the rigid end of the second instrument arm, collision detection is performed on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result.

6. The method according to claim 5, characterized in that The determining, according to the positions of the two instrument arms, information on a first central axis of the flexible segment of the first instrument arm and information on a second central axis of the rigid end of the second instrument arm respectively comprises: Determine, according to the positions and postures of the two instrument arms, the coordinates of a first point on the first central axis and a first unit vector in the direction of the first central axis, and the coordinates of a second point on the second central axis and a second unit vector in the direction of the second central axis; The calculating, based on the information of the first central axis and the information of the second central axis, a first shortest distance between the first central axis and the second central axis comprises: The first shortest distance is calculated according to the coordinates of the first point, the first unit vector, the coordinates of the second point, and the second unit vector.

7. The method according to claim 4, characterized in that If, in the postures of the two instrument arms, the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, a preset second collision detection algorithm is used to perform collision detection on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result, including: If the posture of the first instrument arm indicates that the bending angle of the flexible segment of the first instrument arm is not 0, determining a third cross-sectional radius, a first rotation angle, and a first length of the rigid end of the second instrument arm according to the posture of the second instrument arm; Calculating a spatial position of a third point on a third central axis of the rigid end of the second instrument arm according to the third cross-sectional radius, the first rotation angle and the first length; Determine, on a fourth central axis of the flexible segment of the first instrument arm, a fourth point closest to the third point according to the spatial position of the third point and the posture of the first instrument arm; Based on the third point, the fourth point, the third cross-sectional radius and the fourth cross-sectional radius of the flexible segment of the first instrument arm, a collision detection is performed on the flexible segment of the first instrument arm and the rigid end of the second instrument arm to obtain the third collision detection result.

8. The method according to claim 3, characterized in that If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, a preset third collision detection algorithm is used to perform collision detection on the flexible segments of the two instrument arms to obtain the second collision detection result, including: If the postures of the two instrument arms indicate that the bending angle of the flexible segment of the first instrument arm and the bending angle of the flexible segment of the second instrument arm are both not 0, determining a fifth cross-sectional radius, a second rotation angle, and a second length of the flexible segment of the second instrument arm according to the posture of the second instrument arm; Calculating a spatial position of a fifth point on the flexible segment of the second instrument arm according to the fifth cross-sectional radius, the second rotation angle, and the second length; Determine, according to the spatial position of the fifth point and the posture of the first instrument arm, a sixth point closest to the fifth point on the fifth central axis of the flexible segment of the first instrument arm; The flexible segments of the two instrument arms are subjected to collision detection based on the fifth point, the sixth point, the fifth cross-sectional radius and the sixth cross-sectional radius of the flexible segment of the first instrument arm to obtain the second collision detection result.

9. The method according to claim 8, characterized in that The step of determining a sixth point closest to the fifth point on a fifth central axis of the flexible segment of the first instrument arm according to the spatial position of the fifth point and the posture of the first instrument arm comprises: Determining the center and two end points of a fifth central axis of the flexible segment of the first instrument arm according to the position and posture of the first instrument arm; According to the spatial positions of the center of the circle, the two endpoints and the fifth point, a sixth point on the fifth central axis that is closest to the fifth point is determined.

10. The method according to claim 1, characterized in that Each instrument arm at least includes a starting rigid segment, a flexible segment and a terminal rigid segment connected in sequence; the rigid segment includes a starting rigid segment and a terminal rigid segment; the rigid segments of the two instrument arms are subjected to collision detection according to the positions and postures of the two instrument arms to obtain a first collision detection result, including: According to the positions and postures of the two instrument arms, a collision detection is performed on a starting rigid segment of a first instrument arm and a terminal rigid segment of a second instrument arm of the two instrument arms, and a collision detection is performed on the terminal rigid segment of the first instrument arm and the starting rigid segment of the second instrument arm and the terminal rigid segment of the second instrument arm to obtain the first collision detection result; The performing collision detection on the flexible segments and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result includes: According to the posture of the two instrument arms, a collision detection is performed on the starting rigid segment of the first instrument arm and the flexible segment of the second instrument arm, and a collision detection is performed on the flexible segment of the first instrument arm and the starting rigid segment and the end rigid segment of the second instrument arm, and a collision detection is performed on the end rigid segment of the first instrument arm and the flexible segment of the second instrument arm, and the third collision detection result.

11. A collision detection device for a surgical robot, characterized in that: The surgical robot comprises at least two instrument arms, and the device comprises: An acquisition module, used for acquiring the positions and postures of the two instrument arms; A detection module, configured to perform collision detection on the rigid sections of the two instrument arms according to the positions and postures of the two instrument arms to obtain a first collision detection result; perform collision detection on the flexible sections of the two instrument arms according to the positions and postures of the two instrument arms to obtain a second collision detection result; perform collision detection on the flexible sections and rigid ends of the two instrument arms according to the positions and postures of the two instrument arms to obtain a third collision detection result; A determination module is used to determine the target collision detection results of the two instrument arms according to the first collision detection result, the second collision detection result and the third collision detection result.

12. A surgical robot system, characterized in that: include: The main operating terminal is used to control the surgical robot; The surgical robot is used to perform surgical actions, and the surgical robot includes at least two instrument arms; at least one processor, wherein the processor is disposed at the main operating end or the surgical robot; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the collision detection method for the surgical robot according to any one of claims 1-10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the collision detection method for the surgical robot as described in any one of claims 1-10.

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