Structural parameter determination method and device of surgical robot, electronic equipment and storage medium

Abstract

The invention discloses a structural parameter determination method and device of a surgical robot, electronic equipment and a storage medium. The method comprises the steps that the mechanical arm tail end motion spinor and the mechanical arm tail end operating force of the endoscopic surgery robot are obtained; based on the mechanical arm tail end motion spinor and the mechanical arm tail end operating force of the endoscopic surgical robot, solving a pre-constructed mechanical arm structure optimization target function to obtain target structure parameters of the mechanical arm of the endoscopic surgical robot; wherein the target structure parameters comprise the connecting rod mass, the inertia moment, the mass center position and the connecting rod length. According to the technical scheme, automatic solving and optimization of the mechanical arm structure parameters of the endoscopic surgery robot are achieved, and the mechanical arm structure parameter determining efficiency and the precision of the mechanical arm structure parameters are improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device, electronic equipment and storage medium for determining structural parameters of a surgical robot. Background Art

[0002] In modern medical technology, the application of laparoscopic surgical robots has gradually become an important means to improve surgical accuracy and reduce surgical risks.

[0003] At present, the mechanical structure design of laparoscopic surgical robots is particularly difficult and complex due to the requirements of the working space, operation accuracy, dynamic response capability, etc. Traditional mechanical structure design often relies on experience and trial and error, which is inefficient and difficult to achieve optimal design. There are problems such as low efficiency in determining the mechanical arm structure parameters and inaccurate mechanical arm structure parameters. Summary of the invention

[0004] The present invention provides a method, device, electronic equipment and storage medium for determining the structural parameters of a surgical robot, so as to improve the efficiency of determining the structural parameters of a robotic arm and the accuracy of the structural parameters of the robotic arm.

[0005] According to one aspect of the present invention, a method for determining structural parameters of a surgical robot is provided, comprising:

[0006] Obtain the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot;

[0007] Based on the end motion screw of the robotic arm and the end operating force of the robotic arm of the laparoscopic surgical robot, a pre-constructed robotic arm structure optimization objective function is solved to obtain target structural parameters of the robotic arm of the laparoscopic surgical robot;

[0008] The target structural parameters include connecting rod mass, moment of inertia, center of mass position and connecting rod length.

[0009] According to another aspect of the present invention, there is provided a device for determining structural parameters of a surgical robot, comprising:

[0010] The laparoscopic surgical robot data acquisition module is used to obtain the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot;

[0011] A target structural parameter determination module is used to solve a pre-constructed mechanical arm structure optimization objective function based on the mechanical arm end motion screw and the mechanical arm end operation force of the laparoscopic surgical robot to obtain the target structural parameters of the mechanical arm of the laparoscopic surgical robot;

[0012] The target structural parameters include connecting rod mass, moment of inertia, center of mass position and connecting rod length.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor;

[0015] and a memory communicatively coupled to the at least one processor;

[0016] Among them, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the structural parameters of the surgical robot described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the structural parameters of a surgical robot described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention obtains the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot, and then solves the pre-constructed robotic arm structure optimization objective function according to the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot, thereby obtaining the target structural parameters of the robotic arm of the laparoscopic surgical robot; wherein the target structural parameters include the mass of the connecting rod, the moment of inertia, the center of mass position and the length of the connecting rod. The above technical solution realizes the automatic solution and optimization of the structural parameters of the robotic arm of the laparoscopic surgical robot, improves the efficiency of determining the structural parameters of the robotic arm and the accuracy of the structural parameters of the robotic arm, thereby reducing the energy required for the movement of the robotic arm and improving the stability of the movement of the robotic arm.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a method for determining structural parameters of a surgical robot provided in accordance with Embodiment 1 of the present invention;

[0022] Figure 2is a flow chart of a method for determining structural parameters of a surgical robot provided in accordance with a second embodiment of the present invention;

[0023] Figure 3 is a flow chart of a method for determining structural parameters of a surgical robot provided in accordance with Embodiment 3 of the present invention;

[0024] Figure 4 is a schematic diagram of the structure of a device for determining structural parameters of a surgical robot provided according to a fourth embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of an electronic device for implementing the method for determining the structural parameters of a surgical robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0028] Embodiment 1

[0029] Figure 1 This is a flowchart of a method for determining the structural parameters of a surgical robot provided in the first embodiment of the present invention. This embodiment is applicable to the automatic optimization of the structural parameters of the mechanical arm of a laparoscopic surgical robot. The method can be executed by a device for determining the structural parameters of a surgical robot. The device for determining the structural parameters of a surgical robot can be implemented in the form of hardware and / or software. The device for determining the structural parameters of a surgical robot can be configured in an electronic device such as a laparoscopic surgical robot or a computer. Figure 1 As shown, the method includes:

[0030] S110, obtaining the motion rotation amount and the operating force of the end of the robotic arm of the laparoscopic surgical robot.

[0031] In the embodiments of the present invention, the laparoscopic surgical robot refers to a medical device designed to perform various minimally invasive surgeries. The end motion screw of the robot arm refers to the screw used to describe the motion state of the end effector of the robot arm (such as a gripper or a suction cup, etc.) in space. The end operating force of the robot arm refers to the force generated by the interaction between the end effector of the robot arm and the external environment or workpiece when the robot arm performs a task.

[0032] Exemplarily, the motion rotation of the robot arm end and the operating force of the robot arm end can be calculated through various physical quantities related to the laparoscopic surgical robot, and can also be directly acquired by sensors, without specific limitation here.

[0033] S120. Based on the end motion rotation quantity and end operating force of the robotic arm of the laparoscopic surgical robot, a pre-constructed robotic arm structure optimization objective function is solved to obtain target structural parameters of the robotic arm of the laparoscopic surgical robot.

[0034] In the embodiment of the present invention, the robot arm structure optimization objective function refers to a function used to analyze the advantages and disadvantages of different design solutions during the robot arm structure design and optimization process.

[0035] Exemplarily, the objective function for optimizing the structure of the robot arm can be determined based on a dynamic model of the relationship between the joint torque of the robot arm and the motion of the robot arm. The objective function for optimizing the structure of the robot arm can also be obtained by using a machine learning model to learn the relationship between the historical motion screw of the end of the robot arm, the historical operating force of the end of the robot arm and the structural parameters of the robot arm. No specific limitation is made here.

[0036] The target structural parameters may include the mass, moment of inertia, center of mass position and length of the connecting rod of the manipulator. The mass of the connecting rod refers to the weight or mass of the material of the connecting rod itself, which directly affects the dynamic performance and stability of the manipulator. The moment of inertia reflects the ability of the connecting rod to resist changes in its motion state during rotation or translation. The center of mass position refers to the center point of the mass distribution of the connecting rod, which directly affects the balance and stability of the manipulator. The length of the connecting rod refers to the distance between the joint axes at both ends of the connecting rod, which determines the working range and flexibility of the manipulator.

[0037] The technical solution of the embodiment of the present invention obtains the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot, and then solves the pre-constructed robotic arm structure optimization objective function according to the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot, thereby obtaining the target structural parameters of the robotic arm of the laparoscopic surgical robot; wherein the target structural parameters include the mass of the connecting rod, the moment of inertia, the center of mass position and the length of the connecting rod. The above technical solution realizes the automatic solution and optimization of the structural parameters of the robotic arm of the laparoscopic surgical robot, improves the efficiency of determining the structural parameters of the robotic arm and the accuracy of the structural parameters of the robotic arm, thereby reducing the energy required for the movement of the robotic arm and improving the stability of the movement of the robotic arm.

[0038] Embodiment 2

[0039] Figure 2 A flowchart of a method for determining the structural parameters of a surgical robot provided in the second embodiment of the present invention, the method of this embodiment can be combined with the various optional schemes in the method for determining the structural parameters of a surgical robot provided in the above embodiments. The method for determining the structural parameters of a surgical robot provided in this embodiment is further optimized. Optionally, the acquisition of the end motion rotation of the robotic arm and the end operating force of the robotic arm of the laparoscopic surgical robot includes: acquiring the robotic arm joint position, the robotic arm joint speed and the robotic arm joint torque of the laparoscopic surgical robot; determining the end motion rotation of the robotic arm based on the robotic arm joint position and the robotic arm joint speed; determining the end operating force of the robotic arm based on the robotic arm joint position and the robotic arm joint torque.

[0040] like Figure 2 As shown, the method includes:

[0041] S210, obtaining the robot arm joint position, robot arm joint speed, and robot arm joint torque of the laparoscopic surgical robot.

[0042] In the embodiment of the present invention, the robot arm joint position refers to the angle at which the robot arm joint of the laparoscopic surgical robot moves, for example, the robot arm joint position may be 10°, etc. The robot arm joint speed refers to the movement speed of the robot arm joint of the laparoscopic surgical robot, for example, the robot arm joint speed may be 10° / s. The robot arm joint torque refers to the torque required by the robot arm of the laparoscopic surgical robot on the joint.

[0043] Exemplarily, the position of the robot arm joint can be acquired by a displacement sensor, the speed of the robot arm joint can be acquired by a speed sensor, and the torque of the robot arm joint can be acquired by a torque sensor.

[0044] S220. Determine the rotation of the end motion of the robot arm based on the joint position and the joint speed of the robot arm.

[0045] In the embodiment of the present invention, the motion rotation of the end of the robot arm can be calculated according to the joint position and the joint speed of the robot arm.

[0046] Optionally, the calculation formula for determining the rotation of the end motion of the robot arm is as follows:

[0047] ;

[0048] in, represents the end motion rotation of the robot arm, represents the joint position of the robot arm, represents the robot joint speed, Represents the Jacobian matrix corresponding to the joint positions of the robot arm.

[0049] S230: Determine the end operating force of the robot arm based on the robot arm joint position and the robot arm joint torque.

[0050] In the embodiment of the present invention, the end operating force of the robot arm can be calculated according to the joint position and the joint torque of the robot arm.

[0051] Optionally, the calculation formula for determining the end-of-arm operating force is as follows:

[0052] ;

[0053] in, Represents the end-of-arm operating force, represents the joint position of the robot arm, Represents the Jacobian matrix corresponding to the joint position of the robot arm, Represents the joint torque of the robot arm.

[0054] S240. Based on the motion rotation quantity and the operating force of the end of the robotic arm of the laparoscopic surgical robot, a pre-constructed robotic arm structure optimization objective function is solved to obtain target structural parameters of the robotic arm of the laparoscopic surgical robot.

[0055] The technical solution of the embodiment of the present invention achieves accurate collection and determination of the motion rotation of the robot end and the operating force of the robot end by acquiring the robot arm joint position, robot arm joint speed and robot arm joint torque of the laparoscopic surgical robot, and then determining the robot arm terminal motion rotation according to the robot arm joint position and the robot arm joint speed, and determines the robot arm terminal operating force according to the robot arm joint position and the robot arm joint torque, thereby providing an accurate data basis for the automatic solution and optimization of the robot arm structural parameters of the laparoscopic surgical robot.

[0056] Embodiment 3

[0057] Figure 3A flowchart of a method for determining the structural parameters of a surgical robot provided in the third embodiment of the present invention, the method of this embodiment can be combined with the various optional schemes in the method for determining the structural parameters of the surgical robot provided in the above embodiments. The method for determining the structural parameters of the surgical robot provided in this embodiment is further optimized. Optionally, based on the end motion swivel of the robotic arm and the end operating force of the robotic arm of the laparoscopic surgical robot, a pre-constructed robotic arm structure optimization objective function is solved to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot, including: inputting the end motion swivel of the robotic arm and the end operating force of the robotic arm of the laparoscopic surgical robot into the pre-constructed robotic arm structure optimization objective function, solving through a preset intelligent algorithm, and obtaining the target structural parameters of the robotic arm of the laparoscopic surgical robot; wherein the preset intelligent algorithm is at least one of a genetic algorithm, a particle swarm algorithm, an ant colony algorithm, a regression algorithm, and a least squares algorithm.

[0058] like Figure 3 As shown, the method includes:

[0059] S310, obtaining the motion rotation amount and the operating force of the end of the robotic arm of the laparoscopic surgical robot.

[0060] S320. Input the end motion rotation quantity and end operating force of the robotic arm of the laparoscopic surgical robot into a pre-constructed robotic arm structure optimization objective function, and solve it through a preset intelligent algorithm to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot; wherein the preset intelligent algorithm is at least one of a genetic algorithm, a particle swarm algorithm, an ant colony algorithm, a regression algorithm and a least squares algorithm.

[0061] In an embodiment of the present invention, in order to ensure the actual physical significance and manufacturability of the mechanical arm of the laparoscopic surgical robot, the optimization range can be set for the mass, moment of inertia, center of mass position and length of the connecting rod according to the design requirements, and no specific limitation is made here. Furthermore, the end motion rotation quantity and end operating force of the mechanical arm of the laparoscopic surgical robot can be input into the pre-constructed mechanical arm structure optimization objective function, and solved by a preset intelligent algorithm to obtain the optimal connecting rod mass, moment of inertia, center of mass position and connecting rod length, so as to ensure that the mechanical arm of the laparoscopic surgical robot is executing the preset end motion rotation quantity and end operating force of the mechanical arm. When the mechanical arm is, the mechanical arm joint force / torque and its change are minimized, thereby reducing the energy required for the mechanical arm movement and improving the stability of the mechanical arm movement.

[0062] Optionally, before solving a pre-constructed robotic arm structure optimization objective function based on the motion rotation of the robotic arm end and the operating force of the robotic arm end of the laparoscopic surgical robot to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot, it also includes: establishing a dynamic model of the relationship between the robotic arm joint torque and the motion of the robotic arm end; determining the robotic arm structure optimization objective function based on the dynamic model of the relationship between the robotic arm joint torque and the motion of the robotic arm end.

[0063] It should be noted that the relationship between the joint torque of the robot and the end motion of the robot is characterized by the dynamic model, which more intuitively describes the changes in the joint torque under different motion conditions. Furthermore, the method of optimizing the structural parameters of the robot based on the dynamic model is simple and efficient, which solves the dependence of the traditional structural parameter optimization method on experience and improves the efficiency and uniformity of the optimization of the structural parameters of the robot.

[0064] Optionally, the objective function of the robot structure optimization is:

[0065] ;

[0066] ;

[0067] ;

[0068] ;

[0069] in, The dynamic model that represents the relationship between the joint torque of the robot and the motion of the robot, express The differential of Represents the mass of the connecting rod, represents the moment of inertia, represents the centroid position, Indicates the connecting rod length, represents the Jacobian matrix related to the connecting rod length, represents the inertia matrix related to the connecting rod mass, moment of inertia, center of mass position and connecting rod length, represents the force vector function, express The differential of represents the end motion rotation of the robot arm, express The differential of Indicates the end-of-arm operating force.

[0070] In the embodiment of the present invention, the force vector function may be a force vector function that combines centripetal force, Coriolis force, gravity, and friction. Specifically, Can be based on The model is transformed into, where Represents the force-torque vector at the end of the manipulator .

[0071] The technical solution of the embodiment of the present invention is solved through a preset intelligent algorithm to obtain the optimal connecting rod mass, moment of inertia, center of mass position and connecting rod length, thereby ensuring that when the robotic arm of the laparoscopic surgical robot executes the preset end motion rotation and the robotic arm end operating force, the robotic arm joint force / torque and its change are minimized, thereby reducing the energy required for the robotic arm movement and improving the smoothness of the robotic arm movement.

[0072] Embodiment 4

[0073] Figure 4 This is a schematic diagram of a device for determining structural parameters of a surgical robot provided in Embodiment 4 of the present invention. Figure 4 As shown, the device comprises:

[0074] The laparoscopic surgery robot data acquisition module 410 is used to acquire the motion rotation amount and the operating force of the end of the robotic arm of the laparoscopic surgery robot;

[0075] The target structural parameter determination module 420 is used to solve the pre-constructed mechanical arm structure optimization objective function based on the mechanical arm end motion screw and the mechanical arm end operation force of the laparoscopic surgical robot to obtain the target structural parameters of the mechanical arm of the laparoscopic surgical robot;

[0076] The target structural parameters include connecting rod mass, moment of inertia, center of mass position and connecting rod length.

[0077] The technical solution of the embodiment of the present invention obtains the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot, and then solves the pre-constructed robotic arm structure optimization objective function according to the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot, thereby obtaining the target structural parameters of the robotic arm of the laparoscopic surgical robot; wherein the target structural parameters include the mass of the connecting rod, the moment of inertia, the center of mass position and the length of the connecting rod. The above technical solution realizes the automatic solution and optimization of the structural parameters of the robotic arm of the laparoscopic surgical robot, improves the efficiency of determining the structural parameters of the robotic arm and the accuracy of the structural parameters of the robotic arm, thereby reducing the energy required for the movement of the robotic arm and improving the stability of the movement of the robotic arm.

[0078] In some optional embodiments, the laparoscopic surgery robot data acquisition module 410 includes:

[0079] A robot arm data acquisition unit, used to acquire the robot arm joint position, robot arm joint speed and robot arm joint torque of the laparoscopic surgical robot;

[0080] A robot arm end motion rotation amount determination unit, used to determine the robot arm end motion rotation amount based on the robot arm joint position and the robot arm joint speed;

[0081] The robot arm end operation force determination unit is used to determine the robot arm end operation force based on the robot arm joint position and the robot arm joint torque.

[0082] In some optional embodiments, the calculation formula for determining the rotation of the end motion of the robotic arm is as follows:

[0083] ;

[0084] in, represents the end motion rotation of the robot arm, represents the joint position of the robot arm, represents the robot joint speed, Represents the Jacobian matrix corresponding to the joint positions of the robot arm.

[0085] In some optional implementations, the calculation formula for determining the operating force at the end of the robotic arm is as follows:

[0086] ;

[0087] in, Represents the end-of-arm operating force, represents the joint position of the robot arm, Represents the Jacobian matrix corresponding to the joint position of the robot arm, Represents the joint torque of the robot arm.

[0088] In some optional implementations, the target structure parameter determination module 420 includes:

[0089] An intelligent algorithm optimization unit, used for inputting the end motion screw quantity and end operating force of the robotic arm of the laparoscopic surgical robot into a pre-constructed robotic arm structure optimization objective function, solving it through a preset intelligent algorithm, and obtaining the target structural parameters of the robotic arm of the laparoscopic surgical robot;

[0090] Wherein, the preset intelligent algorithm is at least one of a genetic algorithm, a particle swarm algorithm, an ant colony algorithm, a regression algorithm and a least squares algorithm.

[0091] In some optional embodiments, the structural parameter determination device of the surgical robot includes:

[0092] The dynamic model building module is used to build a dynamic model of the relationship between the joint torque of the robot arm and the motion of the end of the robot arm;

[0093] The module for determining the objective function of the optimization of the structure of the robot arm is used to determine the objective function of the optimization of the structure of the robot arm based on the dynamic model of the relationship between the joint torque of the robot arm and the motion of the end of the robot arm.

[0094] In some optional implementations, the mechanical arm structure optimization objective function is:

[0095] ;

[0096] ;

[0097] ;

[0098] ;

[0099] in, The dynamic model that represents the relationship between the joint torque of the robot and the motion of the robot, express The differential of Represents the mass of the connecting rod, represents the moment of inertia, represents the centroid position, Indicates the connecting rod length, represents the Jacobian matrix related to the connecting rod length, represents the inertia matrix related to the mass, moment of inertia, center of mass position and length of the connecting rod, represents the force vector function, express The differential of represents the end motion rotation of the robot arm, express The differential of Indicates the end-of-arm operating force.

[0100] The device for determining the structural parameters of a surgical robot provided in an embodiment of the present invention can execute the method for determining the structural parameters of a surgical robot provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0101] Embodiment 5

[0102] Figure 5A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0103] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The I / O interface 15 is also connected to the bus 14.

[0104] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0105] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining structural parameters of a surgical robot, which includes:

[0106] Obtain the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot;

[0107] Based on the end motion screw of the robotic arm and the end operating force of the robotic arm of the laparoscopic surgical robot, a pre-constructed robotic arm structure optimization objective function is solved to obtain target structural parameters of the robotic arm of the laparoscopic surgical robot;

[0108] The target structural parameters include connecting rod mass, moment of inertia, center of mass position and connecting rod length.

[0109] In some embodiments, the method for determining the structural parameters of the surgical robot may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the structural parameters of the surgical robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for determining the structural parameters of the surgical robot in any other appropriate manner (e.g., by means of firmware).

[0110] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0111] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0112] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0114] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0115] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0116] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0117] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining structural parameters of a laparoscopic surgical robot, characterized in that: include: Obtain the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot; Based on the motion screw of the end of the robotic arm of the laparoscopic surgical robot and the operating force of the end of the robotic arm, a pre-constructed robotic arm structure optimization objective function is solved to obtain target structural parameters of the robotic arm of the laparoscopic surgical robot; The target structural parameters include connecting rod mass, moment of inertia, center of mass position and connecting rod length.

2. The method according to claim 1, characterized in that The method of obtaining the motion rotation amount and the operating force of the end of the robotic arm of the laparoscopic surgery robot comprises: Obtain the robot arm joint position, robot arm joint speed and robot arm joint torque of the laparoscopic surgical robot; Determine the end motion rotation of the robot arm based on the robot arm joint position and the robot arm joint speed; The robot arm end operation force is determined based on the robot arm joint position and the robot arm joint torque.

3. The method according to claim 2, characterized in that The calculation formula of the motion rotation of the end of the robot arm is as follows: ； in, represents the end motion rotation of the robot arm, represents the joint position of the robot arm, represents the joint velocity of the robot arm, Represents the Jacobian matrix corresponding to the joint positions of the robotic arm.

4. The method according to claim 2, characterized in that: The calculation formula of the end operating force of the robotic arm is as follows: ； in, represents the end-operating force of the robot arm, represents the joint position of the robot arm, represents the Jacobian matrix corresponding to the joint position of the robot arm, Represents the joint torque of the robotic arm.

5. The method according to claim 1, characterized in that The method of solving a pre-constructed mechanical arm structure optimization objective function based on the mechanical arm end motion screw and the mechanical arm end operation force of the laparoscopic surgical robot to obtain the target structural parameters of the mechanical arm of the laparoscopic surgical robot includes: The motion rotation quantity and the operating force of the end of the robotic arm of the laparoscopic surgical robot are input into a pre-constructed robotic arm structure optimization objective function, and the target structural parameters of the robotic arm of the laparoscopic surgical robot are obtained by solving the problem through a preset intelligent algorithm; Wherein, the preset intelligent algorithm is at least one of a genetic algorithm, a particle swarm algorithm, an ant colony algorithm, a regression algorithm and a least squares algorithm.

6. The method according to claim 1, characterized in that Before solving the pre-constructed mechanical arm structure optimization objective function based on the mechanical arm end motion screw and the mechanical arm end operation force of the laparoscopic surgical robot to obtain the target structural parameters of the mechanical arm of the laparoscopic surgical robot, the method further includes: Establish a dynamic model of the relationship between the joint torque of the robot arm and the motion of the end of the robot arm; The objective function of optimizing the structure of the robot arm is determined based on the dynamic model of the relationship between the joint torque of the robot arm and the motion of the end of the robot arm.

7. The method according to claim 1 or 6, characterized in that: The objective function of the mechanical arm structure optimization is: ； ； ； ； in, The dynamic model that represents the relationship between the joint torque of the robot and the motion of the robot, express The differential of Represents the mass of the connecting rod, represents the moment of inertia, represents the centroid position, Indicates the connecting rod length, represents the Jacobian matrix related to the connecting rod length, represents the inertia matrix related to the connecting rod mass, moment of inertia, center of mass position and connecting rod length, represents the force vector function, express The differential of represents the end motion rotation of the robot arm, express The differential of Indicates the end-of-arm operating force.

8. A device for determining structural parameters of a surgical robot, characterized in that: include: The laparoscopic surgical robot data acquisition module is used to obtain the end motion rotation and end operating force of the robotic arm of the laparoscopic surgical robot; A target structural parameter determination module is used to solve a pre-constructed mechanical arm structure optimization objective function based on the mechanical arm end motion screw and the mechanical arm end operating force of the laparoscopic surgical robot to obtain the target structural parameters of the mechanical arm of the laparoscopic surgical robot; The target structural parameters include connecting rod mass, moment of inertia, center of mass position and connecting rod length.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the structural parameters of the surgical robot described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the structural parameters of a surgical robot according to any one of claims 1 to 7 when executed.

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