Surgical robot, control method thereof and computer readable storage medium

Abstract

The invention relates to a surgical robot, a control method thereof and a computer readable storage medium. A surgical robot includes a manipulator having a joint assembly to mount and drive a medical instrument; an operation unit; the controller is used for obtaining a target posture of the tail end of the operation part and obtaining a current posture of the tail end of the medical instrument when the posture of the operation part changes along with the posture of the tail end of the surgical instrument; under the condition that the current posture reaches the motion boundary of the tail end of the medical instrument and the target posture exceeds the motion boundary, determining a first resistance virtually acting on the tail end of the operation part based on the target posture and the current posture, and determining a second resistance actually acting on the tail end of the manipulator based on the first resistance; based on the second resistance, joint target driving force expected to be output by the joint assembly is determined, and the joint assembly is controlled to output the joint target driving force. By means of the implementation mode, when the problem that the operation part exceeds the motion boundary occurs, force feedback with the prompt effect can be achieved on the manipulator.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a surgical robot and a control method thereof, and a computer-readable storage medium. Background Art

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

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. The surgical robot includes a main operating table and a slave operating device. The slave operating device includes multiple medical instruments with end effectors, including imaging instruments with imaging end effectors and surgical instruments with operating end effectors. The main operating table includes a display and an operating unit. The doctor operates the operating unit to manipulate the movement of the imaging instrument or surgical instrument under the visual field provided by the imaging instrument displayed on the display.

[0004] However, since the motion range of the operating part and the motion range of the medical device are usually inconsistent, when one of the operating part and the medical device reaches the boundary of the motion range, in the out-of-bounds direction, its continued manipulation or being manipulated may easily lead to problems that endanger safety and reliability. Summary of the invention

[0005] Based on this, it is necessary to provide a surgical robot and its control method, and a computer-readable storage medium that can ensure safety and reliability.

[0006] In one aspect, the present disclosure provides a surgical robot, comprising: A first manipulator is mounted on and drives a first medical device, wherein the first manipulator has a first joint assembly; A second manipulator is mounted and drives a second medical instrument, wherein one of the first medical instrument and the second medical instrument is a surgical instrument and the other is an imaging instrument; a main operating console, comprising an operating unit and a display, wherein the operating unit is used to cause the distal end of the surgical instrument to move to a second target posture in the endoscope coordinate system of the imaging instrument and to move to a first target posture in the display coordinate system of the display in response to the first manipulator moving relative to the second manipulator to a target posture; and A controller, coupled to the first manipulator, the second manipulator and the operating unit, is configured to: Acquire the first target posture of the end of the operating part, and acquire the current posture of the end of the operating part in the display coordinate system; In the case where the current posture reaches the motion boundary of the end of the operating part and the first target posture exceeds the motion boundary, a first resistance imaginary acting on the end of the operating part is determined based on the first target posture and the current posture, and a second resistance actually acting on the end of the first manipulator is determined based on the first resistance, the first resistance being used to imaginary resist the end of the operating part from moving toward the first target posture, and the second resistance being used to actually resist the end of the first manipulator from moving toward the target posture; Determining a joint target driving force expected to be output by the first joint component based on the second resistance, and controlling the first joint component to output the joint target driving force to achieve force feedback on the first manipulator; The first resistance, the second resistance and the joint target driving force are generalized forces.

[0007] On the other hand, the present disclosure also provides a control method for a surgical robot, the surgical robot comprising: A first manipulator is mounted on and drives a first medical device, wherein the first manipulator has a first joint assembly; A second manipulator is mounted and drives a second medical instrument, wherein one of the first medical instrument and the second medical instrument is a surgical instrument and the other is an imaging instrument; and a main operating console, comprising an operating unit and a display, wherein the operating unit is used to cause the distal end of the surgical instrument to move to a second target posture in the endoscope coordinate system of the imaging instrument and to move to a first target posture in the display coordinate system of the display in response to the first manipulator moving relative to the second manipulator to a target posture; The control method comprises: Acquire the first target posture of the end of the operating part, and acquire the current posture of the end of the operating part in the display coordinate system; In the case where the current posture reaches the motion boundary of the end of the operating part and the first target posture exceeds the motion boundary, a first resistance imaginary acting on the end of the operating part is determined based on the first target posture and the current posture, and a second resistance actually acting on the end of the first manipulator is determined based on the first resistance, the first resistance being used to imaginary resist the end of the operating part from moving toward the first target posture, and the second resistance being used to actually resist the end of the first manipulator from moving toward the target posture; Determining a joint target driving force expected to be output by the first joint component based on the second resistance, and controlling the first joint component to output the joint target driving force to achieve force feedback on the first manipulator; The first resistance, the second resistance and the joint target driving force are generalized forces.

[0008] On the other hand, the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the control method described in any of the above embodiments.

[0009] The surgical robot and control method thereof, and computer-readable storage medium disclosed in the present invention have the following beneficial effects: When the posture of the end of the operating part follows the posture change of the end of the surgical instrument, when the end of the operating part exceeds the motion boundary, a virtual force is applied to the end and the virtual force is converted into a real force of the first manipulator, thereby controlling the joint assembly in the first manipulator to output a target joint driving force associated with the real force. In the case that there is no and / or cannot be a force sensor that senses the excess of the boundary at the end of the operating part, when the end of the operating part exceeds the motion boundary, the operator can have an obvious sense of force at the first manipulator, that is, can feel the resistance caused by the end of the operating part exceeding its boundary, thereby avoiding excessive manipulation of the end of the operating part, which is beneficial to ensuring safety and reliability. At the same time, since there is no need to set a force sensor at the end of the operating part, the cost can be reduced and the structure of the end can be simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of the structure of a slave operating device of an embodiment of the surgical robot disclosed herein; Figure 2 for Figure 1 A schematic structural diagram of a manipulator assembly of an embodiment of a slave operating device is shown; Figure 3 It is a structural schematic diagram of a slave operating device of another embodiment of the surgical robot disclosed in the present invention; Figure 4 This is a schematic diagram of the structure of a main operating table of an embodiment of a surgical robot disclosed herein; Figure 5 This is a structural schematic diagram of an operating unit of an embodiment of a main operating console disclosed herein; Figure 6 for Figure 5 A partial structural diagram of an operating unit in an embodiment shown; Figure 7 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Figure 8 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig. 9 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.10This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.11 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.12 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.13 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.14 It is a partial schematic diagram of an embodiment of the surgical robot disclosed herein in a surgical state; Fig.15 It is a partial schematic diagram of another embodiment of the surgical robot disclosed herein in a surgical state; Fig.16 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.17 It is a schematic diagram of an embodiment of a display interface related to an out-of-bounds section in a surgical robot disclosed in the present invention; Fig.18 It is a schematic diagram of another embodiment of a display interface related to an out-of-bounds section in the surgical robot disclosed in the present invention; Fig.19 It is a schematic diagram of another embodiment of a display interface related to an out-of-bounds section in the surgical robot disclosed in the present invention; Fig. 20 It is a schematic diagram of another embodiment of a display interface related to an out-of-bounds section in the surgical robot disclosed in the present invention; Fig.21 It is a schematic diagram of another embodiment of a display interface related to an out-of-bounds section in the surgical robot disclosed in the present invention; Fig. 22 It is a schematic diagram of another embodiment of a display interface related to an out-of-bounds section in the surgical robot disclosed in the present invention; Fig.23 It is a schematic diagram of another embodiment of a display interface related to an out-of-bounds section in the surgical robot disclosed in the present invention; Fig.24 It is a schematic diagram of another embodiment of a display interface related to an out-of-bounds section in the surgical robot disclosed in the present invention; Fig.25 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.26 It is a schematic diagram of an embodiment of a display interface related to an out-of-bounds section in a surgical robot disclosed in the present invention; Fig. 27 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.28 It is a schematic diagram of an embodiment of a display interface related to an out-of-bounds section in a surgical robot disclosed in the present invention; Fig.29 This is a flow chart of an embodiment of a control method of a surgical robot disclosed in the present invention; Fig.30 is a flow chart of another embodiment of the control method of the surgical robot disclosed in the present invention; Fig.31 Schematic diagram of the structure of a controller of a surgical robot according to an embodiment of the present disclosure. Implementation

[0011] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present disclosure are given in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described in the present disclosure. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thoroughly and comprehensively understood.

[0012] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this disclosure are only for illustrative purposes and do not represent the only implementation method. The terms "distal end" (i.e., the end) and "proximal end" used in this disclosure are used as directional words, which are commonly used terms in the field of interventional medical devices, wherein the "distal end" refers to the end away from the operator during the operation, and the "proximal end" refers to the end close to the operator during the operation. The terms "first / second" and the like used in this disclosure can represent a component and a class of more than two components with common characteristics.

[0013] Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as those commonly understood by those skilled in the art to which this disclosure belongs. The terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit this disclosure. The term "and / or" used in this disclosure includes any and all combinations of one or more related listed items. The terms "each" and "plurality" used in this disclosure include one or more than two.

[0014] There are many types of surgical robots, such as laparoscopic surgical robots suitable for thoracic and abdominal surgery, and endoscopic surgical robots suitable for natural cavity surgery such as bronchial surgery. These types of surgical robots usually include two or more relatively independent arms with joint components, and the movement of one arm can be used as input to control the associated movement of another arm. The control method involved in the present disclosure is applicable to a surgical robot with more than two arms, and the movement of one arm can cause the movement of another arm.

[0015] In some embodiments, the laparoscopic surgical robot includes a slave operating device and a main operating console that can operate the slave operating device. Different slave operating devices can be operated by a main operating console of the same structure or by a main operating console of different structures. Therefore, the specific types of laparoscopic surgical robots are usually not distinguished by the main operating console. However, the specific types of laparoscopic surgical robots can be distinguished according to the different structures of the slave operating devices. For example, a laparoscopic surgical robot corresponding to a slave operating device that has multiple medical instruments inserted into the patient's body through different surgical channels provided by the same puncture device connected to the patient can be called a single-port laparoscopic surgical robot. For another example, a laparoscopic surgical robot corresponding to a slave operating device that has multiple medical instruments inserted into the patient's body through surgical channels provided by multiple different puncture devices connected to the patient can be called a multi-port laparoscopic surgical robot. These medical instruments generally include image instruments and surgical instruments, image instruments are used to provide a field of view, and surgical instruments are used for surgical operations such as cutting and suturing.

[0016] Figure 1 The figure shows a single-port laparoscopic surgical robot. Figure 1 As shown, in a single-port laparoscopic surgical robot, the slave operating device 100 includes a driving arm, which includes a main arm 110 and a manipulator assembly 120 connected in sequence, both of which have joint assemblies, and the main arm 110 can adjust the position and / or posture of the manipulator assembly 120. Figure 2Referring to the figure, the manipulator assembly 120 includes a housing 130 connected to the end of the main arm 110, a manipulator 140 accommodated in the housing 130, and a medical device 150 detachably mounted on the manipulator 140. The manipulator 140 includes a plurality of manipulators 140, each of which is accommodated in the housing 130 and connected to the end of the main arm 110 in parallel through the housing 130. The movement of the main arm 110 can cause the joint movement of the plurality of manipulators 140 in position and / or posture. Generally, the manipulator 140 has at least one joint assembly to provide, for example, a feeding degree of freedom in an operating space to adjust the depth of insertion of the medical device 150 into the patient's body. The medical device 150 may include a plurality of, usually the same number as or less than the number of manipulators 140, and the medical device 150 also includes a plurality of joint assemblies. The joint assemblies of the medical device 150 can provide a plurality of degrees of freedom in the operating space under the drive of the manipulator 140 to realize, for example, all other degrees of freedom except the feeding degree of freedom, including the horizontal translation degree of freedom, the vertical translation degree of freedom, the rotation degree of freedom, the yaw degree of freedom and the pitch degree of freedom. The feeding degree of freedom, the horizontal translation degree of freedom and the vertical translation degree of freedom are the three positional degrees of freedom of the operating space, and the rotation degree of freedom, the yaw degree of freedom and the pitch degree of freedom are the three posture degrees of freedom of the operating space. Figure 1 In the embodiment, multiple medical devices 150 are inserted into the patient's body through the same puncture device 400.

[0017] Figure 3 The figure shows a multi-port laparoscopic surgical robot. Figure 3As shown, in the multi-hole laparoscopic surgical robot, the slave operating device 200 includes a driving arm, and the driving arm includes a main arm 210, an adjustment arm 220 and a manipulator assembly 230 connected in sequence, and all three are equipped with joint assemblies. The adjustment arm 220 includes a plurality of them, and their proximal ends are all connected to the end of the main arm 210. The end of the main arm 210 includes a certain directional platform 215, that is, the proximal ends of each adjustment arm 220 are connected to the directional platform 215, and the main arm 210 can adjust the position and / or posture of the adjustment arm 220 and the manipulator assembly 230. The manipulator assembly 230 includes a plurality of them, and the number thereof is the same as the number of the adjustment arms 220. The proximal ends of the manipulator assembly 230 are connected to the end of the adjustment arm 220, and the adjustment arm 220 can adjust the position and / or posture of the manipulator assembly 230. The manipulator assembly 230 includes a manipulator 240 and a medical device 250 detachably mounted on the manipulator 240, both of which include a plurality of joint assemblies. The manipulator 240 includes a parallelogram mechanism. By using the parallelogram principle, the manipulator 240 can be limited to perform rotational motion around a remote motion center (i.e., Remote Center, RC). The joint assembly of the manipulator 240 can include multiple degrees of freedom in the operating space, including feed degrees of freedom, yaw degrees of freedom, and pitch degrees of freedom, and the yaw degrees of freedom and pitch degrees of freedom both perform rotational motion around RC. The joint assembly of the medical device 250 can provide multiple degrees of freedom in the operating space under the drive of the manipulator 240, including rotation degrees of freedom, yaw degrees of freedom, and pitch degrees of freedom. Among them, the feed degrees of freedom of the manipulator 240 adjust the depth of the medical device 250 inserted into the patient's body, the yaw degrees of freedom and the pitch degrees of freedom of the manipulator 240 can affect both the position and the posture of the medical device 250, and the rotation degrees of freedom, yaw degrees of freedom, and pitch degrees of freedom of the medical device 250 mainly affect the posture of the medical device 250, and the influence on the position of the medical device 250 can be ignored. Figure 2 In the embodiment, a plurality of medical devices 250 are respectively inserted into the patient's body through different puncture devices 500.

[0018] In some embodiments, Figure 4 The main console 300 shown can be used with Figure 1 The slave operating device 100 or Figure 2 The slave operating devices 200 shown are relatively independent. They can be set up in close proximity, such as in the same room, within a few meters, or they can be set up in long distances, such as in different cities, thousands of kilometers away.

[0019] Continue reading Figure 4The main operation console 300 may include an operation unit 310 and a display. One main operation console 300 may include more than one operation unit 310, for example, two. The operation unit 310 may include multiple joint components, and the operation unit 310 having multiple joint components may be regarded as an arm in the surgical robot.

[0020] See also Figure 5 and Figure 6 The operating part 310 may include a connecting member 101, a base 12, an operating assembly 15 and at least one driving arm, and the connecting member 101, the base 12, the at least one driving arm and the operating assembly 15 are rotatably connected in sequence. One end of the connecting member 101 away from the base 12 is connected to the relevant components of the main operating table 300. The operating assembly 15 is configured to receive the operation of the operator, and the operating assembly 15 may include a handle 151. The user performs relevant operations on the operating part 310 by grasping the handle 151 to send a control command to the slave operating device 100 or the slave operating device 200. The end of the operating part 310 mentioned in the present disclosure may refer to the handle 151, for example.

[0021] Among them, the number of driving arms can be determined according to actual execution requirements. For example, when the movement to be performed is relatively simple, only one driving arm can be selected, and one end of the driving arm is connected to the base 12, and the other end of the driving arm is connected to the operating component 15. For example, when the movement to be performed is more complex, two or more driving arms can be selected. The more driving arms there are, the higher the degree of freedom, and more complex operations can be performed.

[0022] This embodiment is described by taking the number of two driving arms as an example. The two driving arms are respectively a first arm 13 and a second arm 14. The second arm 14 is rotatably connected to the first arm 13, one end of the first arm 13 away from the second arm 14 is rotatably connected to the base 12, and one end of the second arm 14 away from the first arm 13 is rotatably connected to the operating component 15, wherein the rotation of the first arm 13 and the second arm 14 provides the operating component 15 with at least two degrees of freedom.

[0023] In this embodiment, the base 12 rotates along the first axis A1 relative to the connecting member 101, the first arm 13 rotates along the second axis A2 relative to the base 12, and the second arm 14 rotates along the third axis A3 relative to the first arm 13. The first axis A1 is perpendicular to the second axis A2 and the third axis A3, and the second axis A2 is parallel to the third axis A3, so that the rotation of the base 12, the first arm 13, and the second arm 14 can allow the operation assembly 15 to move in three-dimensional space.

[0024] like Figure 6As shown, the operating part 310 may further include a first gravity compensation mechanism 200, which is connected between the base 12 and the first arm 13 to generate a moment of force that balances the gravity moment of the parallelogram mechanism in the first degree of freedom of rotation about the second axis A2. In some embodiments, the first gravity compensation mechanism 20 may include a first rotation mechanism 201 and a first elastic compensation mechanism 202. The first rotation mechanism 201 may include a plurality of rotation parts, which are distributed on the first mounting plate 123 of the base 12 and the first arm 13.

[0025] For ease of understanding, the first rotating mechanism 201 may include a rotating portion of the first part and a rotating portion of the second part. Exemplarily, the rotating portion of the first part is arranged on the first mounting plate 123, and the rotating portion of the second part is arranged on the arm turntable 132 of the first arm 13. Among them, the first elastic compensation mechanism 202 is coupled between the body turntable of the base 12 and the first rotating mechanism 201 to generate a moment of force that balances the gravity moment of the parallelogram mechanism on the first degree of freedom, so that the user can easily drag the operating part 310 on the first degree of freedom. In some embodiments, the endoscopic surgical robot may also include a main operating console and a slave operating device. The slave operating device includes two mechanical arms and a catheter instrument detachably mounted at the ends of the two mechanical arms. The catheter instrument includes an inner catheter instrument and an outer catheter instrument, the outer catheter instrument is mounted on one of the two mechanical arms, and the inner catheter instrument is mounted on the other of the two mechanical arms. When working, the outer catheter instrument and the inner catheter instrument are oriented in the same direction, and the inner catheter instrument is inserted into the outer catheter instrument in the same direction for use.

[0026] In some embodiments, the surgical robot further includes a controller. For example, the controller may be deployed on the main operating console 300. For another example, the controller may be deployed on the slave operating device 100 (or 200). For another example, the controller may be deployed on the cloud. For another example, the controller includes a first controller and a second controller, the first controller is deployed on the main operating console 300, and the second controller is deployed on the slave operating device 100 (or 200); or, the first controller is deployed on the cloud, and the second controller is deployed on the main operating console 300 or the slave operating device 100 (or 200). For another example, the controller includes a first controller, a second controller, and a third controller, the first controller is deployed on the main operating console 300, the second controller is deployed on the slave operating device 100 (or 200), and the third controller is deployed on the cloud. Wherein, the controller includes one or more processors, and the control method disclosed herein, and its multiple steps may be executed in one processor of the controller, or may be executed in multiple processors of the controller.

[0027] The controller can generally be coupled to any electrical component. For example, the controller can be coupled to the operating unit 310, the display, and the driving arm respectively. The controller is coupled to the driving arm, including coupling the controller to any arm body in the driving arm.

[0028] In a single-port laparoscopic surgical robot, the control method disclosed herein is applicable to a surgical robot having more than two arms, wherein the movement of one arm can cause the movement of another arm. One arm is selected from the operating part 310 of the main operating table 300, and the other arm is selected from at least part of the driving arm of the operating device 100, such as the manipulator assembly 120, including the manipulator 140 and the medical device 150.

[0029] In a multi-port laparoscopic surgical robot, the control method involved in the present disclosure is not only applicable to one arm body being selected from the operating part 310 of the main operating table 300, and the other arm body being selected from at least part of the driving arm of the operating device 200, such as the manipulator assembly 230, including the manipulator 240 and the medical device 250; it is also applicable to the two arms being respectively selected from two parts of the driving arm of the operating device 200, such as two manipulator assemblies 230, and two adjustment arms 220 and their respective connected manipulator assemblies 230.

[0030] In an endoscopic surgical robot, the control method disclosed herein is applicable to at least a portion of two robotic arms selected from the slave operating device respectively.

[0031] For example, in the above-mentioned single-hole or multi-hole laparoscopic surgical robot, the operating unit 310 of the main operating console 300 can be configured to manipulate (i.e., control) the movement of any part of the arm body in the driving arm. Specifically, the driving arm can be configured to accept the manipulation of the operating unit 310 according to the surgical requirements. In some embodiments, the movement of any part of the arm body in the driving arm can also react to the operating unit 310, causing the corresponding movement of the operating unit 310.

[0032] For example, in the above-mentioned multi-port laparoscopic surgical robot, the driving arm of the operating device 200 can be configured to include two independent arms, and the movement of one arm being manipulated (e.g., dragged) will cause the coordinated movement of the other arm. Such a configuration can also be applied to an endoscopic surgical robot, that is, the movement of one mechanical arm being manipulated will cause the coordinated movement of the other mechanical arm.

[0033] In some embodiments, for example, in a laparoscopic surgical robot, at least two operation modes may be configured, the two operation modes including a master-slave following mode and a master-slave alignment mode. The master-slave following mode is mainly used for surgical operations during surgery, and refers to the operating unit 310 of the master console 300 outputting a position and / or posture instruction, and controlling the end of at least part of the arm body in the driving arm of the slave operating device 100 (or 200) to adjust the position and / or posture based on the position and / or posture instruction. The master-slave alignment mode is mainly used in the preoperative preparation process to facilitate quick entry into the master-slave following mode, and refers to at least part of the arm body in the driving arm of the slave operating device 100 (or 200) outputting a posture instruction associated with the posture of the end of the part of the arm body, and controlling the operating unit 310 of the master console 300 to adjust the posture based on the posture instruction to align with the posture of the end of the aforementioned part of the arm body, so as to avoid manual alignment of the postures of the two, thereby facilitating intuitive operation by the operator. The end of at least a portion of the arm body in the driving arm may be formed by any configuration of the driving arm. In one embodiment, the end may generally refer to the end of a medical device, more specifically, to an end effector of the medical device.

[0034] Whether in the above-mentioned master-slave following mode or in the above-mentioned master-slave alignment mode, the present disclosure may define the arm that generates instructions such as position instructions and / or posture instructions through movement as the active arm, and define the arm that moves based on the instructions as the slave arm. Based on this, the purpose of at least one aspect of the control method of the present disclosure includes that when the operator controls the active arm to manipulate the movement of the slave arm, if the movement of the slave arm exceeds its corresponding movement boundary, force feedback is generated in the active arm to prompt the operator. This method does not require any force or torque sensor to be set on the slave arm to detect the resistance or resistance torque of the slave arm, and can also generate appropriate force feedback on the active arm.

[0035] The control method of the surgical robot disclosed in the present invention is illustrated below from the perspective of the operation mode.

[0036] In some embodiments, in the master-slave following mode, the control method of the present disclosure is applicable to a single-port laparoscopic surgical robot and a multi-port laparoscopic surgical robot. In the master-slave following mode, the operating unit usually operates the manipulator assembly 120 (or 230) to achieve control of the end of the medical device 150 (or 250), that is, the end effector.

[0037] In some embodiments, see Figure 7 , the control method comprises: Step S101, obtaining a first current posture and a first target posture of the end of the medical device.

[0038] The current posture is the posture of the end of the medical device at the current moment, that is, the actual posture; the target posture, such as the first target posture, is the expected posture of the end of the medical device at the next moment.

[0039] The driving arm is provided with a sensor for sensing the joint variables of each joint assembly. For example, when the multiple joint assemblies of the driving arm include translational joint assemblies, the joint variables include joint displacement values; when the multiple joint assemblies of the driving arm include rotational joint assemblies, the joint variables include joint angle values.

[0040] The concept of "pose" is usually described in the operation space, that is, Cartesian space or task space.

[0041] The first current pose can be obtained by sensing joint variables of joint components in the manipulator and the medical device and combining the joint variables with forward kinematics.

[0042] The remote operation of the surgical robot can adopt incremental posture control. The first target posture of the end of the medical device can be determined based on the first current posture of the end of the medical device and the first incremental posture. The first incremental posture can be determined based on the second incremental posture between the operating part moving the operating part from the second current posture of the operating part to the second target posture. The second current posture and the first current posture are known. When only variables are considered, it can be simply understood that the first target posture is determined based on the second target posture.

[0043] The incremental posture may include incremental position and incremental attitude. When incremental posture control is adopted, the incremental position may be scaled to ensure the safety of the operation, while the incremental attitude is not specially processed to maintain the tracking property of the attitude.

[0044] Step S102, detecting whether the first current posture reaches a motion boundary, and detecting whether the first target posture exceeds the motion boundary.

[0045] The tip of a medical device often has defined motion boundaries based on physical limitations or software restrictions.

[0046] When the first current posture reaches the motion boundary and the first target posture exceeds the motion boundary, step S103 is executed; otherwise, step S107 is executed.

[0047] Step S103: determining a first resistance assumed to act on the distal end of the medical device based on the first target posture and the first current posture.

[0048] "Imaginary" means virtual, and also means not actually existing. It can be seen that the first resistance is a virtual force used to imaginarily resist the movement of the end of the medical device to the first target posture, that is, it will not actually resist the movement of the end of the medical device to the first target posture.

[0049] Step S104: determining a second resistance actually acting on the distal end of the operating portion based on the first resistance.

[0050] The second resistance force is a real force that actually exists and will act on the end of the operating part, and is used to actually resist the movement of the end of the operating part toward the second target posture.

[0051] Step S105 , determining a joint target driving force output by a joint component in the desired operating part based on the second resistance.

[0052] In step S105, the joint target driving force may be determined by means of a statics equation. The statics equation is usually expressed as: .

[0053] in, represents the joint target driving force; The transpose of the Jacobian matrix representing the force of the operating part can be obtained by calculating the robot's kinematic Jacobian matrix Transpose to obtain the Jacobian matrix It can be determined in real time based on the joint variables of the joint components of the operating part; Indicates the second resistance.

[0054] Step S106, controlling the joint components in the operating unit to output the joint target driving force.

[0055] Typically, the joint assembly may include a drive motor as a drive mechanism. The drive motor includes three control modes, namely, a position mode, a speed mode, and a torque mode. In step S106, the torque mode is used to control the joint assembly to output a joint target drive force, so as to achieve force feedback on the operating part, thereby prompting the operator not to move the operating part toward the second target posture.

[0056] Step S107, determining target joint variables of joint components in the manipulator and the medical device based on the first target posture.

[0057] The target joint variables can be determined by means of inverse kinematics.

[0058] Step S108, controlling the joint components in the manipulator and the medical device to output target joint variables.

[0059] In step S108, the position mode is used to control the joint component to output the target joint variable so as not to restrict the movement of the end of the medical device when the first current posture of the end of the medical device does not reach the motion boundary and / or the first target posture does not exceed the motion boundary.

[0060] Various forces involved in the present disclosure, such as the first resistance, the second resistance, and the joint target driving force, can all be generalized forces, and the generalized force includes at least one of force and torque.

[0061] In some embodiments, the motion boundary of the end of the medical device includes at least one of the position motion boundary and the posture motion boundary of the operating space. Correspondingly, the first current posture obtained includes at least one of the current position and the current posture, and the first target posture obtained includes at least one of the target position and the target posture. Among them, the position out-of-bounds problem and the posture out-of-bounds problem can be processed separately. For example, the position out-of-bounds refers to one or more position degrees of freedom of the end of the medical device exceeding the position motion boundary jointly determined by the motion range of all position degrees of freedom of the manipulator component, and the posture out-of-bounds refers to one or more posture degrees of freedom of the end of the medical device exceeding the posture motion boundary jointly determined by the motion range of all posture degrees of freedom of the manipulator component.

[0062] For example, for the position out-of-bounds problem, the above-mentioned step S102 may include detecting whether the current position reaches the position movement boundary, and detecting whether the target position exceeds the position movement boundary.

[0063] Wherein, when the current position reaches the position movement boundary and the target position exceeds the position movement boundary, the above step S103 may also include controlling the end of the medical device to maintain the first current posture. By controlling the end of the medical device to maintain the first current posture, damage or safety problems caused by excessive manipulation of the manipulator and / or the medical device can be prevented.

[0064] In some embodiments, the step of controlling the end of the medical device to maintain the first current posture may include controlling the end of the medical device to maintain the current position.

[0065] In some embodiments, when the first current posture further includes the current posture and the target posture further includes the target posture, the step of controlling the end of the medical device to maintain the first current posture may include controlling the end of the medical device to maintain the current position and the current posture.

[0066] In some embodiments, when the current posture has not reached the motion boundary and / or the target posture has not exceeded the motion boundary, the step of controlling the end of the medical device to maintain the first current posture may also include controlling the end of the medical device to maintain the current position, and controlling the end of the medical device to move according to the target posture, so that the end of the medical device is always aligned with the posture of the operating part.

[0067] The above-mentioned step S103, i.e. determining the first resistance assumed to act on the end of the medical device based on the first target posture and the first current posture, may include determining the first resistance assumed to act on the end of the medical device based on the target position and the current position. The method may include obtaining a first position motion boundary impedance model, and determining the first resistance based on the target position, the current position and the first position motion boundary impedance model.

[0068] For another example, for the posture out-of-bounds problem, the above step S102 may include detecting whether the current posture reaches the posture motion boundary, and detecting whether the target posture exceeds the posture motion boundary.

[0069] Wherein, when the current posture reaches the posture movement boundary and the target posture exceeds the posture movement boundary, the step of controlling the end of the medical device to maintain the first current posture may include controlling the end of the medical device to maintain the current posture.

[0070] In some embodiments, when the first current posture further includes the current position and the target posture further includes the target position, the step of controlling the end of the medical device to maintain the current posture may include controlling the end of the medical device to maintain the current posture and the current position.

[0071] In some embodiments, when the current posture has not reached the motion boundary and / or the target posture has not exceeded the motion boundary, the step of controlling the end of the medical device to maintain the current posture may also include controlling the end of the medical device to maintain the current posture and follow the target position movement, and only the posture needs to be adjusted subsequently.

[0072] The above step S103 may include determining a first resistance assumed to act on the end of the medical device based on the target posture and the current posture. The method may include obtaining a first posture motion boundary impedance model, and determining the first resistance based on the target posture, the current posture and the first posture motion boundary impedance model.

[0073] In the above embodiments, when only the position out-of-bounds problem exists, the first resistance is only related to the position; when only the posture out-of-bounds problem exists, the first resistance is only related to the posture; when both the position and the posture are out-of-bounds, the first resistance may be a superposition of the resistance related to the position and the resistance related to the posture.

[0074] In some embodiments, the above step S104 may include a conversion process of converting the first resistance from a first coordinate system of the end of the medical device to a second coordinate system of the end of the operating part. The conversion process may include: The first resistance of the end of the medical device in the first coordinate system is converted into the first intermediate resistance of the end of the medical device in the first intermediate coordinate system. The first intermediate resistance is an imaginary force, that is, a virtual force.

[0075] The second intermediate resistance of the end of the operating part in the second intermediate coordinate system is determined according to the first intermediate resistance of the end of the medical device in the first intermediate coordinate system. The second intermediate resistance is the actual force, that is, the real force.

[0076] The second intermediate resistance of the distal end of the operating portion in the second intermediate coordinate system is converted into a second resistance in the second coordinate system.

[0077] Exemplarily, the first coordinate system includes a base coordinate system of the medical device, for example, the base coordinate system of the medical device is configured to be an end face connected to the manipulator at the proximal end of the medical device; the first intermediate coordinate system exemplarily includes a tool coordinate system of an end effector in an imaging device, and the tool coordinate system of the end effector in an imaging device is sometimes also referred to as an endoscope coordinate system, for example, the endoscope coordinate system is configured to be a distal face of the end effector in the imaging device; the second intermediate coordinate system exemplarily includes a display coordinate system, for example, the display coordinate system is configured to be on the display surface of the display; the second coordinate system exemplarily includes a base coordinate system of an operating part, for example, the base coordinate system of the operating part is configured to be at a position where the proximal end of the operating part is connected to the main operating console.

[0078] In the master-slave operation mode, the second resistance obtained through the above coordinate conversion process can provide the operator with intuitive force feedback during operation. Among them, "intuitive" includes that the movement direction of the end effector observed by the doctor on the display is consistent with the movement direction of the doctor's operation of the operating part, and the force direction of the end effector seen by the doctor's eyes in the operation image displayed on the display is basically consistent with the force direction felt by the doctor when operating the operating part, thereby having a near-intuitive experience in vision and touch.

[0079] In some embodiments, determining the second resistance actually acting on the end of the operating part based on the first resistance may only include the above-mentioned coordinate conversion process. That is, the second resistance determined by the first resistance may not be transformed in resistance size, in other words, the size of the second resistance may be the same as the size of the first resistance.

[0080] In some embodiments, the magnitude of the second resistance may be different from the magnitude of the first resistance, which may be completely different or partially different. That is, determining the second resistance actually acting on the end of the operating part based on the first resistance may also include a resistance magnitude conversion process. The resistance magnitude conversion process mainly modifies the first resistance that changes relatively slowly into the second resistance that changes relatively violently, for example, to enhance the force sense that the operator can experience.

[0081] In some embodiments, for the position out-of-bounds problem, the resistance magnitude transformation process may include: obtaining a second position motion boundary impedance model, and determining the second resistance based on the first resistance and the second position motion boundary impedance model.

[0082] Preferably, the second resistance determined by the second position motion boundary impedance model has an improvement in slope and / or slope change rate compared to the first resistance determined by the first position motion boundary impedance model. The improvement includes at least an increase in local slope. For example, the improvement may include a decrease in local slope and an increase in local slope.

[0083] Exemplarily, the first position motion boundary impedance model is expressed as the following formula: , In formula (1), Indicates the first resistance; represents the spring constant; Indicates the current position of the end of the medical device and that it has reached the position motion boundary; Indicates the target position of the end of the medical device, and it exceeds the position motion boundary. Exemplary, The value range is [0, 10].

[0084] Exemplarily, the second position motion boundary impedance model is expressed as the following formula: (2) In formula (2), Indicates the second resistance; represents the modulus length of the first resistance; represents the spring constant; It represents the stiffness coefficient, reflecting the stiffness of the impedance model; Indicates the maximum resistance threshold of the second resistance, reflecting the strength of the impedance model. Indicates the magnitude of the second resistance; Indicates the direction of the second resistance. In formula (2), It cannot be infinite. The border passes To limit, the constraints can be imposed based on the operator's force requirements for the operating part and the maximum driving force that the joint components in the operating part can provide.

[0085] For example, The value range of is between [0, 10], The value range of is between [0, 5], The value range is [0, 5].

[0086] In some embodiments, for the posture out-of-bounds problem, the resistance magnitude transformation process may include: obtaining a second posture motion boundary impedance model, and determining the second resistance based on the first resistance and the second posture motion boundary impedance model.

[0087] Preferably, the second resistance determined by the second posture motion boundary impedance model has an improvement in slope and / or slope change rate compared to the first resistance determined by the first posture motion boundary impedance model. The improvement includes at least an increase in local slope. For example, the improvement may include a decrease in local slope and an increase in local slope.

[0088] Exemplarily, the first posture motion boundary impedance model is expressed as the following formula: (3) In formula (3), represents the first resistance; Indicates the deviation between the target posture and the current posture; represents an antisymmetric matrix; V represents an operator that converts an antisymmetric matrix into a vector. It can be determined using the following formula.

[0089] (4) In formula (4), Indicates the target posture; express The inverse of Indicates the current pose and it reaches the pose boundary.

[0090] Exemplarily, the second posture motion boundary impedance model is expressed as the following formula: (5) In formula (5), Indicates the second resistance; represents the modulus length of the first resistance; represents the spring constant; represents the stiffness coefficient; Indicates the maximum resistance threshold of the second resistance. Indicates the magnitude of the second resistance; Indicates the direction of the second resistance. In formula (5), It cannot be infinite. The border passes To limit, the constraints can be imposed based on the operator's force requirements for the operating part and the maximum driving force that the joint components in the operating part can provide.

[0091] For example, The value range of is between [0, 10], The value range of is between [0, 5], The value range is [0, 1].

[0092] In some embodiments, the second resistance actually acting on the operating part includes a portion of the second resistance determined due to the position exceeding the position movement boundary and a portion of the second resistance determined due to the posture exceeding the posture movement boundary. In the above step S105, the portion of the second resistance determined due to the position exceeding the position movement boundary and the portion of the second resistance determined due to the posture exceeding the posture movement boundary can be superimposed to determine the second resistance actually acting on the operating part, and then the driving joint force of the joint assembly in the operating part is determined based on the second resistance obtained by the superposition. In the above step S105, a portion of the driving joint force of the joint assembly in the operating part can also be determined based on a portion of the second resistance determined due to the position exceeding the position movement boundary, and a portion of the driving joint force of the joint assembly in the operating part can be determined based on a portion of the second resistance determined due to the posture exceeding the posture movement boundary, and the two portions of the driving joint force can be superimposed to obtain the final driving joint force of the joint assembly in the operating part.

[0093] In some embodiments, in robotics, the operation space and the joint space can be converted to each other. For example, under the condition that the joint variables of the joint components of the manipulator and the medical device in the joint space are known, the position and posture of the end of the medical device in the operation space can be determined in combination with forward kinematics; under the condition that the position and posture of the end of the medical device in the operation space are known, the joint variables of the joint components of the manipulator and the medical device in the joint space can be determined in combination with inverse kinematics. It can be understood that the end of the medical device reaches the boundary in the first current posture of the operation space or exceeds the boundary in the first target posture, which can be mapped to the manipulator and the medical device reaching or exceeding the joint motion boundary of the corresponding joint component in one or some joint components in the joint space. Therefore, the present disclosure can also discuss the problem of the posture out-of-bounds of the end of the medical device based on the angle of the joint space.

[0094] In some embodiments, for the posture out-of-bounds problem, the above step S102 may include: Target joint variables of the joint assembly of the manipulator and the medical device are determined based on the first target pose, and current joint variables of the joint assembly of the manipulator and the medical device are determined based on the first current pose.

[0095] A target joint component satisfying a first condition is determined from the joint components of the manipulator and the medical instrument, the first condition comprising that a current joint variable of the target joint component reaches a joint motion boundary of the target joint component and the target joint variable exceeds the joint motion boundary of the target joint component.

[0096] Among them, when there is a target joint component that meets the above-mentioned first condition, it indicates that in step S102, it is detected that the first current posture reaches the motion boundary and the first target posture exceeds the motion boundary.

[0097] See also Figure 8, the above step S103 may include: Step S1031, based on the target joint variable and the current joint variable of the target joint component, determine the joint driving force assumed to act on the target joint component.

[0098] Step S1032: assigning the joint driving force of the non-target joint components that do not meet the first condition in the joint components of the manipulator and the medical device to zero.

[0099] Step S1033, determining a first resistance assumed to act on the distal end of the medical device based on the joint driving force of the target joint component and the joint driving force of the non-target joint component.

[0100] In one embodiment, the implementation method of the above-mentioned step S1031 may include obtaining a joint boundary impedance model, and determining a joint driving force hypothetically acting on the target joint component in combination with a target joint variable of the target joint component, a current joint variable, and a joint boundary impedance model.

[0101] Exemplarily, the joint boundary impedance model is expressed as the following formula: (6) In formula (6), represents the joint driving force assumed to act on the i-th target joint component; represents the spring constant; represents the stiffness coefficient; represents the target joint variable of the i-th target joint component; A positive value representing the joint motion boundary of the i-th target joint component (corresponding to the current joint variable when the target joint reaches the joint motion boundary); Represents the negative value of the joint motion boundary of the i-th target joint component (corresponding to the current joint variable when the target joint reaches the joint motion boundary). For example, The value range of is between [0, 10], The value range is [0, 5].

[0102] In the above step S1033, the joint driving forces of the joint components of the manipulator and the medical device may be combined into a force vector, which is expressed in the following matrix form: (7) In formula (7), A force vector representing the combination of the joint actuation forces of the joint components of the manipulator and the medical device.

[0103] Then, by directly finding the inverse solution of statics, the first resistance of the end of the medical device in the operation space can be obtained based on the joint driving force of the joint assembly of the manipulator and the medical device in the joint space. The solution formula is expressed as: (8)

[0104] In formula (8), Indicates the first resistance of the end of the medical device in the operating space; the inverse of the transpose of the force Jacobian matrix representing the manipulator and the medical device; The transpose of the force Jacobian matrix representing the manipulator and the medical device can be obtained by calculating the kinematic Jacobian matrix of the robot Transpose to obtain the Jacobian matrix Can be determined in real time based on joint variables of joint components of manipulator and medical device.

[0105] In some embodiments, although both the single-port laparoscopic surgical robot and the multi-port laparoscopic surgical robot need to use manipulators and medical instruments when performing surgery. However, compared with the multi-port laparoscopic surgical robot, the single-port laparoscopic surgical robot usually relies more on the more degrees of freedom and larger range of motion provided by the medical instruments themselves to flexibly perform the surgery. For example, the medical instruments of the single-port laparoscopic surgical robot usually include more joint components than the medical instruments of the multi-port laparoscopic surgical robot, which can provide more degrees of freedom and a larger range of motion. Therefore, preferably, when configuring the parameters of the above-mentioned motion boundary impedance models, the stiffness and / or strength of the single-port laparoscopic surgical robot can be configured to be correspondingly smaller than the stiffness and / or strength of the multi-port laparoscopic surgical robot, so as to provide the operator with a better sense of force.

[0106] In some embodiments, at least one of the type of surgical robot and the type of medical device can be identified. Whether it is the type of surgical robot or the type of medical device, it can reflect the size of the range of motion of the medical device. The control method of the present disclosure can also use this feature to automatically recommend or configure parameters of each motion boundary impedance model for different types of surgical robots or medical devices. The control method of the present disclosure can also include: Identify the type of surgical robot or medical device. The types of surgical robots include single-port laparoscopic surgical robots and multi-port laparoscopic surgical robots. The types of medical devices include medical devices suitable for single-port laparoscopic surgical robots and medical devices suitable for multi-port laparoscopic surgical robots.

[0107] When the identified surgical robot is a single-port laparoscopic surgical robot or the identified medical device is a medical device suitable for a single-port laparoscopic surgical robot, at least one of a stiffness coefficient of a first value and a maximum resistance threshold of a first value is recommended or configured for at least one motion boundary impedance model; when the identified surgical robot is a multi-port laparoscopic surgical robot or the identified medical device is a medical device suitable for a multi-port laparoscopic surgical robot, at least one of a stiffness coefficient of a second value and a maximum resistance threshold of a second value is recommended or configured for at least one motion boundary impedance model. The stiffness coefficient of the second value is usually greater than the stiffness coefficient of the first value, and the maximum resistance threshold of the second value is greater than the maximum resistance threshold of the first value.

[0108] The method for configuring the parameters of the moving boundary impedance model is applicable to the above formulas (2), (5), and (6), for example. For example, it can be applicable to the determination of the stiffness coefficient and the maximum resistance threshold in formulas (2) and (5). For example, it can be applicable to the determination of the stiffness coefficient in formula (6).

[0109] For example, for the above formula (2): If the identified device is a multi-hole laparoscopic surgical robot or a medical device suitable for a multi-hole laparoscopic surgical robot, the stiffness coefficient For example, the value can be 1.5, the maximum resistance threshold For example, the value can be 3N (or N / m). If the identified device is a single-port laparoscopic surgical robot or a medical device suitable for a single-port laparoscopic surgical robot, the stiffness coefficient For example, the value can be 1.2, the maximum resistance threshold For example, the value may be 0.8 N (or N / m). In addition, the spring coefficients of both may take any appropriate value, for example, both may take a value of 1.

[0110] For example, for the above formula (5): If the identified device is a multi-hole laparoscopic surgical robot or a medical device suitable for a multi-hole laparoscopic surgical robot, the stiffness coefficient For example, the value can be 2, the maximum resistance threshold For example, the value can be 3 N / m (or N). If the identified device is a single-port laparoscopic surgical robot or a medical device suitable for a single-port laparoscopic surgical robot, the stiffness coefficient For example, the value can be 1.2, the maximum resistance threshold For example, the value may be 0.8 N / m (or N). In addition, the spring coefficients of both may take any appropriate value, for example, both may take a value of 0.01.

[0111] For example, for the above formula (6): If the identified device is a multi-hole laparoscopic surgical robot or a medical device suitable for a multi-hole laparoscopic surgical robot, the stiffness coefficient For example, the value can be 2. If the identified device is a single-port laparoscopic surgical robot or a medical device suitable for a single-port laparoscopic surgical robot, the stiffness coefficient For example, the value can be 1.2. In addition, the spring coefficients of the two All can take any appropriate value, for example, all take the value of 1.

[0112] In some embodiments, when determining the joint target driving force output by the joint assembly in the desired operating part in the above step S105, other forces actually expected to act on the operating part may be superimposed. This force may include one or more desired effects. At the same time, this force is also a generalized force.

[0113] In one embodiment, the desired superimposed force may be a damping force, so as to actually consume the potential energy accumulated when the second resistance acts on the end of the operating portion. Fig. 9 , the above step S105 may further include: Step S1051 , obtaining the velocity of the end of the operating part, and determining the damping force actually acting on the end of the operating part based on the velocity.

[0114] The velocity is a generalized velocity and may include at least one of a linear velocity and an angular velocity. The damping force is a generalized force and may include at least one of a force and a torque.

[0115] Exemplarily, step S1051 includes obtaining at least one of a linear velocity and an angular velocity of the end of the operating part; obtaining a damping force model; and determining the damping force by combining at least one of the linear velocity and the angular velocity and the damping force model. When the movement of the end of the operating part includes a position change, the obtained velocity includes a linear velocity; when the movement of the end of the operating part includes a posture change, the obtained velocity includes an angular velocity. In one embodiment, the damping force model can be expressed as the following formula: (9) In formula (9), Indicates the end damping force of the operating part; represents the angular velocity of the end of the operating part; Indicates the linear velocity of the end of the operating part; represents the angular velocity damping coefficient; Indicates line speed; represents the transpose of the kinematic Jacobian matrix of the operating part, where the kinematic Jacobian matrix The joint variables of the first joint component of the operating part are determined in real time.

[0116] Step S1052: determining the joint target driving force output by the joint component of the desired operating part based on the second resistance and the damping force.

[0117] When the joint target driving force of the joint component in the operating part is controlled to output the associated damping force in step S106, it is possible to prevent rapid rebound or back-and-forth oscillation that may occur when the operating part is out of the operator's control, which is beneficial to ensuring the safety during the operation, because such rapid rebound or back-and-forth oscillation may cause unexpected movement of the medical device during master-slave following control.

[0118] In some embodiments, the desired superimposed force may also include a joint compensation driving force output by a joint assembly in the desired operating part, and the joint compensation driving force is used to balance the force generated by an internal load in the operating part. Fig.10 , the above step S105 may include: Step S1054, obtaining the joint compensation driving force output by the joint component in the desired operating part.

[0119] Step S1055, determining the joint target driving force output by the joint assembly in the desired operating part based on the second resistance and the joint compensation driving force.

[0120] Among them, the joint compensation driving force can be obtained by solving the inverse solution of statics to obtain the force acting on the end of the operating part due to the internal load, and then the second resistance and the force are used to obtain the joint target driving force using the statics equation. The second resistance can also be used to obtain the first joint target driving force using the statics equation, and the force is used to obtain the second joint target driving force using the statics equation, and then the first joint target driving force and the second joint target driving force are superimposed to obtain the actual desired joint target driving force. Of course, the aforementioned step S1052 can also be processed in the same way to obtain the desired joint target driving force.

[0121] In some embodiments, the joint compensation driving force may include at least one of a gravity compensation force and a friction compensation force. For example, both may be included at the same time, and the joint component of the control operating part outputs a joint target driving force associated with gravity and friction, which enables the operator to operate the operating part more easily and flexibly.

[0122] In some embodiments, the operating part also includes a handle and an elastic force compensation mechanism, the handle is connected to the proximal joint assembly of the first joint assembly, and the elastic force compensation mechanism is used to provide elastic force to compensate for gravity of the operating part, so that the operator can overcome the influence of the gravity torque caused by gravity without using force or with less force when operating the operating part. However, since the end position of the operating part changes in real time, the gravity torque caused by gravity changes in real time, and the elastic force fixedly output by the elastic force compensation mechanism is usually not sufficient to compensate for the gravity torque in real time. In order to ensure the operator's sense of force when operating the operating part, the elastic force compensation force can be output through the joint assembly in the operating part to offset the influence of the change in gravity torque. Therefore, the joint compensation driving force may include an elastic force compensation force.

[0123] In some embodiments, the joint compensation driving force includes gravity compensation force, friction compensation force and elastic compensation force. Fig.11 , the above step S1054 may include: Step S1057, obtaining the position and speed of each joint component in the operating part.

[0124] Step S1058, determining the gravity compensation force and elastic compensation force of each joint component according to the position of each joint component in the operating part, and determining the friction compensation force of each joint component according to the speed of each joint component in the operating part.

[0125] Step S1059, determining the joint compensation driving force output by each joint component in the desired operating part based on the gravity compensation force, elastic compensation force and friction compensation force of each joint component in the operating part.

[0126] Exemplarily, the gravity compensation force, elastic compensation force and friction compensation force of each joint component in the operating part can be superimposed to obtain the joint compensation driving force of the corresponding joint component.

[0127] In some embodiments, each joint component in the operating part has its own corresponding compensation model, and the compensation model includes a gravity compensation model, an elastic force compensation model and a friction force compensation model. The compensation models of different joint components are relatively independent.

[0128] In some embodiments, determining the gravity compensation force of each joint component according to the position of each joint component in the operating part includes: Acquiring gravity compensation parameters of the gravity compensation model corresponding to each joint component in the operating part; The position of each joint component in the operating part and the gravity compensation parameter are used as the input of the gravity compensation model corresponding to each joint component to determine the gravity compensation force of each joint component.

[0129] In some embodiments, determining the elastic force compensation force of each joint component according to the position of each joint component in the operating part includes: Acquiring elastic force compensation parameters of the elastic force compensation model corresponding to each joint component in the operating part; The position of each joint component in the operating part and the elastic force compensation parameter are used as inputs of the elastic force compensation model corresponding to each joint component to determine the elastic force compensation force of each joint component.

[0130] In some embodiments, determining the friction compensation force of each joint assembly according to the speed of each joint assembly in the operating part includes: Determining the linear velocity and / or angular velocity of the end of the operating part according to the velocity of each joint assembly in the operating part; The friction compensation force of each joint component is determined according to the speed of each joint component and the linear speed and / or angular speed of the end of the operating part.

[0131] In one embodiment, determining the linear velocity and / or angular velocity of the end of the operating part according to the velocity of each joint assembly in the operating part includes: Filtering the speed of each joint component in the operating part. Exemplarily, filtering the speed of each joint component in the operating part includes: Obtain the absolute value of the velocity of each joint component in the operating part at the current moment; When the absolute value of the speed of the joint component is greater than or equal to the preset threshold, the sign of the speed of the joint component is consistent with the sign of the speed at the current moment; when the absolute value of the speed of the joint component is less than the preset threshold, the sign of the speed of the joint component is adjusted to be consistent with the sign of the speed at the previous moment; The filtered speed of each joint component is determined according to the sign of the speed and the absolute value of the speed of the joint component.

[0132] In one embodiment, determining the linear velocity and / or angular velocity of the end of the operating part according to the velocity of each joint assembly in the operating part includes: Determine the Jacobian matrix of the posture of the operating part at the current moment according to the position of each joint component in the operating part; The linear velocity and / or angular velocity of the end of the operating part is determined according to the Jacobian matrix and the velocity of each joint component.

[0133] In one embodiment, the friction compensation force of each joint assembly is determined according to the speed of each joint in the operating part and the linear speed and / or angular speed of the end of the operating part, including: determining a friction target compensation force according to the velocity of the joint assembly; Determining a first adjustment coefficient of each joint component according to a linear velocity and / or an angular velocity of a distal end of the operating portion; The friction compensation force is determined according to the first adjustment coefficient and the friction target compensation force.

[0134] In one embodiment, the first adjustment coefficient is linearly or nonlinearly related to the linear velocity modulus of the end of the operating portion, or the first adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the end of the operating portion.

[0135] In one embodiment, the joint assembly in the operating part includes multiple position joint assemblies for adjusting the end position of the operating part and multiple posture joint assemblies for adjusting the end posture of the operating part, the first adjustment coefficient of the multiple position joint assemblies is associated with the linear velocity of the end of the operating part, and the first adjustment coefficient of the multiple posture joint assemblies is associated with the angular velocity of the end of the operating part.

[0136] In one embodiment, when the linear speed of the end of the operating part is less than a first threshold value, the first adjustment coefficient is a first fixed value; when the linear speed of the end of the operating part is greater than the first threshold value and less than a second threshold value, the first adjustment coefficient increases with the increase of the linear speed of the end of the operating part; when the linear speed of the end of the operating part is greater than the second threshold value, the first adjustment coefficient is a second fixed value.

[0137] In one embodiment, determining the friction target compensation force of each joint component includes: Obtaining friction compensation parameters of the friction compensation model corresponding to each joint component; According to the speed and friction compensation parameters of each joint component, the friction target compensation force of each joint component is determined.

[0138] In some embodiments, the above step S105 may further include: Acquire the master-slave mapping control relationship between the operating unit and the medical device; The joint target driving force output by the joint component in the desired operating part is determined based on the master-slave mapping control relationship and the second resistance.

[0139] The master-slave mapping relationship includes at least one of a position-to-position mapping relationship, a position-to-posture mapping relationship, a posture-to-posture mapping relationship, and a posture-to-position mapping relationship. Take the situation where the posture exceeds the boundary as an example: When the master-slave mapping relationship is a posture-to-posture mapping relationship, the force acting on the end of the medical device is assumed to be a torque in the generalized force, and the force actually acting between the ends of the operating part is also a torque in the generalized force.

[0140] When the master-slave mapping relationship is a mapping relationship from posture to position, the force acting on the end of the medical device is assumed to be a torque in the generalized force, and the force actually acting between the ends of the operating part is also a force in the generalized force.

[0141] By determining the joint target driving force based on the master-slave mapping relationship, the accurate conversion of generalized force between the medical device and the operating part can be ensured, thereby ensuring a good experience for the operator when operating the operating part.

[0142] In some embodiments, in the master-slave following mode, the present disclosure also provides another control method, which is also applicable to a single-port laparoscopic surgical robot and a multi-port laparoscopic surgical robot.

[0143] In some embodiments, see Fig.12 , the control method disclosed herein comprises: Step S201, obtaining a first target posture of an end effector of a medical device.

[0144] Posture control generally also belongs to incremental control, and thus the first target posture is determined based on the acquired second target posture reached by the end of the moving operating part.

[0145] The medical device includes a connecting rod, a wrist joint assembly and an end effector which are connected in sequence. The end effector is the end of the medical device.

[0146] Whether in a single-port laparoscopic surgical robot or a multi-port laparoscopic surgical robot, the rotation of the connecting rod can generally provide the end effector with a rotational degree of freedom; the wrist joint assembly can provide the end effector with multiple degrees of freedom, which can at least include a posture degree of freedom, and the included posture degrees of freedom include at least one of the yaw degree of freedom and the pitch degree of freedom, for example, including two. It is understandable that, with respect to the medical device alone, the posture degree of freedom of the end effector can be provided jointly by the connecting rod and the wrist joint assembly. Whether in a single-port laparoscopic surgical robot or a multi-port laparoscopic surgical robot, if the movement of the manipulator affects the posture of the end effector, the posture degree of freedom of the end effector can be provided jointly by the manipulator and the medical device, and if the movement of the manipulator does not affect the posture of the end effector, the posture degree of freedom of the end effector can be provided only by the medical device. For example, in a case such as Figure 1 In the single-port laparoscopic robot shown in FIG. 1 , the posture freedom of the end effector is only provided by the connecting rod and wrist joint assembly in the medical device; Figure 3 In the multi-hole laparoscopic robot shown, since the manipulator can perform pitch and yaw motions around the remote motion center, the posture freedom of the end effector can be provided by the manipulator, the connecting rod in the medical device and the wrist joint assembly.

[0147] Step S202: determining a target orientation of the end effector and a target rotation angle of the connecting rod based on the first target posture.

[0148] The end effector has a direction, which is related to the coordinate axis of the end effector's rotational freedom, i.e., the rotation axis. For example, assuming that the end effector includes three degrees of freedom, namely, yaw, pitch, and rotation, a Cartesian coordinate system can be constructed on the end effector, with the X coordinate axis being the rotation axis of the end effector's yaw freedom, the Y coordinate axis being the rotation axis of the end effector's pitch freedom, and the Z coordinate axis being the rotation axis of the end effector's rotation freedom, and the direction of the Z coordinate axis being defined as the direction of the Z coordinate axis. Of course, if the end effector includes one of the yaw and pitch degrees of freedom, as well as the rotation degree of freedom, the direction of the Z coordinate axis can also be defined.

[0149] The orientation can usually be determined based on the posture freedom of the wrist joint assembly in the medical device. The orientation includes initial orientation and target orientation. The initial orientation refers to the orientation of the end effector in the initial state, which can refer to the orientation when the connecting rod, wrist joint assembly and end effector in the medical device are arranged in a straight line. The target orientation refers to the orientation of the end effector in the first target posture. The method for determining the target orientation includes: The target joint variables of the joint components in the manipulator and the medical device are determined based on the first target posture; then, the target orientation of the end effector is determined according to the target joint variables of the joint components related to the yaw degree of freedom and the pitch degree of freedom in the wrist joint component. For example, when the wrist joint component has only the yaw degree of freedom or the pitch degree of freedom, the target orientation of the end effector is determined according to the target joint variables associated with the yaw degree of freedom or the pitch degree of freedom. For another example, when the wrist joint component has the yaw degree of freedom and the pitch degree of freedom, the target orientation of the end effector is determined according to the target joint variables associated with the yaw degree of freedom and the pitch degree of freedom.

[0150] Step S203 , detecting whether the deviation angle between the target pointing and the initial pointing exceeds the pointing motion boundary of the end effector.

[0151] The pointing motion boundary may refer to the maximum deviation angle between the current pointing and the initial pointing. The current pointing may generally refer to the actual pointing of the end effector, and the deviation angle between the maximum current pointing and the initial pointing is the maximum deviation angle, and the maximum current pointing refers to the current pointing determined by the maximum range of motion that the end effector can achieve based on the posture freedom of the wrist joint assembly.

[0152] Since the initial orientation is known, when the wrist assembly only includes the yaw degree of freedom or the pitch degree of freedom, the maximum deviation angle is only related to the maximum current orientation determined by the yaw degree of freedom or the pitch degree of freedom.

[0153] Similarly, since the initial orientation is known, when the wrist joint assembly includes both the yaw degree of freedom and the pitch degree of freedom, the maximum deviation angle can be determined jointly based on the first maximum deviation angle between the yaw degree of freedom and the initial orientation, and based on the second maximum deviation angle between the pitch degree of freedom and the initial orientation. The first maximum deviation angle is related to the maximum current orientation determined separately by the yaw degree of freedom, and the second maximum deviation angle is related to the maximum current orientation determined separately by the yaw degree of freedom. The first maximum deviation angle may be the same as or different from the second deviation angle, depending mainly on the structural design of the wrist joint assembly. Exemplarily, when the first maximum deviation angle is the same as the second maximum deviation angle, either the first maximum deviation angle or the second maximum deviation angle may be configured as the maximum deviation angle. Exemplarily, when the first maximum deviation angle is different from the second maximum deviation angle, the relatively smaller one of the first maximum deviation angle and the second deviation angle can be configured as the maximum deviation angle. For example, the first maximum deviation angle is 80°, and the second maximum deviation angle is 90°. The first maximum deviation angle such as 80° at this time is usually configured as the maximum deviation angle as the pointing motion boundary. In this way, the pointing motion boundaries corresponding to different posture degrees of freedom can be made isotropic, so that the impedance boundary model has the advantage of regularity, which can simplify the calculation when the first resistance torque is determined subsequently based on step S204.

[0154] Step S204 , when the deviation angle between the target pointing and the initial pointing exceeds the pointing movement boundary of the end effector, determining the direction of the first resistance assumed to act on the end effector.

[0155] The first resistance is used to hypothetically resist the end effector from moving in the pitch degree of freedom and / or the yaw degree of freedom toward the first target posture.

[0156] Of course, when the deviation angle between the target orientation and the initial orientation exceeds the orientation movement boundary of the end of the medical device, the end effector can be rotated toward the target orientation without being subjected to resistance assumed to act on the end effector in pitch and / or yaw degrees of freedom.

[0157] In this step S204, it may also include controlling the movement of the joint components in the manipulator and the medical device so that the deviation angle between the direction of the end effector and the initial direction reaches the direction movement boundary and maintains the current direction.

[0158] Step S205, determining the first resistance based on the direction, deviation angle and directional motion boundary of the first resistance.

[0159] Step S206: determining a first target resistance actually acting on the distal end of the operating portion based on the first resistance.

[0160] The first target resistance is used to actually resist the movement of the distal end of the operating portion toward the pitch degree of freedom and / or the yaw degree of freedom in the second target posture.

[0161] Step S207: determining a first joint target driving torque output by a joint component in the desired operating part based on the first target resistance.

[0162] Step S208, controlling the joint assembly in the operating part to output the first joint target driving torque.

[0163] Through step S208, force feedback can be implemented on the operating part, thereby prompting the operator not to move the operating part toward the second target posture, so as to actually resist the end of the operating part from moving, for example, in the pitch degree of freedom and / or the yaw degree of freedom in the second target posture.

[0164] Step S209, detecting whether the target rotation angle exceeds the motion boundary of the rotational degree of freedom.

[0165] The motion boundary of the rotational degree of freedom refers to the motion (rotation) range of the rotational degree of freedom.

[0166] Step S210, when the target rotation angle exceeds the motion boundary of the rotation degree of freedom, determining the direction of the second resistance assumed to act on the end effector.

[0167] The second resistance is used to hypothetically resist the movement of the end effector toward the rotational degree of freedom in the first target posture.

[0168] Of course, when the target rotation angle does not exceed the motion boundary of the rotational freedom, the connecting rod can be controlled to rotate the target rotation angle without being subjected to the resistance assumed to act on the end effector on the rotational freedom.

[0169] In step S210, the movement of the connecting rod in the medical device may also be controlled so that the rotation angle of the connecting rod reaches the movement boundary of the rotational freedom degree and maintains the rotation angle at that time.

[0170] Step S211, determining the second resistance based on the direction of the second resistance, the target rotation angle and the movement boundary.

[0171] Step S212: determining a second target resistance actually acting on the distal end of the operating portion based on the second resistance.

[0172] The second target resistance is used to actually resist the movement of the distal end of the operating portion toward the rotational degree of freedom in the second target posture.

[0173] Step S206 and step S212 may include a conversion process for converting the corresponding torque from the first coordinate system of the end of the medical device to the second coordinate system of the end of the operating part. For this conversion process, reference may be made to the conversion of the first resistance in the previous text, which will not be described in detail here.

[0174] Step S213: determining a second joint target driving torque output by a joint component in the desired operating part based on the second target resistance.

[0175] Step S207 and step S213 : the target driving force of the corresponding joint can be determined by means of statics equations.

[0176] Step S214, controlling the joint assembly in the operating unit to output a second joint target driving torque.

[0177] Through step S214, force feedback can be implemented on the operating part, thereby prompting the operator not to move the operating part toward the second target posture, so as to actually resist the end of the operating part from moving toward the rotational freedom in the second posture, for example.

[0178] In the above embodiment, in the above step S203, if it is detected that the deviation angle between the target pointing and the initial pointing does not exceed the pointing motion boundary of the end effector, step S215 is executed.

[0179] Step S215, controlling the end effector to move to reach the target direction.

[0180] In the above embodiment, in the above step S209, if it is detected that the target rotation angle does not exceed the motion boundary of the rotation degree of freedom, step S216 is executed.

[0181] Step S216, controlling the connecting rod to move to reach the target rotation angle.

[0182] The above steps S203 to S208 and steps S209 to S214 may be executed sequentially or in parallel. For example, the two steps are executed in parallel.

[0183] In other embodiments, the first target resistance and the second target resistance can be superimposed, and the final joint target driving force output by the joint component in the desired operating part can be determined based on the two superimposed target resistances; alternatively, the first joint target driving force and the second joint target driving force can be superimposed as the final joint target driving force output by the joint component in the desired operating part; then, the joint component in the operating part is controlled to output the final joint target driving force, which can also achieve the same effect.

[0184] The various resistances and driving forces mentioned above can all be generalized forces. For posture, usually, the various resistances and driving forces mentioned above are torques.

[0185] In some embodiments, the tip of the medical device includes a position motion boundary in the operating space. Fig.13 , the control method of the present disclosure may further include: Step S220, obtaining a first target position of the end effector of the medical device, and obtaining a current position of the end effector of the medical device.

[0186] The position control is usually an incremental control, and thus the first target position can be determined based on the acquired second target position reached by the end of the moving operating part.

[0187] Step S221, detecting whether the current position reaches the position movement boundary, and detecting whether the first target position exceeds the position movement boundary.

[0188] The end effector includes a position motion boundary in the operating space.

[0189] When the current position reaches the movement boundary and the first target position exceeds the position movement boundary, step S222 is executed; otherwise, step S226 is executed.

[0190] Step S222: determining a first resistance assumed to act on the distal end of the medical device based on the first target position and the current position.

[0191] Step S223: determining a second resistance actually acting on the distal end of the operating portion based on the first resistance.

[0192] The first resistance and the second resistance are forces in a general sense. The first resistance is used to virtually resist the end of the medical device from moving toward the first target position, and the second resistance is used to actually resist the end of the operating part from moving toward the second target position.

[0193] Similarly, step S223 may at least include the aforementioned conversion process for converting the force coordinate system, which will not be described in detail here.

[0194] Step S224: determining the joint target driving force output by the joint assembly in the desired operating part based on the second resistance.

[0195] Step S225, controlling the joint components in the operating unit to output the joint target driving force.

[0196] In step S225, the torque mode is adopted to control the joint component to output the joint target driving force, so as to realize force feedback on the operating part, thereby prompting the operator not to move the operating part to the position corresponding to the position instruction.

[0197] Step S226, determining target joint variables of the joint components in the manipulator and the medical device based on the first target position.

[0198] Step S227, controlling the joint components in the manipulator and the medical device to output target joint variables.

[0199] In step S227, the position mode is used to control the joint component to output the target joint variable so as not to restrict the movement of the position freedom of the end of the medical device when the current position of the end of the medical device does not reach the position motion boundary and / or the first target position does not exceed the position motion boundary.

[0200] In some embodiments, the above step S222 may further include controlling the end of the medical device to maintain a current position.

[0201] In some embodiments, the above step S222, i.e., determining the first resistance assumed to act on the end of the medical device based on the first target position and the current position, can be obtained by referring to the above text, and can be obtained by referring to the above formula (1) for example. In some embodiments, the above step S224, i.e., determining the second resistance actually acting on the end of the operating part based on the first resistance, can also be obtained by referring to the above text, for example, this step can also include a resistance size conversion process, and this process can be obtained by referring to the above formula (2) for example.

[0202] In the above step S204, for example, the direction of the first resistance can be determined based on the target orientation and the current orientation of the end effector, and the initial orientation, where the current orientation refers to the orientation of the end effector in the current posture. For example, the direction of the first resistance can be determined based on the target orientation and the initial orientation. Exemplarily, the first vector obtained by cross-multiplying the target orientation and the initial orientation can be obtained to obtain the modulus of the first vector, and the direction of the first resistance can be determined based on the first vector and the modulus of the first vector. Exemplarily, the expression formula of the first vector can be as follows: (10) In formula (10), represents the first vector; Indicates target orientation; Indicates the initial orientation. In the above step S205, the first directional motion boundary impedance model associated with the direction of the first resistance can be obtained, and then the first resistance is determined based on the deviation angle, the directional motion boundary and the first directional motion boundary impedance model. The first directional motion boundary impedance model can be expressed as: (11) Formula (11), Middle represents the first resistance; represents the spring constant; Indicates the deviation angle; Indicates the boundary of the pointing motion; represents the maximum resistance torque threshold of the first resistance; Indicates the direction of the first resistance.

[0203] In the above step S210, for example, the second vector can be obtained based on the sign function of the rotation angle of the associated target and the target orientation, the modulus of the second vector can be obtained, and the direction of the second resistance can be determined based on the second vector and the modulus of the second vector. Exemplarily, the expression formula of the second vector can be as follows: (12) In formula (12), represents the second vector; represents a symbolic function; Indicates the target rotation angle; Indicates target orientation. That indicates the direction of the second resistance.

[0204] In the above step S211, a second directional motion boundary impedance model associated with the direction of the second resistance can be obtained, and then the second resistance can be determined based on the target rotation angle, the motion boundary and the second directional motion boundary impedance model. The second directional motion boundary impedance model can be expressed as: (13) In formula (13), Indicates the second resistance; Indicates the absolute value of the target rotation angle; The kinematic boundary representing the rotational degree of freedom; represents the spring constant; represents the maximum resistance torque threshold of the second resistance; Indicates the direction of the second resistance.

[0205] In some embodiments, in the above-mentioned step S207 or step S213 or step S224, other forces expected to actually act on the operating part can also be superimposed. This force can include one or more expected effects, and at the same time, this force is also a generalized force. Exemplarily, the forces expected to be superimposed include but are not limited to damping forces, and / or joint compensation driving forces for balancing the forces generated by the internal loads in the operating part. Exemplarily, the joint compensation driving force can include at least one of gravity compensation force, friction compensation force and elastic compensation force. For these forces that may be superimposed, please refer to the previous text, and no further details will be given here. Among them, the forces actually acting on the operating part can be resolved together into the joint driving force output by the joint assembly of the expected operating part after superposition, and output; of course, the forces actually acting on the operating part can also be resolved separately into the joint driving forces output by the joint assembly of the expected operating part, and output together after superimposing the joint driving forces.

[0206] In some embodiments, the control method disclosed herein is particularly suitable for use scenarios where the rotation range of the rotation degree of freedom is greater than or equal to 360°, and the rotation range of the pitch degree of freedom and / or the yaw degree of freedom is less than 360°.

[0207] In some embodiments, in a single-port laparoscopic surgical robot, continue to refer to Figure 1 The puncture device 400 is arranged at the end of the housing 130 that accommodates multiple manipulators 140, and multiple medical devices 150 are inserted into the patient's body through multiple airtight channels provided by the same puncture device 400 to perform surgery. Since the degrees of freedom provided by the manipulator 140 and the medical device 150 are relatively sufficient, "relatively sufficient" includes being able to meet the implementation of the corresponding surgical procedure. Therefore, during preoperative positioning, the position and posture of the puncture device 400 can usually be determined according to the target surgical procedure to be performed, and the puncture device 400 can be locked in this position and posture through a software control method. Its position and posture cannot be changed in the locked state to reduce the stress that may be generated by the movement of the puncture device 400. Harm to the patient.

[0208] For example, surgical procedures are classified into major categories, including otolaryngology surgical procedures, prostate surgical procedures, renal surgical procedures, gastrointestinal surgical procedures, hepatobiliary surgical procedures, thoracic surgical procedures, gynecological surgical procedures, and cardiac surgical procedures. Further, surgical procedures are classified into minor categories, such as hepatobiliary surgical procedures, including liver transplantation surgical procedures, liver lobectomy surgical procedures, cholecystectomy surgical procedures, pancreaticoduodenectomy surgical procedures, splenectomy surgical procedures, etc. The target surgical procedure examples can be determined from the above surgical procedures.

[0209] For the different surgical procedures illustrated in the previous article, multiple different major types of surgical procedures may be allowed to be performed through the same incision or natural cavity opening of a living organism, for example, renal surgery, gastrointestinal surgery, and hepatobiliary surgery may be allowed to be performed through the same incision or natural cavity opening; multiple different minor types of surgical procedures within the same major type of surgical procedure may also be allowed to be performed through the same incision or natural cavity opening of a living organism, for example, liver transplantation, liver lobectomy, cholecystectomy, pancreaticoduodenectomy, and splenectomy within hepatobiliary surgery may be allowed to be performed through the same incision or natural cavity opening.

[0210] Since the puncture device 400 is connected to the patient, the puncture device 400 is usually not allowed to change its position. If necessary, the puncture device 400 can only be allowed to move around the remote motion center, that is, the movement of maintaining the position of the puncture device 400 and changing the orientation of the puncture device 400 is allowed. The remote motion center can usually be configured on the puncture device 400, for example, Fig.14 As shown, the remote motion center (ie, RC) is configured to be located at the position where the puncture device 400 is connected to the incision or the natural cavity opening, so that when the puncture device 400 moves around the remote motion center, the incision or the natural cavity opening will not be damaged.

[0211] The motion boundary of the end effector is related to the range of joint motion of the joint assembly in the manipulator 140 and the medical device 150, in this sense, the motion boundary is not adjustable in the operation space. The motion boundary of the end effector is also related to the orientation (i.e., posture) of the puncture device 400, in this sense, the motion boundary is adjustable in the operation space.

[0212] For the sake of brevity, Fig.15 The manipulator 140 and the medical device 150 are intentionally omitted and only the puncture device 400 is retained for illustration. Different surgical procedures are often associated with different orientations of the puncture device 400. The orientation adjustment can usually be achieved by controlling the puncture device 400 to move around the remote motion center to meet the switching requirements between different surgical procedures associated with the same incision or the same natural cavity opening. The main purpose of switching surgical procedures or adjusting the orientation of the puncture device 400 is to enable the motion boundary of the end effector to meet the surgical operation of the target surgical procedure, rather than hindering the surgical operation too much. It can be seen that the orientation of the puncture device 400 is usually related to the surgical procedure. The change in the orientation of the puncture device 400 may cause a change in the surgical procedure, or the change in the surgical procedure may cause a change in the orientation of the puncture device 400. The two can affect each other.

[0213] For example, please refer to Fig.15 The motion boundaries of the multiple different end effectors disposed on the same puncture device 400 can be configured to have the same motion boundary. The same motion boundary can be, for example, the intersection area of ​​the motion boundaries of the multiple different end effectors. For example, the same motion boundary can be constrained into a cylindrical space. The cylindrical space can be, for example, Fig.15 The same motion boundary is exemplarily associated with the orientation axis of the puncture device 400, for example, the orientation axis is the central axis of the cylindrical space, and the orientation axis is sometimes called the RC axis or the central axis.

[0214] In some embodiments, the controller can also predict the orientation of the puncture device 400 (equivalent to predicting the surgical procedure) based on the doctor's manipulation of the manipulator assembly 120 through the operating unit 310. Fig.16 As shown, the controller may also be configured to perform: Step S21, obtaining first information that the end effector exceeds its motion boundary during the doctor's operation under the current orientation of the puncture device.

[0215] The motion boundary here mainly refers to the position motion boundary in the operating space. Whether the target surgical procedure can be successfully implemented is mainly related to the position motion boundary of the end effector. In other words, whether the end effector can reach the necessary position area is the key to whether the operation can be successfully implemented.

[0216] The first information includes one or more of the out-of-bounds position, the number of out-of-bounds times and the out-of-bounds time. The number of out-of-bounds times includes the number of out-of-bounds times associated with the out-of-bounds position and / or the total number of out-of-bounds times. The total number of out-of-bounds times can be directly obtained by counting once each time the out-of-bounds is accumulated, or it can be obtained by calculating the sum of the number of out-of-bounds times of each out-of-bounds position. The out-of-bounds time includes the residence time of the end effector associated with the out-of-bounds position, including the single out-of-bounds time at the out-of-bounds position and / or the total out-of-bounds time, wherein the total out-of-bounds time includes the total out-of-bounds time at one out-of-bounds position and / or the total out-of-bounds time at all out-of-bounds positions.

[0217] Step S22, predicting the target orientation of the trocar based on the acquired first information.

[0218] Different orientations of trocar 400 are typically associated with different surgical procedures, and the target orientation is typically different from the current orientation.

[0219] In some embodiments, predicting the target orientation of the puncture device based on the acquired first information includes: in response to acquiring the first instruction, predicting the target orientation of the puncture device based on the acquired first information.

[0220] In some embodiments, the first instruction may include a first instruction processed and obtained by the controller, that is, the prediction of the orientation of the puncture device 400 is automatically triggered. For example, during the operation period in which the operation is performed under the current orientation of the puncture device 400, the controller can determine the first section where the end effector frequently exceeds the boundary on its motion boundary based on the first information. When the first section can be determined, the controller can obtain the first instruction. The first section includes an area consisting of more than one point on the boundary. Since the positions of these points can be determined based on kinematics, the positions of all points covered by the first section as a collection of points can also be determined.

[0221] Exemplarily, the boundary can be divided into multiple segments in advance, and the determination of the first segment includes determining whether the number of boundary overruns in the multiple segments that have been statistically divided reaches a threshold value. If the threshold value is reached, a corresponding segment is determined to be the first segment, wherein, since during the operation, the number of boundary overruns in the multiple segments that reaches the threshold value may include more than one, the first segment may include more than one, such as 1, 2 or more. For example, assuming that the motion boundary (such as a boundary associated with the xy plane) is circular, the boundary can be divided into more than two segments, such as 2, 3, 4, 5, 6...120 segments. Of course, more segments may also be included. These segments can be configured to be equally divided, partially equally divided, or unequally divided. For example, these segments can be configured to be equally divided segments. Generally, the more segments that are divided, the more beneficial it is for accurately predicting the target orientation of the puncture device 400. For example Fig.17 As shown, for example, the boundary can be divided into sections 1 to 8 in advance, wherein the end effector has crossed the boundary in sections 1 to 8. According to statistics, the number of times the boundary is crossed in section 1 occurs the most, so it can be determined as follows Fig.18 Segment 1 is shown as the first segment.

[0222] In addition, the determination of the first segment may also include determining whether the out-of-bounds time in the plurality of segments divided statistically reaches a threshold value. If the threshold value is reached, determining a corresponding segment as the first segment.

[0223] Exemplarily, it is also possible that the boundary does not need to be divided into multiple sections in advance. The determination of the first section includes generating a normal distribution curve on the motion boundary that is associated with the position and number of boundary violations when the total number of boundary violations within a certain period reaches a first threshold, and determining a target interval in which the probability of boundary violations reaches a second threshold based on the normal distribution curve, and using the position on the motion boundary associated with the endpoint of the target interval to further determine the first section. In addition, after determining the target interval, the number of boundary violations within the target interval can be counted, and when the number of boundary violations reaches a third threshold, the first section can be determined using the position on the motion boundary associated with the endpoint of the target interval. Fig.19 As shown, there is no need to divide the boundary into segments in advance. First, the most densely populated interval beyond the boundary is determined as the target interval, and then the endpoints of the target interval are used to determine the following Fig. 20 The first segment on the border is shown.

[0224] In addition, the determination of the first segment may also include the need not to divide the boundary into multiple segments in advance. The determination of the first segment includes generating a normal distribution curve on the moving boundary, associated with the out-of-bounds position and the out-of-bounds time, when the total out-of-bounds time within a certain period reaches a first threshold, and determining a target interval in which the out-of-bounds probability reaches a second threshold based on the normal distribution curve, and using the position on the moving boundary associated with the endpoints of the target interval to further determine the first segment.

[0225] In addition, after determining the target interval, the number of boundary violations or the time of boundary violations within the target interval can be counted. When the number of boundary violations or the time of boundary violations reaches a third threshold, the position on the motion boundary associated with the endpoint of the target interval is used to determine the first segment.

[0226] In some embodiments, the first instruction may include a first instruction input by a doctor to the controller through an input device, that is, the prediction of the orientation of the puncture device 400 may be manually triggered. The doctor may actively input the first instruction in any manner. Exemplarily, the input device for inputting the first instruction includes at least one of the following devices, for example, a touch screen coupled to the controller, for example, a voice recognition device coupled to the controller, for example, an operating unit 310 coupled to the controller, for example, a foot pedal coupled to the controller, for example, a motion recognition device (such as a gesture recognition device) coupled to the controller, for example, a brain wave recognition device coupled to the controller, and other devices that can realize input.

[0227] In some embodiments, predicting the target orientation of the puncture device based on the acquired first information includes: determining a first section based on the first information, and predicting the target orientation of the puncture device based on the first section.

[0228] Among them, the method for determining the first section includes the method described above, which will not be repeated here.

[0229] Exemplarily, predicting the target orientation of the puncture device based on the first segment includes: matching a surgical procedure whose associated end effector motion boundary is located on the side of the first segment in the out-of-bounds direction from multiple surgical procedures as a target surgical procedure, and then determining the target orientation of the puncture device according to the target surgical procedure. Such a target surgical procedure or the motion boundary of the end effector or the target orientation of the puncture device can basically reflect the doctor's expectation of the adjustment direction of the motion boundary of the end effector, that is, it can basically reflect the doctor's expectation of the adjustment direction of the puncture device. Exemplarily, such as Fig.21 As shown, assuming that the motion boundaries of the end effector associated with multiple surgical procedures include motion boundaries A to E of the end effector, if the motion boundaries A, B, and C of the end effector are located on the side of the first segment in the out-of-bounds direction, and the motion boundaries D and E of the end effector are not located on the side of the first segment in the out-of-bounds direction, then the orientation of the puncture device associated with the motion boundaries A, B, and C of the end effector can be matched as the target orientation.

[0230] Since any two of the orientation of the trocar, the surgical procedure, and the motion boundary of the end effector are related to each other, based on the related relationship, the surgical procedure associated with the motion boundaries A, B, and C of the end effector can be matched as the target surgical procedure, and / or the motion boundaries A, B, and C of the end effector can be matched as the target motion boundary.

[0231] Exemplarily, predicting the target orientation of the puncture device based on the first segment includes: matching a surgical procedure whose associated end effector motion boundary can at least partially cover the first segment from a plurality of surgical procedures as a target surgical procedure, and then determining the target orientation of the puncture device according to the target surgical procedure. For example, a surgical procedure that only needs to cover a portion of the points in the first segment can be used as a target surgical procedure. For another example, a surgical procedure that covers a proportion of the points in the first segment that reaches a first threshold can be used as a target surgical procedure. The predicted target surgical procedure may include more than one surgical procedure. Exemplarily, such as Fig. 22 As shown, assuming that multiple surgical procedures include motion boundaries A'~D' of the end effector associated with the surgical procedures, if the proportion of motion boundary A' covering the first segment reaches 100%, the proportion of motion boundary B' covering the first segment reaches 80%, the proportion of motion boundary C' covering the first segment reaches 40%, and the proportion of motion boundary D' covering the first segment is 0, for example, the surgical procedures associated with motion boundaries A', B', and C' can all be used as target surgical procedures. For another example, the surgical procedure with a coverage ratio greater than 50% can be used as the target surgical procedure. At this time, among the surgical procedures associated with motion boundaries A'~C', only the surgical procedures associated with motion boundaries A' and B' can be used as target surgical procedures.

[0232] Exemplarily, in order to more accurately predict the target orientation of the puncture device 400, predicting the target orientation of the puncture device based on the first segment may include: acquiring the first segment; acquiring an operating image captured by an imaging device; identifying an organ in the operating image; and predicting the target orientation of the puncture device in combination with the first segment and the identified organ. Exemplarily, the organs include the heart, liver, spleen, lung, stomach, gallbladder, pancreas, kidney, bladder, large intestine, duodenum, etc. Organs also include smaller features, such as the lobes of the liver, etc. Fig.23 As shown, when the liver lobe, kidney and duodenum are identified from the operation image, for example, the orientation of the puncture tool corresponding to the liver lobe and kidney can be predicted as the target orientation in combination with the first segment.

[0233] In some embodiments, predicting a target orientation of the puncture device in combination with the first segment and the identified organ includes: A first surgical procedure associated with the first section is matched from a plurality of surgical procedures; and a second surgical procedure whose associated motion boundary of the end effector is associated with the identified organ is matched from the first surgical procedure as a target surgical procedure.

[0234] Exemplarily, matching a first surgical procedure associated with the first segment from a plurality of surgical procedures includes: matching a surgical procedure whose associated end effector's motion boundary is located on the side of the first segment in an out-of-bounds direction from a plurality of surgical procedures as the first surgical procedure.

[0235] Exemplarily, matching a first surgical procedure associated with the first section from a plurality of surgical procedures includes: matching a surgical procedure whose corresponding end effector motion boundary can at least partially cover the first section from a plurality of surgical procedures as the first surgical procedure.

[0236] From the first surgical procedure, a second surgical procedure whose associated end effector motion boundary is associated with the identified organ is matched as the target surgical procedure. In other words, surgical procedures associated with unidentified organs are excluded, and the remaining surgical procedures are used as the second surgical procedure. Among them, the organ is not identified, including the organ not being in the operation image (that is, not in the field of view of the image instrument) and / or the organ is in the operation image but is not identified due to incomplete features and other factors. Furthermore, by combining image recognition to screen the first surgical procedure, the prediction accuracy of the second surgical procedure can be improved, and the doctor's operating intention can be better reflected.

[0237] In some embodiments, after predicting the target surgical procedure and / or the target orientation of the trocar, the controller may be configured to recommend the target surgical procedure and / or the target orientation of the trocar to the physician. Fig.24 The user interface shown is used to present the corresponding recommendation information to the doctor. Fig.24 In the interface shown, a target surgical procedure and / or a target orientation of the puncture device related to the liver lobe are recommended to the doctor. Further, the doctor can manually adjust the orientation of the puncture device according to the recommended target surgical procedure and / or the target orientation of the puncture device, and the adjustment of the orientation of the puncture device includes adjusting the orientation axis (sometimes also called the central axis or RC axis) of the puncture device to basically match the orientation requirements of the target surgical procedure and / or the target orientation of the puncture device for the orientation axis of the puncture device.

[0238] There are many means for the controller to recommend the target surgical procedure and / or the target orientation of the puncture to the doctor. Exemplarily, a voice device or a display device coupled to the controller can be provided, and information related to the second surgical procedure and / or the target orientation of the puncture is played through the voice device, and / or information related to the second surgical procedure and / or the target orientation of the puncture is displayed through the display device. Among them, for doctors, recommending the target surgical procedure may usually be easier for doctors to understand. Of course, for doctors who are proficient in using surgical robot systems, directly recommending the target orientation of the puncture is also acceptable.

[0239] For example, the voice device includes a speaker or earphone that is independently provided to the main operation console 200 and the slave operation device 100. For another example, the voice device includes a speaker that is integrated into the main operation console 200 and / or provided to the slave operation device 100.

[0240] For example, the display device includes a display that is independent of the main operation console 200 and the slave operation device 100, for example, includes a display on an image cart that is coupled to the main operation console 200 and the slave operation device 100. For another example, the display device includes a display that is integrated with the main operation console 200 and / or the slave operation device 100.

[0241] In some embodiments, after predicting the target orientation of the puncture, the controller can be configured to: control the movement of the joint assembly in the main arm according to the target orientation so that the puncture moves around the remote motion center and the puncture reaches the target orientation. Wherein, making the puncture reach the target orientation includes making the orientation axis of the puncture reach the target orientation. Exemplarily, the target orientation of the puncture includes the target orientation based on the base coordinate system of the main arm.

[0242] In some embodiments, after predicting the target surgical procedure, the controller can be configured to: obtain the orientation of the puncture tool associated with the target surgical procedure as the target orientation, control the movement of the joint assembly in the main arm according to the target orientation so that the puncture tool moves around the remote motion center, and make the orientation of the puncture tool reach the target orientation.

[0243] Among them, controlling the movement of the joint assembly in the main arm according to the target orientation includes: converting the target orientation into the joint variables of the joint assembly in the main arm through inverse kinematics; and then controlling the movement of the joint assembly in the main arm according to the corresponding joint variables so that the orientation of the puncture device reaches the target orientation.

[0244] In some embodiments, when there are multiple second surgical procedures as the target surgical procedure, the final determination of the target surgical procedure may include multiple implementations, wherein the final determination of the target surgical procedure includes selecting one of the second surgical procedures as the target surgical procedure.

[0245] Exemplarily, the final determination of the target surgical procedure may include the doctor's selection of the second surgical procedure. For example, the selection may be made by performing voice recognition through a voice recognition device, for example, when information associated with the second surgical procedure including a name, number, etc. is recognized, the second surgical procedure is determined as the target surgical procedure. For another example, information associated with the second surgical procedure may be generated and displayed on an interface of a display, and a corresponding second surgical procedure may be determined as the target surgical procedure by touching or squeezing a corresponding input device such as a touch screen, a button, a foot pedal, etc. Of course, there may be other ways, such as performing brain wave recognition through a brain wave recognition device to make a selection, for example, when information associated with the second surgical procedure is recognized, the second surgical procedure is determined as the target surgical procedure.

[0246] Exemplarily, the final determination of the target surgical procedure may include the automatic selection of the second surgical procedure by the surgical robot system, such as a controller. For example, the surgical procedure with the highest correlation among the second surgical procedures may be used as the target surgical procedure by default, wherein when the second surgical procedure includes one surgical procedure, the surgical procedure has the highest correlation because it is unique. For another example, assuming that the closer the motion boundary associated with the end effector is to the first segment, the higher the correlation, the second surgical procedure whose center is closest to the first segment described above and associated with the end effector may be used as the target surgical procedure to reduce the amplitude of motion when the puncture device is adjusted.

[0247] In some embodiments, controlling the movement of the joint assembly in the main arm according to the target orientation includes: controlling the movement of the joint assembly in the main arm according to the target orientation after the delay time is reached. The delay time can be configured as 0 to 120 seconds. Exemplarily, when the delay time is configured as 0 seconds, once the target surgical procedure and / or the target orientation of the puncture device are determined, the joint assembly in the main arm can be immediately controlled to move to adjust the orientation of the puncture device. Exemplarily, when the delay time is configured as 30 seconds, after the target surgical procedure and / or the target orientation of the puncture device are determined and the delay reaches 30 seconds, the joint assembly in the main arm is controlled to move to adjust the orientation of the puncture device. The configuration of the delay time can facilitate the doctor to have sufficient time to redefine the target surgical procedure. Of course, after the target surgical procedure and / or the target orientation of the puncture device is determined and the delay time is not reached, the controller can immediately control the movement of the main arm without the delay time expiring after obtaining the confirmation instruction sent by the doctor in an interactive manner for immediately adjusting the orientation of the puncture device.

[0248] In some embodiments, when the end effector frequently overruns at a boundary, automatic or manual adjustment of the orientation of the puncture device may be configured even in scenarios where the target surgical procedure and / or target orientation is not necessary or cannot be predicted.

[0249] In some embodiments, Fig.25 As shown, the controller can be configured to perform: Step S31, obtaining first information that the end effector exceeds its motion boundary during the doctor's operation under the current orientation of the puncture device.

[0250] The first information includes one or more of the out-of-bounds position, the out-of-bounds number of times and the out-of-bounds time.

[0251] Step S32: determine the target center point based on the acquired first information.

[0252] Wherein, determining the target center position based on the acquired first information includes: determining the position of a feature point on the first segment as the target center point based on the determined first segment. The feature point, for example, includes the center point of the first segment. Wherein, determining the first segment includes any of the methods described above, which will not be repeated here.

[0253] Step S33, controlling the movement of the joint assembly in the main arm to move the puncture device around the remote motion center, and aligning the orientation of the puncture device with the target center point.

[0254] The movement of the puncture tool around the remote motion center includes the rotational movement of the puncture tool around the remote motion center, and usually, the puncture tool only moves in the posture degree of freedom. The orientation of the puncture tool is aligned with the target center point, and includes the orientation axis of the puncture tool passing through the target center point.

[0255] Among them, step S33 includes: obtaining the target orientation that the orientation axis of the puncture device is expected to move to, determining the target joint variables of the joint components in the main arm according to the target orientation, and then controlling the movement of the corresponding joint components in the main arm according to the target joint variables to make the puncture device perform RC movement and align the orientation of the puncture device with the target center point.

[0256] Exemplarily, the target orientation can be obtained in the following manner: The controller is configured to execute: obtaining the orientation of the line formed by the remote motion center and the target center point as the target orientation. Exemplarily, the target orientation can be the target orientation in the base coordinate system of the main arm.

[0257] Wherein, the orientation axis of the puncture device is aligned with the target center point, including that the orientation axis of the puncture device coincides with the line formed by the remote motion center and the target center point. Wherein, based on the position of the target center point in the image end effector coordinate system (sometimes also called the endoscope coordinate system) of the imaging device and the conversion relationship between the endoscope coordinate system and the base coordinate system of the main arm, the position of the target center point in the base coordinate system can be determined to facilitate the acquisition of the target orientation.

[0258] Exemplarily, the above target joint variables may be obtained in the following manner: The controller is configured to perform: determining the target joint variables of the joint components in the main arm in combination with the target orientation and the inverse kinematics.

[0259] like Fig.26 As shown, the image model of the dotted line motion boundary represents the orientation of the puncture device 400 before adjustment, and the image model of the solid line motion boundary represents the orientation of the puncture device 400 after adjustment to align with the target center point.

[0260] Through the above steps S31 to S33, the orientation of the puncture device 400 can be automatically adjusted to avoid frequent overrunning of the end effector on the motion boundary when the doctor operates under the current orientation of the puncture device 400. Furthermore, by continuously repeating the above steps S31 to S33, the orientation of the puncture device 400 can be continuously adjusted to ultimately achieve the orientation of the puncture device 400 desired by the doctor.

[0261] In some embodiments, Fig. 27 As shown, the controller can be configured to perform: Step S41, obtaining first information that the end effector exceeds its motion boundary during the doctor's operation under the current orientation of the puncture device.

[0262] The first information includes one or more of the out-of-bounds position, the out-of-bounds number of times and the out-of-bounds time.

[0263] Step S42: determine a first segment based on the first information, and determine a target organ in the operation image by combining the first segment and the operation image.

[0264] For the purpose of brevity, please refer to the previous text for the description of the first section.

[0265] Exemplarily, determining the target organ in the operation image by combining the first segment and the operation image may include: Identify all organs in the operation image, and determine the target organ from the identified organs based on the first segment. That is, first identify all organs in the operation image, and then determine the organ associated with the first segment from the identified organs as the target organ. Among them, determining the target organ in combination with the first segment mainly includes assigning a reasonable range to determine the target organ, for example, the range includes the range of the first segment located on one side away from the orientation axis of the current puncture device, and the corresponding organ is determined as the target organ based on this range.

[0266] Exemplarily, determining the target organ in the operation image by combining the first segment and the operation image may also include: Identify the organs in the operation image that are associated with the first segment and use them as target organs. That is, instead of identifying all organs in the operation image, directly identify the organs that are associated with the first segment as target organs. This can reduce the amount of image processing and thus increase the speed of image processing. Step S43, determining the target center point based on the identified target organ.

[0267] Exemplarily, the geometric center of the target organ can be determined as the target center point based on the contour information of the target organ.

[0268] Step S44, controlling the movement of the joint assembly in the main arm to move the puncture device around the remote motion center, and aligning the orientation of the puncture device with the target center point.

[0269] Among them, step S44 includes: obtaining the target orientation of the expected orientation axis movement of the puncture device, determining the target joint variables of the joint components in the main arm according to the target orientation, and then controlling the movement of the corresponding joint components in the main arm according to the target joint variables so that the puncture device performs RC movement and its orientation is aligned with the target center point.

[0270] Exemplarily, the target orientation can also be obtained by obtaining the orientation of the line formed by the remote motion center and the target center point as the target orientation. In some embodiments, there may be more than one target organ, so there may be more than one target center point, and the controller can be configured to determine one of the multiple target center points as the target center point according to the interaction instructions between the doctor and the surgical robot system. Of course, the controller can also determine one of the multiple target center points as the target center point by default according to preset rules. The preset rules exemplarily include: obtaining multiple target orientations between the remote motion center and multiple target center points, and determining the target center point associated with the current orientation of the puncture device and the one with the smallest difference among the multiple target orientations as the target center point.

[0271] like Fig.28 As shown, when the target organ includes a liver lobe, the center of the liver lobe is taken as the target center point, the image model of the dotted line motion boundary represents before the orientation of the puncture device 400 is adjusted, and the image model of the solid line motion boundary represents after the orientation of the puncture device 400 is adjusted to align with the target center point.

[0272] Through the above steps S41 to S44, the orientation axis of the puncture device 400 can be aligned with the target center point associated with the target organ, so as to facilitate surgery on the target organ.

[0273] It is worth noting that when manually or automatically adjusting the orientation axis of the puncture device 400 to move around the remote motion center, it is preferable to consider the possible safety risks of the end effector when the medical device 150 moves following the movement of the puncture device 400.

[0274] In order to avoid the above safety risks as much as possible, illustratively, before adjusting the orientation axis of the puncture device 400 to move around the remote motion center, the multiple medical devices 150 passing through the puncture device 400 can be returned to a safe position. Exemplarily, when adjusting the orientation axis of the puncture device 400 to move around the remote motion center, in response to the change in orientation when the puncture device 400 moves around the remote motion center, the joint assembly in the manipulator assembly 120 can be controlled to move in coordination to maintain the position or posture of the end effector.

[0275] Continue reading Fig.14 In the medical device 150, since the operating end effector 154 of the surgical instrument 153 is more harmful to the patient than the imaging end effector 152 of the imaging device 151, in some embodiments, when adjusting the orientation axis of the puncture device 400 to move around the remote motion center, only the joint assembly in the manipulator assembly 120 associated with the surgical instrument 153 is controlled to move in coordination to maintain the position and / or posture. At the same time, since the imaging device 151 is not controlled, the imaging device 151 can generate a new field of view by following the movement of the puncture device 400 to facilitate the observation of the change in the orientation of the puncture device 400.

[0276] Of course, in other embodiments, if it is necessary to maintain the current surgical field of view, the joint assembly in the manipulator assembly 120 associated with the surgical instrument 153 can be controlled to move in coordination to maintain the position and / or posture, and at the same time, the joint assembly in the manipulator assembly 120 associated with the imaging instrument 151 can be controlled to move in coordination to maintain the position and / or posture.

[0277] In some embodiments, the target object manipulated by the operating part can also be changed according to the doctor's manipulation of the manipulator assembly by the operating part. The controller can be configured to perform: During the operation performed by the doctor under the current orientation of the puncture, when the number of times the end effector exceeds a section of its motion boundary within a certain period reaches the target threshold, the first operation mode is switched to the second operation mode. The first operation mode here is the aforementioned master-slave follow-up control mode, which includes the operation of the manipulator assembly by the operating unit. The second operation mode here is the puncture control mode, and the second operation mode includes the operation of the main arm by the operating unit, that is, the operation of the puncture connected to the end of the main arm, wherein the operation of the puncture is more preferably the operation of the remote motion center of the puncture, and illustratively, the operation of the puncture by the operating unit includes the operation of the puncture around the remote motion center.

[0278] The section of the region may include a section on a predefined motion boundary. The section of the region may also include a section of the region in which the number of boundary crossings reaches a set threshold value among the pre-divided regions. The section of the region may also include a section of the region determined by a method such as statistically analyzing the normal distribution of the number of boundary crossings and the position of the boundary crossings during a surgical period. Fig.17 For example, when the number of times the end effector exceeds the segment 1 of its motion boundary reaches a target threshold, such as 3 times, within a certain period, such as 10 seconds, the first operation mode is switched to the second operation mode.

[0279] Furthermore, by switching the operation mode, the doctor can quickly adjust the orientation of the orientation axis of the puncture device through the operation unit, and the doctor can adjust the orientation of the puncture device by operating the operation unit without leaving the operation position. In particular, since there is obvious force feedback when the end effector exceeds the motion boundary, it can clearly reflect the doctor's intention to switch the operation mode, providing a good user experience.

[0280] Exemplarily, in the second operation mode, the orientation of the puncture device can be configured to change following the orientation change of the operating unit. For example, the orientation of the puncture device changes in the first orientation degree of freedom (such as the yaw degree of freedom) following the change of the first orientation degree of freedom (such as the yaw degree of freedom) of the operating unit, the orientation of the puncture device changes in the first orientation degree of freedom (such as the pitch degree of freedom) following the change of the first orientation degree of freedom (such as the pitch degree of freedom) of the operating unit, and the orientation of the puncture device changes in the first orientation degree of freedom (such as the roll degree of freedom) following the change of the first orientation degree of freedom (such as the roll degree of freedom) of the operating unit.

[0281] Exemplarily, in the second operation mode, the orientation of the puncture device can also be configured to change with the position change of the operating part. For example, the movement of the operating part in the first position degree of freedom (such as the horizontal degree of freedom) is converted into the movement of the orientation of the puncture device in the first orientation degree of freedom (such as the yaw degree of freedom), the movement of the operating part in the second position degree of freedom (such as the vertical degree of freedom) is converted into the movement of the orientation of the puncture device in the second orientation degree of freedom (such as the pitch degree of freedom), and the movement of the operating part in the third position degree of freedom (such as the front-back degree of freedom) is converted into the movement of the orientation of the puncture device in the third orientation degree of freedom (such as the roll degree of freedom).

[0282] In the above embodiments, when it is usually desired to adjust the orientation of the trocar, the controller needs to obtain an instruction. The instruction can be input by the doctor through interaction (such as voice, action, brain wave, etc.), or the controller can generate the instruction after the delay time is configured, for example. In response to obtaining the instruction, the controller controls the movement of the joint assembly in the main arm to adjust the orientation of the trocar.

[0283] In the above embodiment, by adjusting the orientation of the puncture device, the operating space of the end effector of the medical device relative to the reference coordinate system of the main arm can be greatly improved, avoiding the inconvenience caused by the frequent occurrence of the out-of-bounds problem.

[0284] In some embodiments, the controller may be configured to generate an image model of at least the first segment where the end effector frequently exceeds its motion boundary and display it on any display as described above, for example, Fig.18 , Figure 20 to Figure 24Any of the image models shown. By watching the image model displayed on the display, the doctor can clearly understand his own operation status and / or determine the operation intention he wants to achieve. In other embodiments, the controller can also be configured to generate an image model of the motion boundary of the end effector, and highlight the determined first segment, including highlighting through differences in color, brightness, lines (including line shape, thickness), strobe, etc. In some embodiments, in order not to affect the doctor's observation of the operation image, when the first segment cannot be determined, the controller can be configured not to display the above-mentioned image model.

[0285] In some embodiments, in order to facilitate the doctor's understanding of the predicted target surgical procedure and / or the target orientation of the puncture device, the controller can be configured to highlight the characteristic points of the identified organ and / or the determined first segment, such as the center point, on the operation image, including highlighting the outline of the organ and highlighting the target center point on the organ and / or the first segment on the operation image, so as to facilitate the doctor to determine his or her own operation intention based on the information displayed in the auxiliary image.

[0286] In some embodiments, the above-mentioned image model also includes the first part of the manipulator assembly 120 being manipulated, and the first part exemplarily includes the end effector. Of course, the first part can also include other connection components (composed of multiple joint components) including the end effector in the medical device 150. The end effector can appear in the image model in a variety of ways, such as by an arrow, an aperture, or an icon that is almost the same as the end effector structure. The position of the end effector in the image model can be calculated based on forward kinematics. By generating an image model including the end effector, the doctor can understand the situation of the end effector and the boundary, which is more helpful, for example, when it is desired to switch the operation mode.

[0287] For example, when a doctor wants to adjust the orientation of the puncture device, the combination of the above-mentioned visual feedback and the force feedback of the operating part when the limit is exceeded can help the doctor clarify his or her operating intentions and reduce the possibility of misoperation.

[0288] In some embodiments, the master-slave alignment mainly refers to aligning the posture of the end of the operating part in the display coordinate system of the display with the posture of the end of the surgical instrument having a master-slave mapping relationship in the endoscope coordinate system of the image instrument, and the master-slave mapping relationship includes a communication connection between an operating part and a surgical instrument, and the movement of the operating part can cause the movement of the surgical instrument, or the movement of the surgical instrument can cause the movement of the operating part. In the master-slave alignment mode, since in the single-port laparoscopic surgical robot, multiple manipulators are housed in the same shell, and the medical instruments installed on the manipulators pass through the same puncture device, when the posture of the shell housing multiple manipulators is changed, the relative posture relationship between the medical instruments is maintained, so the posture of the end effector of the surgical instrument under the end effector of the image instrument will not be changed. Therefore, the single-port laparoscopic surgical robot does not need to re-align the posture of the end of the operating part in the display coordinate system with the posture of the end of the surgical instrument in the endoscope coordinate system due to the change of the posture of the shell.

[0289] In a multi-port laparoscopic surgical robot, multiple manipulators are completely independently set up, and the medical instruments installed on the manipulators pass through different punctures. Changing the posture of any manipulator may cause the posture of the end effector of the surgical instrument under the end effector of the imaging instrument to change. Therefore, the multi-port laparoscopic surgical robot has the need to re-align the posture of the operating part in the display coordinate system with the posture of the surgical instrument in the endoscope coordinate system due to the change of the posture of the manipulator. Regardless of whether it is a single-port laparoscopic surgical robot or a multi-port laparoscopic surgical robot, the manipulator is usually located outside the patient's body, and the posture change of the end effector is usually affected by the coordinated movement (sometimes also called linkage) of the joint components in the manipulator and the medical instrument. In a multi-port laparoscopic surgical robot, for example, when a collision occurs between manipulators, if the manipulators located outside the patient's body need to manually re-plan the relative posture relationship between the manipulators, the posture of the end of the operating part in the display coordinate system can be configured to align the posture of the end effector in the endoscope coordinate system, so as to always maintain the master-slave alignment, which is convenient for the subsequent rapid entry into the master-slave following mode. The manual planning of the relative posture relationship between the manipulators can usually be achieved by the operator applying force to the manipulators, thereby driving the manipulators to move around the remote motion center. The movement of the manipulators around the remote motion center usually includes at least one of a pitch degree of freedom and a yaw degree of freedom.

[0290] Therefore, the present disclosure may also provide a control method, which is applicable to a multi-port laparoscopic surgical robot to realize a master-slave alignment mode. Exemplarily, the slave operating device includes a first manipulator and a second manipulator, the first manipulator is used to install and drive a first medical instrument, and the second manipulator is used to install and drive a second medical instrument. Of the first medical instrument and the second medical instrument, one is a surgical instrument and the other is an imaging instrument. Exemplarily, the operator drags the first manipulator to readjust the relative posture relationship between the first manipulator and the second manipulator, and an operating unit is configured to establish a master-slave mapping relationship with the first manipulator and the first medical instrument installed thereon, that is, the operating unit is configured to manipulate the first manipulator and the first medical instrument.

[0291] In some embodiments, see Fig.29 , the control method comprises: Step S301 : acquiring the current posture and the first target posture of the end of the operating part.

[0292] Among them, the movement of the end effector is usually caused by the movement of the manipulator. In some embodiments, the target posture that the end of the manipulator is expected to reach can be obtained, and the target posture can be described in the base coordinate system of the surgical robot; then the target posture is parsed to obtain the target joint variables of the joint assembly in the manipulator; finally, the target joint variables of the joint assembly in the manipulator and the current joint variables of the joint assembly in the medical device are combined to determine the target posture of the end effector, and the target posture of the end effector can still be described in the base coordinate system of the surgical robot. In the master-slave alignment mode, regardless of whether the medical device in the manipulator being adjusted is a surgical instrument or an imaging instrument, the posture of the end effector of the surgical instrument in the endoscopic coordinate system is variable, and the posture of the end of the operating part is aligned with the posture of the end of the surgical instrument. Therefore, assuming that the medical instrument in the first manipulator being moved is a surgical instrument, the target posture of the end effector of the surgical instrument in the base coordinate system can be converted into the (second) target posture in the endoscope coordinate system; assuming that the medical instrument in the first manipulator being moved is an imaging instrument, although the first manipulator is moved, the surgical instrument installed on the second manipulator is actually moved relative to the imaging instrument. At this time, based on the target posture of the end effector of the imaging instrument in the first manipulator in the base coordinate system, the current posture of the end effector of the surgical instrument in the second manipulator in the base coordinate system can also be converted into the (second) target posture in the endoscope coordinate system.

[0293] In the master-slave alignment mode, the target posture of the end of the operating part usually needs to be aligned with the target posture of the end effector of the surgical instrument, that is, the first target posture of the operating part in the display coordinate system can be determined based on the second target posture of the end effector of the surgical instrument in the endoscope coordinate system, without discussing whether the first manipulator being moved among the multiple manipulators is installed with a surgical instrument or an imaging instrument.

[0294] In the present disclosure, the posture (including position and posture) of the end effector can be a posture described in the endoscope coordinate system, or can be converted into a posture described in the endoscope coordinate system. The posture (including position and posture) of the end of the operating part can be a posture described in the display coordinate system, or can be converted into a posture described in the display coordinate system.

[0295] Step S302 , detecting whether the current posture reaches a movement boundary of the end of the operating part, and detecting whether the first target posture exceeds the movement boundary.

[0296] The motion boundary refers to the posture motion boundary of the end of the operating part, which is jointly determined by the motion ranges of all joint components associated with the posture freedom degree in the operating part.

[0297] When the current posture reaches the movement boundary and the first target posture exceeds the movement boundary, step S303 is executed; otherwise, step S307 is entered.

[0298] Step S303 : determining a first resistance assumed to act on the operating part based on the first target posture and the current posture.

[0299] The first resistance force is a virtual force used to hypothetically resist the movement of the end of the operating part toward the first target posture, that is, it will not actually resist the movement of the end of the operating part toward the first target posture.

[0300] In step S303 , the end of the operating portion may be controlled to maintain the current posture.

[0301] Step S304: determining a second resistance actually acting on the end of the first manipulator based on the first resistance.

[0302] The end of the manipulator may refer to any part of the manipulator, for example, a fixed force-applying part is designated as the end of the manipulator. For example, the end of the manipulator may be located at the end of all joint components in the manipulator and is used for fixed force-applying part.

[0303] The second resistance force is a real force that actually exists and will act on the end of the first manipulator, and is used to actually resist the movement of the end of the first manipulator toward the target posture of the end of the first manipulator.

[0304] Step S305 : determining a joint target driving force expected to be output by a joint component in the first manipulator based on the second resistance.

[0305] Step S306, controlling the joint component in the first manipulator component to output the joint target driving force.

[0306] By controlling the joint assembly in the first manipulator to output the joint target driving force, force feedback is achieved in the first manipulator, thereby prompting the operator not to move the first manipulator to the posture corresponding to the posture instruction.

[0307] Step S307: determining target joint variables of the joint components in the operating part based on the first target posture.

[0308] Step S308, controlling the joint component in the operation unit to output the target joint variable.

[0309] When the current posture has not reached the motion boundary and / or the first target posture has not exceeded the motion boundary, the posture of the end of the operating part can follow the posture movement of the end effector of the first medical device, thereby keeping the postures of the two aligned, facilitating subsequent rapid switching into the master-slave control mode to perform surgery.

[0310] The various forces involved here, such as the first resistance, the second resistance, and the joint target driving force, can all be generalized forces, and the generalized force includes at least one of force and torque.

[0311] In some embodiments, in the master-slave alignment mode, since it is expected that the first manipulator will provide force feedback to the operating part that performs the following motion when it exceeds the motion boundary of the end of the operating part, it is necessary to perform corresponding torque control on the joint assembly in the first manipulator. However, the first number of real degrees of freedom in the operating part that affect the posture of the end of the operating part and the second number of real degrees of freedom in the first manipulator that affect the posture of the end effector may be different. For example, in Figure 3 In the multi-port laparoscopic surgical robot shown, the real degrees of freedom in the operating part that affect the posture of the end of the operating part include the rotation degree of freedom, the pitch degree of freedom and the yaw degree of freedom, a total of three; while the real degrees of freedom in the first manipulator that affect the posture of the end effector only include the pitch degree of freedom and the yaw degree of freedom, a total of two. In other words, the degrees of freedom that affect the posture can also be called the real posture degrees of freedom.

[0312] Of course, since the end effector includes a connecting rod and a wrist joint assembly, it can still achieve the same rotational freedom, pitch freedom and yaw freedom as the operating part.

[0313] In some embodiments, in order to compensate for the lack of real degrees of freedom in the first manipulator that affect the posture of the end effector, it can be assumed that the first manipulator also includes a third number of imaginary degrees of freedom to facilitate the determination of the joint target driving force in the above step S305. The third number is equal to the difference between the first number and the second number.

[0314] In some embodiments, the step of determining the joint target driving force expected to be output by the joint assembly in the first manipulator based on the second resistance includes: determining the joint target driving force output by the (second number of) real degrees of freedom and the (third number of) virtual degrees of freedom of the joint assembly in the first manipulator based on the second resistance.

[0315] Correspondingly, the step of controlling the joint assembly in the first manipulator assembly to output the joint target driving force includes: controlling the (second number of) real degrees of freedom of the joint assembly in the first manipulator assembly to output the joint target driving force, wherein the virtual degrees of freedom only participate in the determination of the joint target driving force, and do not participate in the output of the joint target driving force.

[0316] Although the first manipulator lacks corresponding real degrees of freedom, by controlling the real degrees of freedom of the joint components in the first manipulator to output the joint target driving force, the operator can still be clearly prompted not to move the first manipulator to the posture corresponding to the posture instruction.

[0317] In some embodiments, in the above step S305, other forces that are expected to actually act on the end of the first manipulator may also be superimposed. This force may include one or more expected effects, and at the same time, this force is also a generalized force. Exemplarily, the forces expected to be superimposed include but are not limited to damping forces, and / or joint compensation driving forces for balancing the forces generated by the internal load in the first manipulator. Exemplarily, the joint compensation driving force may include at least one of a gravity compensation force and a friction compensation force. For these forces that may be superimposed, please refer to the foregoing text, which will not be repeated here.

[0318] In one embodiment, the force expected to be superimposed includes a damping force. The above step S305 includes: Acquiring a velocity of an end of the first manipulator, and determining a damping force actually acting on the end of the first manipulator based on the velocity, wherein the damping force is used to actually consume potential energy accumulated when the second resistance acts on the end of the first manipulator; Based on the second resistance and the damping force, a joint target driving force output by the joint component in the desired first maneuver is determined.

[0319] In the master-slave alignment mode, since the motion of the first manipulator around the remote motion center is one of pitch motion and / or yaw motion, the velocity is an angular velocity. Further, the step of obtaining the velocity of the end of the first manipulator and determining the damping force actually acting on the end of the first manipulator based on the velocity comprises: obtaining the angular velocity of the end of the first manipulator; Get the damping force model; The damping force is determined by combining the angular velocity and the damping force model.

[0320] Exemplarily, the damping force model can be expressed as the following formula: (14) In formula (14), is the damping force; is the angular velocity of the end of the first manipulator; is the angular velocity damping coefficient; is the transpose of the Jacobian matrix of the first manipulator, wherein the Jacobian matrix is ​​determined in real time based on the joint variables of the joint assembly in the first manipulator.

[0321] In some embodiments, the above step S303 may include: when the current posture reaches the posture motion boundary and the first target posture exceeds the posture motion boundary, obtaining a first posture motion boundary impedance model, and determining the first resistance based on the deviation between the first target posture and the current posture and the first posture motion boundary impedance model. The first posture motion boundary impedance model can be expressed as the above formula (3), which will not be repeated here.

[0322] In some embodiments, the above step S304 may include: obtaining a second posture motion boundary impedance model, determining a second resistance based on the first resistance and the second posture motion boundary impedance model, wherein the second resistance determined by the second posture motion boundary impedance model has an improvement in slope and / or slope change rate compared to the first resistance determined by the first posture motion boundary impedance model. The second posture motion boundary impedance model may be expressed as, for example, the above formula (4), which will not be repeated here.

[0323] In some embodiments, the above step S302 may also be implemented based on the joint space angle consideration, and the step may include: The target joint variables of the joint components in the operating part are determined based on the first target posture, and the current joint variables of the joint components in the operating part are determined based on the current posture.

[0324] A target joint component that meets a first condition is determined from the joint components in the operating part. The first condition includes that a current joint variable of the target joint component reaches a joint motion boundary of the target joint component and the target joint variable exceeds the joint motion boundary of the target joint component.

[0325] When there is a target joint component that satisfies the first condition, it indicates that in step S302, it is detected that the current posture reaches the motion boundary, and the first target posture exceeds the motion boundary.

[0326] See also Fig.30 , the above step S303 may include: Step S3031, based on the target joint variable and the current joint variable of the target joint component, determine the joint driving force assumed to act on the target joint component.

[0327] Step S3032, assigning the joint driving force of the non-target joint components in the joint components of the operating part that do not meet the first condition to zero.

[0328] Step S3033, determining a first resistance that is assumed to act on the distal end of the operating part based on the joint driving force of the target joint component and the joint driving force of the non-target joint component.

[0329] In one embodiment, the implementation method of step S3031 may include obtaining a joint boundary impedance model, and determining the joint driving force assumed to act on the target joint component in combination with the target joint variable, the current joint variable, and the joint boundary impedance model of the target joint component. The joint boundary impedance model may be expressed as the above formula (6), which will not be repeated here.

[0330] In the above step S3033, the joint driving forces of the joint components in the operating part can be combined into a force vector and expressed in a matrix form as described in formula (7), which will not be repeated here.

[0331] Then, by directly finding the inverse solution of statics, the first resistance of the end of the first manipulator in the operation space can be obtained based on the joint driving force of the joint assembly in the operation part in the joint space.

[0332] In one embodiment, the present disclosure also provides a controller for a surgical robot. Fig.31 As shown, the controller may include: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503, and a communication bus 504.

[0333] The processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 504 .

[0334] The communication interface 502 is used to communicate with other devices such as various sensors, motors, solenoid valves, or network elements of other clients or servers.

[0335] The processor 501 is used to execute the program 505, and specifically can execute the relevant steps in the above method embodiment.

[0336] Specifically, the program 505 may include program codes, which include computer operation instructions.

[0337] The processor 501 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure, or a graphics processing unit (GPU). The one or more processors included in the controller may be processors of the same type, such as one or more CPUs, or one or more GPUs; or may be processors of different types, such as one or more CPUs and one or more GPUs.

[0338] The memory 503 is used to store the program 505. The memory 503 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0339] The program 505 can be specifically used to enable the processor 501 to execute the control method described in any one of the above embodiments.

[0340] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0341] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the patent of the present disclosure shall be subject to the attached claims.

Claims

1. A surgical robot, characterized in that: include: A first manipulator is mounted on and drives a first medical device, wherein the first manipulator has a first joint assembly; A second manipulator is mounted and drives a second medical instrument, wherein one of the first medical instrument and the second medical instrument is a surgical instrument and the other is an imaging instrument; a main operating console, comprising an operating unit and a display, wherein the operating unit is used to cause the distal end of the surgical instrument to move to a second target posture in the endoscope coordinate system of the imaging instrument and to move to a first target posture in the display coordinate system of the display in response to the first manipulator moving relative to the second manipulator to a target posture; and A controller, coupled to the first manipulator, the second manipulator and the operating unit, is configured to: Acquire the first target posture of the end of the operating part, and acquire the current posture of the end of the operating part in the display coordinate system; In the case where the current posture reaches the motion boundary of the end of the operating part and the first target posture exceeds the motion boundary, a first resistance imaginary acting on the end of the operating part is determined based on the first target posture and the current posture, and a second resistance actually acting on the end of the first manipulator is determined based on the first resistance, the first resistance being used to imaginary resist the end of the operating part from moving toward the first target posture, and the second resistance being used to actually resist the end of the first manipulator from moving toward the target posture; Determining a joint target driving force expected to be output by the first joint component based on the second resistance, and controlling the first joint component to output the joint target driving force to achieve force feedback on the first manipulator; The first resistance, the second resistance and the joint target driving force are generalized forces.

2. The surgical robot according to claim 1, characterized in that: The operating part includes a first number of real degrees of freedom that actually affect the posture of the end of the operating part, the first joint component includes a second number of real degrees of freedom that actually affect the posture of the end of the first medical device, the first number is greater than the second number, the first joint component also includes a third number of imaginary degrees of freedom that imaginarily affect the posture of the end of the first medical device, the third number is equal to the difference between the first number and the second number, and the step of determining the joint target driving force expected to be output by the first joint component based on the second resistance and controlling the first joint component to output the joint target driving force includes: Determine a joint target driving force output by the real degree of freedom and the imaginary degree of freedom of the first joint component based on the second resistance; The real degree of freedom of the first joint component is controlled to output the joint target driving force.

3. The surgical robot according to claim 2, characterized in that: The first number is three and the second number is two.

4. The surgical robot according to claim 2, characterized in that: The operating part includes rotation degree of freedom, yaw degree of freedom and pitch degree of freedom, and the first manipulator includes yaw degree of freedom and pitch degree of freedom.

5. The surgical robot according to claim 1, characterized in that: The step of determining the joint target driving force expected to be output by the first joint component based on the second resistance comprises: acquiring a speed of an end of the first manipulator, and determining a damping force actually acting on the end of the first manipulator based on the speed, wherein the damping force is used to actually consume potential energy accumulated when the second resistance acts on the end of the first manipulator; Determining a joint target driving force that the first joint component is expected to output based on the second resistance and the damping force; The speed is a generalized speed, and the damping force is a generalized force.

6. The surgical robot according to claim 5, characterized in that: The step of obtaining the velocity of the end of the first manipulator and determining the damping force actually acting on the end of the first manipulator based on the velocity comprises: obtaining an angular velocity of a tip of the first manipulator; Get the damping force model; The damping force is determined by combining the angular velocity and the damping force model.

7. The surgical robot according to claim 1, characterized in that: The damping force model is expressed as the following formula: ， is the damping force; is the angular velocity of the end of the first manipulator; is the angular velocity damping coefficient; is the transpose of the Jacobian matrix of the first manipulator, wherein the Jacobian matrix is ​​determined in real time based on the joint variables of the first joint component.

8. The surgical robot according to claim 1, characterized in that: The step of determining the joint target driving force expected to be output by the first joint component based on the second resistance comprises: Acquire the joint compensation driving force that the first joint component is expected to output to balance the force caused by the internal load; Determining a joint target driving force expected to be output by the first joint component based on the second resistance and the joint compensation driving force; The joint compensation driving force is a generalized force, and the force caused by the internal load includes at least one of gravity and friction.

9. The surgical robot according to claim 1, characterized in that: The motion boundary includes a posture motion boundary in the operation space, and the steps of determining a first resistance assumed to act on the end of the operating part based on the first target posture and the current posture, and determining a second resistance actually acting on the end of the first manipulator based on the first resistance include: When the current posture reaches the posture motion boundary and the first target posture exceeds the posture motion boundary, obtaining a first posture motion boundary impedance model, and determining the first resistance based on a deviation between the first target posture and the current posture and the first posture motion boundary impedance model; A second posture motion boundary impedance model is obtained, and the second resistance is determined based on the first resistance and the second posture motion boundary impedance model, wherein the second resistance determined by the second posture motion boundary impedance model has an improvement in slope and / or slope change rate compared to the first resistance determined by the first posture motion boundary impedance model.

10. A method for controlling a surgical robot, characterized in that: The surgical robot comprises: A first manipulator is mounted on and drives a first medical device, wherein the first manipulator has a first joint assembly; A second manipulator is mounted and drives a second medical instrument, wherein one of the first medical instrument and the second medical instrument is a surgical instrument and the other is an imaging instrument; and a main operating console, comprising an operating unit and a display, wherein the operating unit is used to cause the distal end of the surgical instrument to move to a second target posture in the endoscope coordinate system of the imaging instrument and to move to a first target posture in the display coordinate system of the display in response to the first manipulator moving relative to the second manipulator to a target posture; The control method comprises: Acquire the first target posture of the end of the operating part, and acquire the current posture of the end of the operating part in the display coordinate system; In the case where the current posture reaches the motion boundary of the end of the operating part and the first target posture exceeds the motion boundary, a first resistance imaginary acting on the end of the operating part is determined based on the first target posture and the current posture, and a second resistance actually acting on the end of the first manipulator is determined based on the first resistance, the first resistance being used to imaginary resist the end of the operating part from moving toward the first target posture, and the second resistance being used to actually resist the end of the first manipulator from moving toward the target posture; Determining a joint target driving force expected to be output by the first joint component based on the second resistance, and controlling the first joint component to output the joint target driving force to achieve force feedback on the first manipulator; The first resistance, the second resistance and the joint target driving force are generalized forces.

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