Method, device, electronic device and storage medium for determining structural parameters of surgical robot

Abstract

The present invention discloses a method, device, electronic device and storage medium for determining structural parameters of a surgical robot. The method includes: obtaining the end-effector motion screw and the end-effector operating force of a laparoscopic surgical robot; solving a pre-constructed robotic arm structure optimization objective function based on the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot; wherein the target structural parameters include link mass, moment of inertia, centroid position and link length. The above technical solution realizes the automatic solution and optimization of the structural parameters of the robotic arm of the laparoscopic surgical robot, improving the efficiency of determining the structural parameters of the robotic arm and the accuracy of the structural parameters of the robotic arm.

Description

Technical Field

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

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

[0003] Currently, due to requirements such as the working space, operating precision, and dynamic response ability of endoscopic surgical robots, the mechanical structure design of endoscopic surgical robots is particularly difficult and complex. Traditional mechanical structure design often relies on experience and the trial-and-error method, which is inefficient and difficult to achieve an optimal design, and there are problems such as low efficiency in determining the structural parameters of the robotic arm and inaccurate structural parameters of the robotic arm. Summary of the Invention

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

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

[0006] Obtaining the end-effector motion screw and the end-effector operating force of the robotic arm of the endoscopic surgical robot;

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

[0008] Wherein, the target structural parameters include link mass, moment of inertia, center of mass position, and link length.

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

[0010] An endoscopic surgical robot data acquisition module for obtaining the end-effector motion screw and the end-effector operating force of the robotic arm of the endoscopic surgical robot;

[0011] A target structural parameter determination module for solving a pre-constructed robotic arm structure optimization objective function based on the end-effector motion screw and the end-effector operating force of the robotic arm of the endoscopic surgical robot to obtain the target structural parameters of the robotic arm of the endoscopic surgical robot;

[0012] Wherein, the target structural parameters include link mass, moment of inertia, center of mass position, and link length.

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

[0014] at least one processor;

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

[0016] wherein, the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the method for determining the structural parameters of the surgical robot according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for enabling a processor to implement the method for determining the structural parameters of the surgical robot according to any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention obtains the end-effector motion screw and the end-effector operating force of the endoscopic surgical robot, and then solves the pre-constructed optimization objective function of the robotic arm structure according to the end-effector motion screw and the end-effector operating force of the endoscopic surgical robot, so as to obtain the target structural parameters of the robotic arm of the endoscopic surgical robot; wherein, the target structural parameters include link mass, moment of inertia, center-of-mass position, and link length. The above technical solution realizes the automatic solution and optimization of the structural parameters of the robotic arm of the endoscopic 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 robotic arm movement and improving the stability of the robotic arm movement.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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 will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a flowchart of a method for determining the structural parameters of a surgical robot according to Embodiment 1 of the present invention;

[0022] Figure 2It is a flowchart of a method for determining the structural parameters of a surgical robot according to Embodiment 2 of the present invention;

[0023] Figure 3 It is a flowchart of a method for determining the structural parameters of a surgical robot according to Embodiment 3 of the present invention;

[0024] Figure 4 It is a schematic structural diagram of a device for determining the structural parameters of a surgical robot according to Embodiment 4 of the present invention;

[0025] Figure 5 It is a schematic structural diagram of an electronic device for implementing the method for determining the structural parameters of the surgical robot according to the embodiments of the present invention. Detailed implementation manners

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope 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 do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solutions of this application all comply with the relevant regulations of national laws and regulations.

[0028] Embodiment 1

[0029] Figure 1 It is a flowchart of a method for determining the structural parameters of a surgical robot provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of automatic optimization of the structural parameters of the robotic arm of a laparoscopic surgical robot. This method can be executed by a device for determining the structural parameters of a surgical robot, and 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 a laparoscopic surgical robot or an electronic device such as a computer. AsFigure 1 As shown, the method includes:

[0030] S110. Obtain the end-effector motion screw and the end-effector operating force of the robotic laparoscope.

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

[0032] Exemplarily, the end-effector motion screw and the end-effector operating force of the robotic arm can be calculated through a variety of physical quantities related to the robotic laparoscope, and can also be directly collected by sensors. There is no specific limitation here.

[0033] S120. Based on the end-effector motion screw and the end-effector operating force of the robotic laparoscope, solve the pre-constructed optimization objective function of the robotic arm structure to obtain the target structural parameters of the robotic arm of the robotic laparoscope.

[0034] In the embodiments of the present invention, the optimization objective function of the robotic arm structure refers to a function used to analyze the advantages and disadvantages of different design schemes during the design and optimization of the robotic arm structure.

[0035] Exemplarily, the optimization objective function of the robotic arm structure can be determined according to the dynamic model of the relationship between the joint torque of the robotic arm and the motion of the robotic arm, and can also use a machine learning model to learn the relationship between the historical end-effector motion screw, the historical end-effector operating force and the structural parameters of the robotic arm to obtain the optimization objective function of the robotic arm structure. There is no specific limitation here.

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

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

[0038] Embodiment 2

[0039] Figure 2 FIG. is a flowchart of a method for determining the structural parameters of a surgical robot provided in Embodiment 2 of the present invention. The method of this embodiment can be combined with each optional solution in the method for determining the structural parameters of the surgical robot provided in the above embodiment. The method for determining the structural parameters of the surgical robot provided in this embodiment is further optimized. Optionally, the obtaining of the end motion screw and the end operating force of the robotic arm of the endoscopic surgical robot includes: obtaining the robotic arm joint positions, robotic arm joint velocities, and robotic arm joint torques of the endoscopic surgical robot; determining the end motion screw of the robotic arm based on the robotic arm joint positions and the robotic arm joint velocities; and determining the end operating force of the robotic arm based on the robotic arm joint positions and the robotic arm joint torques.

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

[0041] S210. Obtain the robotic arm joint positions, robotic arm joint velocities, and robotic arm joint torques of the endoscopic surgical robot.

[0042] In the embodiment of the present invention, the robotic arm joint position refers to the angle at which the robotic arm joint of the endoscopic surgical robot moves. For example, the robotic arm joint position can be 10° or the like. The robotic arm joint velocity refers to the movement speed of the robotic arm joint of the endoscopic surgical robot. For example, the robotic arm joint velocity can be 10° / s. The robotic arm joint torque refers to the magnitude of the torque required by the robotic arm of the endoscopic surgical robot at the joint.

[0043] Exemplarily, the robotic arm joint positions can be collected by a displacement sensor, the robotic arm joint velocities can be collected by a velocity sensor, and the robotic arm joint torques can be collected by a torque sensor.

[0044] S220. Determine the end motion screw of the robotic arm based on the robotic arm joint positions and the robotic arm joint velocities.

[0045] In an embodiment of the present invention, the end-effector motion screw of the robotic arm can be calculated based on the robotic arm joint positions and the robotic arm joint velocities.

[0046] Optionally, the formula for determining the end-effector motion screw of the robotic arm is as follows:

[0047] ;

[0048] where, represents the end-effector motion screw of the robotic arm, represents the robotic arm joint positions, represents the robotic arm joint velocities, represents the Jacobian matrix corresponding to the robotic arm joint positions.

[0049] S230. Determine the end-effector operating force of the robotic arm based on the robotic arm joint positions and the robotic arm joint torques.

[0050] In an embodiment of the present invention, the end-effector operating force of the robotic arm can be calculated based on the robotic arm joint positions and the robotic arm joint torques.

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

[0052] ;

[0053] where, represents the end-effector operating force of the robotic arm, represents the robotic arm joint positions, represents the Jacobian matrix corresponding to the robotic arm joint positions, represents the robotic arm joint torques.

[0054] S240. Solve the pre-constructed robotic arm structure optimization objective function based on the end-effector motion screw and the end-effector operating force of the robotic arm of the endoscopic surgical robot to obtain the target structural parameters of the robotic arm of the endoscopic surgical robot.

[0055] The technical solution of the embodiment of the present invention realizes the accurate acquisition and determination of the end-effector motion screw and the end-effector operating force of the robotic arm by obtaining the robotic arm joint positions, the robotic arm joint velocities, and the robotic arm joint torques of the endoscopic surgical robot, and provides an accurate data basis for the automatic solution and optimization of the structural parameters of the robotic arm of the endoscopic surgical robot.

[0056] Embodiment III

[0057] Figure 3The flowchart of a method for determining the structural parameters of a surgical robot provided in Embodiment 3 of the present invention. The method of this embodiment can be combined with each optional solution in the method for determining the structural parameters of the surgical robot provided in the above embodiment. The method for determining the structural parameters of the surgical robot provided in this embodiment is further optimized. Optionally, based on the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot, solve the pre-constructed optimization objective function of the robotic arm structure to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot, including: inputting the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot into the pre-constructed optimization objective function of the robotic arm structure, and solving 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.

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

[0059] S310. Obtain the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot.

[0060] S320. Input the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot into the pre-constructed optimization objective function of the robotic arm structure, and solve 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 the embodiment of the present invention, to ensure the actual physical meaning and manufacturability of the robotic arm of the laparoscopic surgical robot, the optimization ranges of the link mass, moment of inertia, centroid position, and link length can be set according to the design requirements, which are not specifically limited here. Further, the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot can be input into the pre-constructed optimization objective function of the robotic arm structure, and solved through a preset intelligent algorithm to obtain the optimal link mass, moment of inertia, centroid position, and link length, so as to ensure that when the robotic arm of the laparoscopic surgical robot executes the preset end-effector motion screw and the end-effector operating force, the joint force / moment of the robotic arm and its change amount are minimized, thereby reducing the energy required for the robotic arm to move and improving the smoothness of the robotic arm movement.

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

[0063] It should be noted that characterizing the relationship between the robotic arm joint torque and the end-effector motion through the dynamic model more intuitively describes the variation of the joint torque under different motion conditions. Further, the method of optimizing the robotic arm structural parameters based on the dynamic model is simple and efficient, solves the dependence on experience of the traditional structural parameter optimization method, and improves the efficiency and uniformity of the robotic arm structural parameter optimization.

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

[0065] ;

[0066] ;

[0067] ;

[0068] ;

[0069] Wherein, represents the dynamic model of the relationship between the robotic arm joint torque and the robotic arm motion, represents the differential of, represents the link mass, represents the moment of inertia, represents the center of mass position, represents the link length, represents the Jacobian matrix related to the link length, represents the inertia matrix related to the link mass, moment of inertia, center of mass position, and link length, represents the force vector function, represents the differential of, represents the end-effector motion screw, represents the differential of, represents the end-effector operating force.

[0070] In the embodiments of the present invention, the force vector function can be a force vector function that combines centripetal force, Coriolis force, gravity, friction force, etc. Specifically, can be based on Obtained through model conversion, where represents the end-effector force-torque vector of the robotic arm .

[0071] The technical solution of the embodiment of the present invention is solved by a preset intelligent algorithm to obtain the optimal link mass, moment of inertia, centroid position, and link length, so as to ensure that when the robotic arm of the endoscopic surgical robot executes the preset end-effector twist and the end-effector operating force of the robotic arm, the joint force / moment of the robotic arm and its change amount are minimized, thereby reducing the energy required for the robotic arm movement and improving the smoothness of the robotic arm movement.

[0072] Embodiment Four

[0073] Figure 4 is a schematic structural diagram of a structural parameter determination device for a surgical robot provided in Embodiment Four of the present invention. As Figure 4 shown, the device includes:

[0074] An endoscopic surgical robot data acquisition module 410, configured to acquire the end-effector twist of the robotic arm of the endoscopic surgical robot and the end-effector operating force of the robotic arm;

[0075] A target structural parameter determination module 420, configured to solve a pre-constructed robotic arm structure optimization objective function based on the end-effector twist of the robotic arm of the endoscopic surgical robot and the end-effector operating force, to obtain the target structural parameters of the robotic arm of the endoscopic surgical robot;

[0076] wherein, the target structural parameters include link mass, moment of inertia, centroid position, and link length.

[0077] The technical solution of the embodiment of the present invention obtains the end-effector twist of the robotic arm of the endoscopic surgical robot and the end-effector operating force, and then solves a pre-constructed robotic arm structure optimization objective function according to the end-effector twist of the robotic arm of the endoscopic surgical robot and the end-effector operating force, to obtain the target structural parameters of the robotic arm of the endoscopic surgical robot; wherein, the target structural parameters include link mass, moment of inertia, centroid position, and link length. The above technical solution realizes the automatic solution and optimization of the structural parameters of the robotic arm of the endoscopic 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 robotic arm movement and improving the stability of the robotic arm movement.

[0078] In some alternative embodiments, the endoscopic surgical robot data acquisition module 410 includes:

[0079] A robotic arm data acquisition unit, configured to acquire the robotic arm joint positions, robotic arm joint velocities, and robotic arm joint torques of the endoscopic surgical robot;

[0080] The end - effector motion screw determination unit is used to determine the end - effector motion screw of the robotic arm based on the joint positions and joint velocities of the robotic arm;

[0081] The end - effector operating force determination unit is used to determine the end - effector operating force of the robotic arm based on the joint positions and joint torques of the robotic arm.

[0082] In some alternative embodiments, the calculation formula for determining the end - effector motion screw of the robotic arm is as follows:

[0083] ;

[0084] where, represents the end - effector motion screw, represents the joint positions of the robotic arm, represents the joint velocities of the robotic arm, represents the Jacobian matrix corresponding to the joint positions of the robotic arm.

[0085] In some alternative embodiments, the calculation formula for determining the end - effector operating force of the robotic arm is as follows:

[0086] ;

[0087] where, represents the end - effector operating force, represents the joint positions of the robotic arm, represents the Jacobian matrix corresponding to the joint positions of the robotic arm, represents the joint torques of the robotic arm.

[0088] In some alternative embodiments, the target structural parameter determination module 420 includes:

[0089] The intelligent algorithm optimization unit is used to input the end - effector motion screw and end - effector 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;

[0090] where, 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 alternative embodiments, the structural parameter determination device of the surgical robot includes:

[0092] The dynamic model establishment module is used to establish a dynamic model of the relationship between the joint torques of the robotic arm and the end - effector motion;

[0093] The robotic arm structure optimization objective function determination module is used to determine the robotic arm structure optimization objective function based on the dynamic model of the relationship between the robotic arm joint torque and the movement of the robotic arm end.

[0094] In some alternative embodiments, the robotic arm structure optimization objective function is:

[0095] ;

[0096] ;

[0097] ;

[0098] ;

[0099] Wherein, represents the dynamic model of the relationship between the robotic arm joint torque and the robotic arm movement, represents the differential of, represents the link mass, represents the moment of inertia, represents the centroid position, represents the link length, represents the Jacobian matrix related to the link length, represents the inertia matrix related to the link mass, moment of inertia, centroid position, and link length, represents the force vector function, represents the differential of, represents the robotic arm end movement screw, represents the differential of, represents the robotic arm end operating force.

[0100] The structure parameter determination device of the surgical robot provided by the embodiments of the present invention can execute the structure parameter determination method of the surgical robot provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0101] Embodiment 5

[0102] Figure 5The structural schematic diagram of the electronic device 10 that can be used to implement the embodiments 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 only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0103] As Figure 5 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. 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 into 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] Multiple 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 disc, 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 can be various general-purpose and / or special-purpose 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 dedicated 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 the method for determining the structural parameters of a surgical robot, which includes:

[0106] Obtaining the end-effector motion screw and the end-effector operating force of the robotic arm of the laparoscopic surgical robot;

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

[0108] Wherein, the target structural parameters include link mass, moment of inertia, centroid position, and link length.

[0109] In some embodiments, the method for determining the structural parameters of the surgical robot can be implemented as a computer program, which is tangibly included in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into 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 can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for determining the structural parameters of the surgical robot by any other suitable means (e.g., by means of firmware).

[0110] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs, the one or more computer programs can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0111] The computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing devices, such that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0112] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] In order to provide interaction with a user, the systems and techniques described herein can 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 a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0114] The systems and techniques described herein can 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 having a graphical user interface or a web browser through which the user can interact with an implementation 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 can 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 far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0116] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0117] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for determining the structural parameters of a laparoscopic surgical robot, characterized in that, Including: Obtaining the end-effector motion screw and the end-effector operating force of a laparoscopic surgical robot, where the end-effector motion screw refers to the screw used to describe the motion state of the end-effector of the robotic arm in space; the end-effector operating force refers to the force generated by the interaction between the end-effector of the robotic arm and the external environment or workpiece when the robotic arm performs an operation task; Based on the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot, solving the pre-constructed optimization objective function of the robotic arm structure to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot; Wherein, the target structural parameters include link mass, moment of inertia, centroid position, and link length, and the optimization objective function of the robotic arm structure is: ； ； ； ； Among them, represents the dynamic model of the relationship between the joint torque of the robotic arm and the motion of the robotic arm, represents the differential of, represents the link mass, represents the moment of inertia, represents the center of mass position, represents the link length, represents the Jacobian matrix related to the link length, represents the inertia matrix related to the link mass, moment of inertia, center of mass position, and link length, represents the force vector function, represents the differential of, represents the end-effector motion screw of the robotic arm, represents the differential of, represents the end-effector operating force of the robotic arm.

2. The method according to claim 1, characterized in that, The obtaining the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot includes: Obtaining the joint positions, joint velocities, and joint torques of the robotic arm of the laparoscopic surgical robot; Determining the end-effector motion screw based on the joint positions and joint velocities of the robotic arm; Determining the end-effector operating force based on the joint positions and joint torques of the robotic arm.

3. The method according to claim 2, characterized in that, The calculation formula of the end-effector motion screw is as follows: ； Among them, represents the end-effector motion screw of the robotic arm, represents the joint position of the robotic arm, represents the joint velocity of the robotic arm, represents the Jacobian matrix corresponding to the joint position of the robotic arm.

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

5. The method according to claim 1, wherein The solving the pre-constructed optimization objective function of the robotic arm structure based on the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot includes: Inputting the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot into the pre-constructed optimization objective function of the robotic arm structure, and solving 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.

6. The method according to claim 1, wherein Before the solving the pre-constructed optimization objective function of the robotic arm structure based on the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot to obtain the target structural parameters of the robotic arm of the laparoscopic surgical robot, it further includes: Establishing a dynamic model of the relationship between the joint torque of the robotic arm and the end-effector motion; Determining the optimization objective function of the robotic arm structure based on the dynamic model of the relationship between the joint torque of the robotic arm and the end-effector motion.

7. A device for determining the structural parameters of a surgical robot, characterized in that Including: A data acquisition module for a laparoscopic surgical robot, configured to obtain the end-effector motion screw and the end-effector operating force of the laparoscopic surgical robot, where the end-effector motion screw refers to the screw used to describe the motion state of the end-effector of the robotic arm in space; the end-effector operating force refers to the force generated by the interaction between the end-effector of the robotic arm and the external environment or workpiece when the robotic arm performs an operation task; A target structure parameter determination module, configured to solve an optimization objective function of a robotic arm structure constructed in advance based on the end motion screw and the end operating force of the robotic arm of the endoscopic surgical robot, so as to obtain target structure parameters of the robotic arm of the endoscopic surgical robot; Wherein, the target structure parameters include link mass, moment of inertia, centroid position and link length, and the optimization objective function of the robotic arm structure is: ； ； ； ； Among them, represents the dynamic model of the relationship between the joint torque of the robotic arm and the motion of the robotic arm, represents the differential of represents the link mass, represents the moment of inertia, represents the position of the center of mass, represents the link length, represents the Jacobian matrix related to the link length, represents the inertia matrix related to the link mass, moment of inertia, position of the center of mass, and link length, represents the force vector function, represents the differential of represents the end-effector twist of the robotic arm, represents the differential of represents the end-effector operating force of the robotic arm.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; And a memory communicatively connected 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 according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the method for determining the structural parameters of the surgical robot according to any one of claims 1-6 when executed by a processor.

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