Control methods, systems, devices, and computer equipment for surgical robots

Abstract

This application relates to a control method, system, device, and computer equipment for a surgical robot. The method includes: acquiring a first pose of a surgical cannula placed within a region of interest; determining the cannula's movement space based on the first pose and the cannula's attribute information; and then controlling the end effector of a robotic arm in the surgical robot to move into the cannula's movement space for docking with the surgical cannula. This method simplifies operational complexity.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a control method, system, device, and computer equipment for a surgical robot. Background Technology

[0002] With advancements in robotics technology, surgical robots are increasingly being used in minimally invasive surgeries. Before surgery, the robotic arm of the surgical robot needs to dock with the surgical cannula inside the patient's body.

[0003] However, currently, before surgery, medical staff need to adjust the surgical cannula with one hand and the robotic arm with the other, working together to dock the robotic arm with the surgical cannula. Therefore, the current control method for surgical robots suffers from operational complexity. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method, system, device, and computer equipment for surgical robots that can simplify operational complexity in order to address the aforementioned technical problems.

[0005] In a first aspect, this application provides a method for controlling a surgical robot, including:

[0006] Obtain the first position of the surgical cannula placed within the region of interest;

[0007] Based on the first pose and the attribute information of the surgical cannula, determine the cannula's movement space corresponding to the surgical cannula;

[0008] The end effector of the robotic arm in the surgical robot is controlled to move into the cannula's movement space to dock with the surgical cannula.

[0009] In one embodiment, controlling the end effector of the robotic arm in the surgical robot to move into the cannula's movement space includes:

[0010] Determine candidate points in the casing's working space;

[0011] Determine the target point from the candidate points;

[0012] The robotic arm is moved according to the pose of the target point so that the end effector of the robotic arm moves to the sleeve's working space.

[0013] In one embodiment, determining candidate points in the sleeve's active space includes:

[0014] Based on the pose of each point in the sleeve's working space, the inverse kinematics of the robotic arm are calculated.

[0015] Points in the space where there is an inverse solution are selected as candidate points.

[0016] In one embodiment, controlling the movement of the robotic arm based on the pose of the target point includes:

[0017] The robot arm is inversely kinematically calculated based on the pose of the target point in order to determine the target angle of each joint in the robot arm.

[0018] The movement of the robotic arm is controlled based on the target angle and current angle of each joint in the robotic arm.

[0019] In one embodiment, the sleeve movement space includes a conical space with the sleeve position corresponding to the first pose as the vertex.

[0020] In one embodiment, obtaining the first pose of the surgical cannula placed within the region of interest includes:

[0021] The second pose of the surgical cannula in the first coordinate system corresponding to the sensor is obtained through the sensor.

[0022] The first pose is determined based on the coordinate transformation relationship and the second pose. The coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot. The first pose is the pose of the surgical cannula in the second coordinate system.

[0023] In one embodiment, the method further includes:

[0024] With the end effector of the robotic arm docked with the surgical cannula, the third position of the surgical cannula is determined;

[0025] In response to a dragging operation on a target joint in the robotic arm, the current angle of the target joint is determined; the target joint is the joint in the robotic arm used to adjust the position of the robotic arm.

[0026] The robotic arm's movement is controlled based on the current angle of the target joint and the third pose.

[0027] Secondly, this application also provides a control system for a surgical robot, including a surgical robot, a computer device, and a sensing component disposed on the surgical robot;

[0028] The sensing component is used to acquire the first pose of the surgical cannula placed in the region of interest;

[0029] Computer equipment is used to determine the cannula's movement space based on the first pose and the cannula's attribute information, and to control the end effector of the robotic arm in the surgical robot to move into the cannula's movement space to dock with the surgical cannula.

[0030] In one embodiment, the sensing component includes a support arm and a sensor; a first end of the support arm is connected to the surgical robot, and a sensor is disposed at a second end of the support arm.

[0031] In one embodiment, the sensing component is retractably connected to the surgical robot.

[0032] Thirdly, this application also provides a control device for a surgical robot, comprising:

[0033] The acquisition module is used to acquire the first pose of the surgical cannula placed within the region of interest;

[0034] The first determining module is used to determine the cannula's movement space corresponding to the surgical cannula based on the first pose and the attribute information of the surgical cannula.

[0035] The first control module is used to control the end effector of the robotic arm in the surgical robot to move into the cannula's working space so as to dock with the surgical cannula.

[0036] Fourthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above methods.

[0037] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above methods.

[0038] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods.

[0039] The aforementioned control method, system, device, and computer equipment for the surgical robot acquire the first pose of a surgical cannula placed within the region of interest, and determine the corresponding cannula's active space based on the first pose and the cannula's attribute information. Then, the end effector of the robotic arm in the surgical robot can be controlled to move into the cannula's active space. Since the robotic arm can automatically move into the cannula's active space, it can easily dock with the surgical cannula. In this process, medical personnel do not need to adjust the surgical cannula with one hand and the robotic arm with the other to move the robotic arm into the cannula's active space for docking; therefore, the method provided in this embodiment simplifies operational complexity. Furthermore, by reducing reliance on medical personnel, the control efficiency and intelligence of the surgical robot can also be improved. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is an application environment diagram of the control method for the surgical robot in the embodiments of this application;

[0042] Figure 2 This is a flowchart illustrating the control method of the surgical robot in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of the process of controlling a surgical robot in the prior art;

[0044] Figure 4 This is a schematic diagram illustrating the process of controlling the surgical robot in an embodiment of this application;

[0045] Figure 5 This is a schematic diagram of a process for controlling a surgical robot according to an embodiment of this application;

[0046] Figure 6 This is a schematic diagram of a process for determining candidate points in an embodiment of this application;

[0047] Figure 7 This is a schematic diagram of a process for controlling the movement of a robotic arm in an embodiment of this application;

[0048] Figure 8 This is a schematic diagram of the sleeve's movable space in an embodiment of this application;

[0049] Figure 9 This is a schematic diagram of a process for obtaining the first pose in an embodiment of this application;

[0050] Figure 10 This is a schematic diagram of another process for controlling the movement of a robotic arm in an embodiment of this application;

[0051] Figure 11 This is a schematic diagram illustrating the principle of a control method for a surgical robot according to an embodiment of this application;

[0052] Figure 12 This is a flowchart illustrating a control method for a surgical robot according to an embodiment of this application.

[0053] Figure 13 This is a schematic diagram of the control system of a surgical robot according to an embodiment of this application;

[0054] Figure 14This is a schematic diagram of the structure of a surgical robot according to an embodiment of this application;

[0055] Figure 15 This is a schematic diagram of the structure of an adjustment mechanism in an embodiment of this application;

[0056] Figure 16 This is a schematic diagram of the structure of a telecentric mechanism in an embodiment of this application;

[0057] Figure 17 This is a schematic diagram of a sensing component in an embodiment of this application;

[0058] Figure 18 This is a structural block diagram of the control and adjustment device for the surgical robot in the embodiments of this application;

[0059] Figure 19 This is a diagram showing the internal structure of a computer device in an embodiment of this application. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] Figure 1 This diagram illustrates the application environment of the control method for the surgical robot in this embodiment. The surgical robot 102 is communicatively connected to a computer device 103 and is used to perform surgery on a patient on an operating table 101. The surgical robot 102 includes multiple robotic arms, each of which includes at least one joint.

[0062] Taking abdominal surgery as an example, the robotic arm can be divided into a scope-holding arm and a surgical instrument-holding arm according to its actual operational purpose. The scope-holding arm is used to connect the endoscope, and the surgical instrument-holding arm is used to connect the surgical instruments. In other words, in abdominal surgery, the surgical robot 102 includes at least one surgical instrument-holding arm and one scope-holding arm.

[0063] like Figure 1 As shown, the computer device 103 can be independently installed outside the surgical robot 102, and includes, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices, such as smartwatches, smart bracelets, and head-mounted devices. In some embodiments, the computer device 103 can also be implemented using a standalone server or a server cluster consisting of multiple servers.

[0064] In some embodiments, the computer device 103 may also be disposed inside the surgical robot 102. For example, the computer device 103 may also be a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or other programmable logic devices.

[0065] Please continue to refer to Figure 1 In some embodiments, the computer device 103 may include a main control console 1031 and a vision system 1032. Medical personnel can control the surgical robot 102 by operating the main control console 1031 to perform surgery. The vision system 1032 is used to provide feedback on images during the surgical process.

[0066] Figure 2 This is a flowchart illustrating the control method of the surgical robot in an embodiment of this application. In one exemplary embodiment, such as... Figure 2 As shown, a control method for a surgical robot is provided, which is applied to... Figure 1 The following explanation uses computer equipment as an example, including the following steps S201 to S203.

[0067] S201, Obtain the first position of the surgical cannula placed within the region of interest.

[0068] In this embodiment, the region of interest (ROI) refers to the patient's surgical area, such as the abdominal cavity. Before performing surgery using a surgical robot, medical personnel need to place the surgical cannula within the ROI. The computer then acquires the first pose of the surgical cannula; therefore, the first pose of the surgical cannula is the pose of the cannula within the ROI. To minimize the impact on the ROI, the first pose should remain stationary. Therefore, determining the first pose is equivalent to determining the fixed point during the surgical procedure; the fixed point can also be called the telecentric point.

[0069] Optionally, the computer device can acquire the first pose using sensors mounted on the surgical cannula, or it can acquire the first pose using sensors mounted on the surgical robot. These sensors include, but are not limited to, vision sensors, position sensors, attitude sensors, and magnetic field sensors. In the case of a magnetic field sensor, the surgical cannula contains magnetic material.

[0070] It should be noted that there can be multiple surgical cannulas. Taking laparoscopic surgery as an example, typically four robotic arms are connected to corresponding surgical cannulas. For instance, the end of the endoscope-holding arm is connected to the surgical cannulas corresponding to the endoscope, and the end of the surgical instrument-holding arm is connected to the surgical cannulas corresponding to the surgical instruments. When there are multiple surgical cannulas, the computer device will obtain the first pose corresponding to each surgical cannulas. It should be noted that in some embodiments, the number of cannulas is consistent with the number of robotic arms.

[0071] S202, Based on the first pose and the attribute information of the surgical cannula, determine the cannula's movement space.

[0072] Even before the robotic arm is connected to the surgical cannula before surgery, the cannula remains movable despite being placed within the region of interest. The cannula's movable space characterizes its operational space, and can include the set of spatial coordinates reachable by the cannula's end. This movable space can be of any spatial shape, such as a cone or a sphere.

[0073] The attribute information of the surgical cannula is used to characterize the size and shape of the surgical cannula, including but not limited to the length and material of the surgical cannula. This attribute information can be pre-stored in a computer device, information obtained by the computer device from other electronic devices when calculating the cannula's movement space, or information determined by the computer device in response to input operations from medical personnel.

[0074] Furthermore, the computer equipment can determine the corresponding cannula's movement space based on the initial pose and the cannula's attribute information. For example, after medical staff input the length and material of the surgical cannula, the computer equipment will determine the degree of bendability of the surgical cannula based on its material, and determine the spherical space that the surgical cannula can reach while the initial pose remains unchanged, as the cannula's movement space, based on the length of the surgical cannula and the initial pose.

[0075] S203 controls the end effector of the robotic arm in the surgical robot to move into the cannula's movement space to dock with the surgical cannula.

[0076] In this embodiment, after the computer device determines the first pose and the attribute information of the surgical cannula, it can control the end effector of the robotic arm in the surgical robot to move into the cannula's active space. Optionally, the computer device can arbitrarily select a spatial point in the cannula's active space, perform inverse kinematics calculations on the robotic arm based on the pose corresponding to that spatial point, and determine the robotic arm's motion strategy based on the results of the inverse kinematics calculations, so as to control the robotic arm's movement according to the motion strategy.

[0077] Once the end effector of the robotic arm moves into the cannula's working space, the robotic arm can dock with the surgical cannula. The process of docking the robotic arm with the surgical cannula is also the process of connecting the end effector of the robotic arm with the surgical cannula.

[0078] After the end effector of the robotic arm moves into the cannula's working space, medical staff can manually connect the end effector of the robotic arm to the surgical cannula. During this process, medical staff only need to adjust the surgical cannula to complete the docking between the robotic arm and the surgical cannula. It does not require medical staff to use both hands and eyes to complete the docking, and it greatly reduces the dependence on the drag performance of the surgical robot, effectively improving the efficiency of preoperative docking.

[0079] In some embodiments, a connecting mechanism may be provided in at least one of the end effector of the robotic arm and the surgical cannula, so that after the end effector of the robotic arm moves into the movement space of the cannula, the connection mechanism can be used to dock the end effector of the robotic arm with the surgical cannula.

[0080] Figure 3 This is a schematic diagram of the process of controlling a surgical robot in the prior art. In the prior art, such as... Figure 3 As indicated by the arrow in (a), before surgery, after the medical staff places the surgical cannula 303 in the patient's (302) region of interest, they adjust the surgical cannula with one hand and the robotic arm 301 with the other to achieve the desired effect. Figure 3 (b) The effect of connecting the end of the robotic arm 301 to the surgical cannula 303.

[0081] However, Figure 3 The method of docking the robotic arm with the surgical cannula using a two-handed approach has several drawbacks. First, it is relatively complex for medical staff. In some applications, they often need to manually adjust the robotic arm to a suitable position after docking, which is quite difficult. Second, this docking method relies heavily on the experience of medical staff, resulting in lower control efficiency and intelligence.

[0082] Figure 4 This is a schematic diagram illustrating the process of controlling the surgical robot in an embodiment of this application. In the control method provided in this embodiment, as shown... Figure 4 As shown in (a), after the medical staff places the surgical cannula 303 in the region of interest of the patient 302, the computer device can acquire the first pose of the surgical cannula 303. Then, as shown in (b), the computer device will determine the cannula's movement space corresponding to the surgical cannula 303 based on the first pose and the attribute information of the surgical cannula 303, and control the end effector of the robotic arm 301 to move into the cannula's movement space. After the end effector of the robotic arm 301 moves into the cannula's movement space, the robotic arm 301 can dock with the surgical cannula 303. Figure 4(c) shows the effect after the end of the robotic arm 301 is connected to the surgical cannula 303.

[0083] In the aforementioned control method for the surgical robot, the first pose of the surgical cannula placed within the region of interest is acquired, and the cannula's movement space is determined based on the first pose and the cannula's attribute information. Then, the end effector of the robotic arm in the surgical robot can be controlled to move into the cannula's movement space. Since the robotic arm can automatically move into the cannula's movement space, it can easily dock with the surgical cannula. In this process, medical personnel do not need to adjust the surgical cannula with one hand and the robotic arm with the other to move the robotic arm into the cannula's movement space for docking; therefore, the method provided in this embodiment simplifies operational complexity. Furthermore, by reducing reliance on medical personnel, the control efficiency and intelligence of the surgical robot can also be improved.

[0084] Figure 5 This is a schematic diagram of a process for controlling a surgical robot according to an embodiment of this application. In an exemplary embodiment, such as... Figure 5 As shown, S203 includes S501 to S503.

[0085] S501, determine the candidate points in the casing's moving space.

[0086] In this embodiment, the computer device can use all spatial points in the sleeve's active space as candidate points, or it can select candidate points after filtering all spatial points in the sleeve's active space. For example, the computer device can use spatial points located in a preset area within the sleeve's active space as candidate points.

[0087] S502, determine the target point from the candidate points.

[0088] In this embodiment, the computer device can randomly select one from the candidate points as the target point; it can also predict the arm spacing between adjacent robotic arms when the end of the robotic arm moves to the candidate point based on the candidate point prediction, and select the candidate point with the largest arm spacing as the target point; the computer device can also display the candidate points and determine the target point from the candidate points in response to the selection operation of the medical staff. This embodiment is not limited to this.

[0089] S503 controls the movement of the robotic arm according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's working space.

[0090] In this embodiment, the process of controlling the end effector of the robotic arm to move to the sleeve's working space is also the process of controlling the end effector of the robotic arm to reach the target point. In other words, the pose corresponding to the target point is also the pose of the end effector of the robotic arm after movement. Therefore, after determining the target point, the computer device can control the movement of the robotic arm according to the pose of the target point, thereby moving the end effector of the robotic arm to the sleeve's working space.

[0091] Optionally, the computer device can input the pose of the target point into a trained control model, which then determines the motion strategy of the robotic arm and controls its movement accordingly. The control model can be a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), or other deep learning networks, machine learning networks, etc.

[0092] In this embodiment, after determining the candidate points in the sleeve's active space, the target point is determined from the candidate points. Therefore, during the process of controlling the movement of the robotic arm according to the pose of the target point, the end effector of the robotic arm can be moved to the sleeve's active space efficiently and accurately.

[0093] Figure 6 This is a schematic diagram of a process for determining candidate points in an embodiment of this application. In an exemplary embodiment, such as... Figure 6 As shown, S501 includes S601 to S602.

[0094] S601 performs inverse kinematics calculations on the robotic arm based on the poses of each spatial point in the sleeve's active space.

[0095] In this embodiment, when the computer device needs to determine candidate points, it can first perform inverse kinematics calculations on the robotic arm based on the poses of each spatial point in the sleeve's moving space. Specifically, the computer device can traverse the sleeve's moving space according to a preset step size to determine each spatial point.

[0096] Assuming the sleeve's active space includes 100 spatial points 1 to 100, the computer device performs inverse kinematics calculations on the robotic arm based on the pose 1 of spatial point 1, the pose 2 of spatial point 2, the pose 3 of spatial point 3, ..., the pose 100 of spatial point 100.

[0097] S602, select spatial points with inverse solutions as candidate points.

[0098] In this embodiment, performing inverse kinematics calculations on the robotic arm will yield two results: either an inverse kinematics solution exists, or no inverse kinematics solution exists. The existence of an inverse kinematics solution indicates that the end effector of the robotic arm can be controlled to move to the corresponding spatial point. Therefore, the computer device will consider spatial points with inverse kinematics solutions as candidate points.

[0099] Continuing with the example above, if there is no inverse kinematics solution when performing inverse kinematics calculation on the robot arm based on pose 1, the computer device can delete spatial point 1; if there is an inverse kinematics solution when performing inverse kinematics calculation on the robot arm based on pose 2, the computer device can retain spatial point 2, and so on. The spatial points that are retained and have inverse kinematics solutions are then used as candidate points.

[0100] In this embodiment, the robot arm is inversely kinematically calculated based on the pose of each spatial point in the sleeve's moving space, and spatial points with inverse solutions are used as candidate points. Therefore, the determined candidate points can all control the movement of the robot arm, thereby improving the accuracy of the target point.

[0101] Figure 7 This is a schematic diagram of a process for controlling the movement of a robotic arm according to an embodiment of this application. In an exemplary embodiment, such as... Figure 7 As shown, S503 includes S701 to S702.

[0102] S701 performs inverse kinematics calculations on the robotic arm based on the pose of the target point to determine the target angles of each joint in the robotic arm.

[0103] Optionally, the robotic arm may include an adjustment mechanism and a telecentric mechanism. Since the main function of the adjustment mechanism is to ensure the position of the fixed point of the telecentric mechanism, each joint of the robotic arm is also a joint of the adjustment mechanism. The fixed point of the telecentric mechanism is the end effector of the robotic arm. Assuming that the adjustment mechanism in robotic arm i includes joints 5, 6, 7, and 8, and the end effector pose of robotic arm i is denoted as P. i The current angles of joints 5, 6, 7, and 8 are denoted as θ. i5 ,θ i6 ,θ i7 and θ i8 Then P i With θ i5 ,θ i6 ,θ i7 and θ i8 It satisfies the following relation (1).

[0104] P i =f1(θ) i5 ,θ i6 ,θ i7 ,θ i8 (1)

[0105] The pose of the target point is also the final end effector pose of the robotic arm. Therefore, the computer equipment performs inverse kinematics calculations on the robotic arm based on the target point pose. It can be understood that, given an inverse kinematics solution, the solution represents the target angles of each joint in the robotic arm. The target angles indicate the angles of each joint after the end effector has moved into the sleeve's working space.

[0106] For example, assuming that the robotic arm 1 of the surgical robot includes joints 5, 6, 7 and 8, the pose of the target point of the computer device is used to perform inverse kinematics calculation on the robotic arm 1. If the inverse solution exists, the target angles of joints 5, 6, 7 and 8 in the robotic arm 1 can be determined.

[0107] S702 controls the movement of the robotic arm based on the target angle and current angle of each joint in the robotic arm.

[0108] In this embodiment, the computer device can obtain the current angle of each joint in the robotic arm. Optionally, the current angle of each joint in the robotic arm can be obtained through sensors. Then, the computer device can control the movement of the robotic arm based on the target angle and the current angle of each joint.

[0109] Optionally, the computer device can determine the first motion sequence of the robotic arm based on the target angle and current angle of each joint in the robotic arm. The first motion sequence can indicate the motion trajectory of each joint in the robotic arm. Taking joint 5 of robotic arm 1 as an example, the motion sequence of robotic arm 1 can include the expected angle 1 of joint 5 at time 1, the expected angle 2 at time 2, the expected angle 3 at time 3, ..., the expected angle t at time t. t is an integer greater than or equal to 1.

[0110] Then, the computer device can control the movement of the robotic arm according to the first motion sequence, so that the end effector of the robotic arm moves to the sleeve's working space. For example, taking joint 5 of robotic arm 1 as an example, the computer device can give a drive signal to joint 5 of robotic arm 1 at each moment according to the first motion sequence of robotic arm 1 and the current angle of joint 5 in robotic arm 1 at each moment, so that the actual angle of joint 5 of robotic arm 1 at each moment meets the expected angle in the motion sequence.

[0111] For example, the computer device can perform motion planning on each joint of the robotic arm and then refine the sequence after motion planning to obtain the first motion sequence of the robotic arm. Of course, the computer device can also directly determine the first motion sequence of the robotic arm after performing motion planning on each joint; this embodiment is not limited to this. The aforementioned motion planning may include, but is not limited to, mesh search, free space methods, and quadtree methods.

[0112] This embodiment can perform inverse kinematics calculations on the robotic arm based on the pose of the target point to determine the target angles of each joint in the robotic arm. Therefore, after controlling the movement of the robotic arm based on the target angles and current angles of each joint, the end effector of the robotic arm can be controlled to move into the cannula's working space. Furthermore, since the movement of the robotic arm is controlled based on the target angles and current angles of each joint, the pose relationships between the robotic arms are more scientific. Therefore, after controlling the movement of the robotic arms, medical staff do not need to manually drag the robotic arms to adjust their poses, improving the efficiency of preoperative operations and the system's operating space.

[0113] Figure 8 This is a schematic diagram of a cannula's movable space according to an embodiment of this application. In an exemplary embodiment, since the surgical cannula can rotate in three directions around the space after being placed in the region of interest, therefore, as... Figure 8 As shown, the sleeve movement space 801 includes a conical space formed with the sleeve position corresponding to the first pose as the vertex.

[0114] For example, the computer device can determine a conical space with the cannula position corresponding to the first pose as the vertex based on the first pose and the length of the surgical cannula, and use this conical space as the cannula's movement space.

[0115] Since the sleeve's active space in this embodiment includes a conical space with the sleeve position corresponding to the first pose as the vertex, the computer equipment can determine the sleeve's active space without performing complex calculations, thus improving the efficiency of subsequent control.

[0116] Figure 9 This is a schematic diagram of a process for obtaining a first pose according to an embodiment of this application. In an exemplary embodiment, such as... Figure 9 As shown, S201 includes S901 to S902.

[0117] S901 obtains the second pose of the surgical cannula in the first coordinate system corresponding to the sensor through the sensor.

[0118] In this embodiment, taking a visual sensor mounted on a surgical robot as an example, it can be understood that the first coordinate system is the sensor coordinate system. The visual sensor can take pictures at a certain shooting frequency until it acquires the second pose of all surgical cannulas in the first coordinate system and returns the second pose to the computer device.

[0119] Medical staff can also place all surgical cannulas within the area of ​​interest, adjust the visual sensor to a suitable angle, and then initiate an input operation to the computer device. The computer device will then respond to this input operation by sending a response signal to the visual sensor. The visual sensor, upon receiving the response signal, will then acquire a second pose.

[0120] S902, determine the first pose based on the coordinate transformation relationship and the second pose; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first pose is the pose of the surgical cannula in the second coordinate system.

[0121] In this embodiment, the second coordinate system is the coordinate system corresponding to the surgical robot, such as the coordinate system of a multi-arm system. The computer device can determine the coordinate transformation relationship between the first coordinate system and the second coordinate system. Optionally, the computer device can obtain the coordinate transformation relationship sent by other electronic devices, or the computer device can determine the coordinate transformation relationship by navigation tracking methods. This embodiment does not impose any limitations.

[0122] Then, the computer device can transform the second pose of the surgical cannula to the second coordinate system based on the second pose of the surgical cannula in the first coordinate system and the coordinate transformation relationship, so as to obtain the first pose of the surgical cannula in the second coordinate system.

[0123] In this embodiment, the second pose of the surgical cannula in the first coordinate system corresponding to the sensor is obtained through the sensor, and the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot. Therefore, the first pose of the surgical cannula in the second coordinate system can be determined based on the coordinate transformation relationship and the second pose, which improves the efficiency of obtaining the first pose.

[0124] Figure 10 This is a schematic diagram of another process for controlling the movement of a robotic arm in an embodiment of this application. In an exemplary embodiment, such as... Figure 10 As shown, the above-mentioned control method for the surgical robot may further include S1001 to S1003.

[0125] S1001, with the end of the robotic arm docked with the surgical cannula, determines the third position of the surgical cannula.

[0126] After the robotic arm is connected to the surgical cannula, in some applications, it may be necessary to adjust the relative poses of the robotic arms within the surgical robot to meet the requirements of subsequent surgical procedures. In existing technologies, adjusting each robotic arm requires one medical professional to manually hold the end effector stationary, and at least one other professional to use both hands to drag the adjustment mechanism of the robotic arm, thus ensuring the relative poses of the robotic arms maintain the required surgical space. Therefore, the control methods of existing surgical robots are complex and require two medical professionals, consuming significant human resources. Furthermore, because the end effectors of the robotic arms need to be manually secured, the ease of use and reliability of the surgical robot are also relatively low.

[0127] Therefore, in this embodiment, when the end effector of the robotic arm is docked with the surgical cannula, the computer device will acquire the third pose of the surgical cannula. The third pose of the surgical cannula can also be understood as the end effector pose of the robotic arm.

[0128] Optionally, since the first position of the surgical cannula usually does not change after it is placed in the region of interest, the computer device can use the first position as the third position.

[0129] Computer devices can also acquire the third pose of the surgical cannula through sensors. For example, a computer device can acquire the end-effector pose, or third pose, of a robotic arm through a pose sensor located at the end of the robotic arm.

[0130] In some embodiments, according to equation (1) above, when the end of the surgical robot's arm is detected to be connected to the surgical cannula, the arm's pose is fixed. Therefore, the computer device can obtain the current angle θ of each joint in the adjustment mechanism. i5 ,θ i6 ,θ i7 and θ i8 The third pose is determined by performing forward kinematics calculations based on the current angles of each joint in the adjustment mechanism.

[0131] The computer equipment can automatically detect whether the end effector of the surgical robot's robotic arm is connected to the surgical cannula. Optionally, the computer equipment can detect this connection using sensors mounted on the end effector. Alternatively, the computer equipment can detect whether a confirmation signal has been received to confirm the connection. This confirmation signal can be triggered by a confirmation operation performed by medical personnel after confirming the connection, and the computer equipment responds to this triggering operation with the resulting signal.

[0132] S1002, in response to a dragging operation on a target joint in the robotic arm, determines the current angle of the target joint; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm.

[0133] In this embodiment, the robotic arm includes a target joint. The target joint is a joint in the robotic arm's adjustment mechanism used to adjust the position of the robotic arm. Thus, medical personnel can drag the target joint in the robotic arm to adjust its position in space.

[0134] Understandably, after medical personnel drag the target joint, the angle of the target joint will change. Therefore, the computer device can respond to the dragging operation of the target joint in the robotic arm and determine the current angle of the target joint. For example, a torque sensor can be installed on the target joint. The computer device uses the torque sensor to obtain the direction and magnitude of the force on the target joint in real time, so as to determine the current angle of the target joint based on the direction and magnitude of the force.

[0135] In some embodiments, medical personnel may also trigger a completion operation after completing the drag operation, so that the computer device can obtain the instruction corresponding to the completion operation, thereby determining the current angle of the target joint in response to the drag operation of the target joint in the robotic arm.

[0136] S1003 controls the movement of the robotic arm based on the current angle of the target joint and the third pose.

[0137] In this embodiment, after determining the current angle of the target joint, the computer device can control the movement of the robotic arm by combining the current angle of the target joint with the third pose. Controlling the movement of the robotic arm means controlling its movement while keeping its end-effector pose unchanged; in other words, the third pose remains constant during the movement of the robotic arm.

[0138] Optionally, the computer device can perform inverse kinematics solutions based on the third pose and the current angle of the target joint, and determine the target angles of other joints in the robotic arm if a solution exists. Then, the computer device controls the movement of the robotic arm based on the target angles of the other joints and the current angles. For example, the computer device can determine a second motion sequence for the robotic arm based on the target angles of the other joints and the current angles, and control the movement of the robotic arm based on the second motion sequence.

[0139] Understandably, during the control process described above, other joints will move in tandem with the target joint. These other joints refer to all joints in the robotic arm other than the target joint.

[0140] In this embodiment, the third pose of the surgical cannula is determined after the end effector of the robotic arm is docked with the surgical cannula. In response to a dragging operation on the target joint within the robotic arm, the current angle of the target joint is determined. Since the target joint is used to adjust the position of the robotic arm, the movement of the robotic arm can be controlled while maintaining the third pose based on the current angle of the target joint and the third pose. The end effector of the robotic arm is docked with the surgical cannula, and the third pose is also the end effector pose. This means that during this process, there is no need for medical personnel to manually fix the end effector of the robotic arm to keep it stationary. Furthermore, only one medical personnel needs to drag the target joint, and the robotic arm can be moved to a suitable position while maintaining the end effector pose, based on the medical personnel's intention. Therefore, the control method provided in this embodiment simplifies operational complexity. Furthermore, since it eliminates the need for multiple medical personnel and manual fixation, it also saves human resources and improves the ease of use and reliability of the surgical robot.

[0141] To more clearly illustrate the control method of the surgical robot in this application, this paper combines... Figure 11 and Figure 12 Please provide an explanation. Figure 11 This is a schematic diagram illustrating the principle of a control method for a surgical robot according to an embodiment of this application, as shown below. Figure 11 As shown, before the operation, medical staff place the surgical cannula in the region of interest. After the computer equipment determines the first position of the surgical cannula, it can calculate the corresponding cannula movement space. Then, the computer equipment can control the end effector of the robotic arm to move to the cannula movement space so that the surgical cannula can dock with the end effector of the robotic arm.

[0142] Furthermore, the computer equipment can determine whether all robotic arms have completed docking. Specifically, the computer equipment can determine whether all robotic arms have completed docking in response to a completion action triggered by medical personnel, or it can use sensors to determine whether all robotic arms have completed docking.

[0143] If there is an unconnected robotic arm, the computer equipment continues to control the end effector of the unconnected robotic arm to move into the sleeve's working space.

[0144] Once all robotic arms are docked, the surgical robot can proceed to the robotic arm positioning process. During this positioning, if medical personnel wish to adjust the robotic arm, they can initiate a dragging operation on the target joint within the robotic arm. Subsequently, with the end effector of the robotic arm docked with the surgical cannula, the computer system can determine the third pose of the surgical cannula and, in response to the dragging operation on the target joint, determine the current angle of the target joint. Finally, based on the current angle of the target joint and the third pose, the system controls the movement of the robotic arm to achieve robotic arm positioning.

[0145] Figure 12 This is a flowchart illustrating a control method for a surgical robot according to an embodiment of this application, as shown below. Figure 12 As shown, the computer device executes this method according to the following procedure.

[0146] S1201, the second pose of the surgical cannula in the first coordinate system corresponding to the sensor is obtained through the sensor.

[0147] S1202, determine the first pose based on the coordinate transformation relationship and the second pose. The coordinate transformation relationship characterizes the transformation between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first pose is the pose of the surgical cannula in the second coordinate system.

[0148] S1203, Based on the first pose and the attribute information of the surgical cannula, determine the cannula's movement space. The cannula's movement space includes a conical space with the cannula position corresponding to the first pose as its vertex.

[0149] S1204, perform inverse kinematics calculations on the robotic arm based on the poses of each spatial point in the sleeve's active space.

[0150] S1205, select spatial points with inverse solutions as candidate points.

[0151] S1206, Determine the target point from the candidate points.

[0152] S1207 performs inverse kinematics calculations on the robotic arm based on the pose of the target point to determine the target angles of each joint in the robotic arm.

[0153] S1208 controls the movement of the robotic arm based on the target angle and current angle of each joint in the robotic arm, so that the end effector of the robotic arm moves to the sleeve's active space.

[0154] S1209, with the end of the robotic arm docked with the surgical cannula, determines the third position of the surgical cannula.

[0155] S1210, in response to a dragging operation on a target joint in the robotic arm, determines the current angle of the target joint; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm.

[0156] S1211 controls the movement of the robotic arm based on the current angle of the target joint and the third pose.

[0157] Steps S1201 to S1211 can be referred to in the above embodiment and will not be repeated here. It can be seen that in the above process, only the movement of the robotic arm to a relatively large cannula matching range needs to be controlled, reducing the learning curve for medical personnel. Simultaneously, with the end effector of the robotic arm docked with the surgical cannula, intelligent positioning of the surgical robot is achieved by controlling the movement of the robotic arm through the target joint. Therefore, this embodiment can reduce the difficulty of operating the surgical robot for medical personnel and improve the ease of use and intelligence of the surgical robot.

[0158] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0159] Figure 13 This is a schematic diagram of the structure of a control system for a surgical robot according to an embodiment of this application. In an exemplary embodiment, such as... Figure 13 As shown, the control system 1300 of the surgical robot includes a surgical robot 1301, a computer device 1302, and a sensing component 1303 disposed on the surgical robot.

[0160] The sensing component 1303 is used to acquire the first position of the surgical cannula placed in the region of interest.

[0161] Computer device 1302 is used to determine the cannula activity space corresponding to the surgical cannula based on the first pose and the attribute information of the surgical cannula, and control the end effector of the robotic arm in surgical robot 1301 to move into the cannula activity space to dock with the surgical cannula.

[0162] In the control system of the surgical robot described above, medical staff do not need to adjust the surgical cannula with one hand and the robotic arm with the other. The robotic arm can move into the cannula's working space to dock with the surgical cannula, thus simplifying the operation.

[0163] The structure of the surgical robot is described below. It is understood that the control methods and control systems described above can be applied to the surgical robots described below.

[0164] Figure 14This is a schematic diagram of the structure of a surgical robot according to an embodiment of this application. In one exemplary embodiment, such as... Figure 14 As shown, the surgical robot includes multiple robotic arms, numbered from left to right as robotic arm 1, robotic arm 2, robotic arm 3, and robotic arm 4. It is understandable that... Figure 14 This embodiment only illustrates one possible approach to surgical robots and does not limit the type of surgical robot or the number of robotic arms.

[0165] Please continue to refer to Figure 14 Each robotic arm may include an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism, and the telecentric mechanism is capable of moving relative to the adjustment mechanism. Both the adjustment mechanism and the telecentric mechanism include at least one joint, and both joints in the adjustment mechanism and the telecentric mechanism can be active joints.

[0166] The telecentric mechanism connects to both the adjustment mechanism and the surgical cannula, further constraining the telecentric point of the robotic arm to remain stationary, thus constraining the end effector's posture. In other words, the telecentric mechanism adjusts the robotic arm's end effector's posture around the patient's incision point, while the adjustment mechanism supports and positions the telecentric mechanism. During the adjustment mechanism's movement, it also drives the telecentric mechanism to move accordingly. Therefore, the positioning of the adjustment mechanism directly determines the layout and posture of the surgical instruments during surgery, thereby affecting the flexibility and safety of the surgical instruments.

[0167] For example, Figure 14 The fourth robotic arm, namely robotic arm 1401, includes an adjustment mechanism 1402 and a telecentric mechanism 1403. The adjustment mechanism 1402 and the telecentric mechanism 1403 are connected, and the telecentric mechanism 1403 can move relative to the adjustment mechanism 1402.

[0168] Please continue to refer to Figure 14 Alternatively, the adjustment mechanism 1402 of the robotic arm 1401 may include an end joint 1402a, a crossbar assembly 1402b, and an axial support assembly 1402c.

[0169] The end rotary joint 1402a is disposed at one end of the crossbar assembly 1402b and is used to rotate the crossbar assembly 1402b in the horizontal direction. The axial support assembly 1402c is disposed between the crossbar assembly 1402b and the telecentric mechanism 1403. Optionally, the target joint described above can be the end rotary joint 1402a.

[0170] Combination Figure 14It can be seen that the position of the fixed point can be achieved with only 3 active joints. However, in this embodiment, since the adjustment mechanism includes 4 active joints, there is 1 redundant degree of freedom. By using the redundant joint as the target joint, the surgical robot can be positioned in an optimal surgical operating space, thereby meeting the requirements of the surgical space.

[0171] Please continue to refer to Figure 14 In one exemplary embodiment, the surgical robot may further include a carriage mechanism 1404, to which each robotic arm is connected. The carriage mechanism 1404 is used to fix or adjust the posture of the robotic arms. In other words, the carriage mechanism 1404 provides support and positioning for the adjustment mechanisms within the robotic arms.

[0172] In one exemplary embodiment, the trolley mechanism 1404 may further optionally include a trolley base 1404a, a trolley lifting assembly 1404b, a trolley first rotating assembly 1404c, a trolley moving assembly 1404d, a trolley second rotating assembly 1404e, and a trolley orientation assembly 1404f.

[0173] The trolley base 1404a provides overall support for the surgical robot and serves as a reference for its placement. Optionally, the trolley base 1404a can be floatingly connected to the ground via a lifting mechanism.

[0174] The first end of the trolley lifting assembly 1404b is located on the trolley base 1404a and can extend and retract vertically to drive the trolley orientation assembly 1404f to move vertically. The first trolley rotating assembly 1404c is located at the second end of the trolley lifting assembly 1404b and drives the trolley orientation assembly 1404f to rotate horizontally. The trolley moving assembly 1404d is telescopically connected to the trolley lifting assembly 1404b. During the movement of the trolley lifting assembly 1404b, the distance between the trolley moving assembly 1404d and the trolley lifting assembly 1404b can be adjusted to adjust the position of the trolley orientation assembly 1404f in space. The second trolley rotating assembly 1404e also drives the trolley orientation assembly 1404f to rotate horizontally. The trolley orientation assembly 1404f is used to connect the various robotic arms.

[0175] In other words, the aforementioned trolley lifting assembly 1404b, trolley first rotating assembly 1404c, and trolley moving assembly 1404d are used to position the trolley orientation assembly 1404f. Specifically, the trolley lifting assembly 1404b is used to position the trolley orientation assembly 1404f in the vertical direction; the trolley first rotating assembly 1404c and the trolley moving assembly 1404d together are used to position the trolley orientation assembly 1404f in planar space. Therefore, the trolley lifting assembly 1404b, trolley first rotating assembly 1404c, and trolley moving assembly 1404d can completely achieve the positioning of the trolley orientation assembly 1404f in space.

[0176] Furthermore, the second rotating component 1404e of the trolley mainly realizes the attitude adjustment of the trolley orientation component 1404f in the plane. In this way, the four motion units of the trolley mechanism can realize the support and positioning of the adjustment mechanism, thereby enabling the surgical instruments connected to the robotic arm to have a larger effective movement space during the operation, thus covering the patient's lesion and having a larger obstacle avoidance space.

[0177] Figure 15 This is a schematic diagram of the structure of an adjustment mechanism according to an embodiment of this application. In one exemplary embodiment, in... Figure 14 On the basis of, such as Figure 15 As shown, the crossbar assembly 1402b includes a movable joint 1501, and the axial support assembly 1402c includes an axial rotation joint 1502 and a pitch joint 1503.

[0178] The movable joint 1501 is disposed on the side of the crossbar assembly 1402b facing the axial support assembly 1402c, and is used to drive the axial support assembly 1402c to move along the side of the crossbar assembly 1402b. The crossbar assembly 1402b includes, but is not limited to, a slide rail.

[0179] The axial rotation joint 1502 is located at one end of the axial support assembly 1402c near the crossbar assembly 1402b, and is used to drive the axial support assembly 1402c to rotate in the horizontal direction. The pitch joint 1503 is located between the axial support assembly 1402c and the telecentric mechanism 1403, and is used to adjust the pitch angle of the telecentric mechanism 1403.

[0180] Figure 16 This is a schematic diagram of the structure of a telecentric mechanism in an embodiment of this application, as shown below. Figure 16 As shown, the telecentric mechanism in the surgical robot includes a rotary joint 1601, an active pitch section 1602, a first passive pitch section 1603, a second passive pitch section 1604, and an instrument joint 1605.

[0181] Optionally, the active pitch section 1602 includes an active pitch joint 1602a and an active pitch link 1602b. The first passive pitch section 1603 includes a first passive pitch joint 1603a and a first passive pitch link 1603b. The second passive pitch section 1604 includes a second passive pitch joint 1604a and a second passive pitch link 1604b.

[0182] The rotary joint 1601 is connected to the adjustment mechanism; the active pitch joint 1602a is located at one end of the active pitch link 1602b; the other end of the active pitch link 1602b is connected to one end of the first passive pitch link 1603b via the first passive pitch joint 1603a. The other end of the first passive pitch link 1603b is connected to the second passive pitch link 1604b via the second passive pitch link 1604a. The instrument joint 1605 is located on the second passive pitch link 1604b.

[0183] Optionally, the velocities of the active pitch joint 1602a, the first passive pitch joint 1603a, and the second passive pitch joint 1604a are less than a preset difference. The preset difference is a number close to zero. For example, the velocities of the active pitch joint 1602a, the first passive pitch joint 1603a, and the second passive pitch joint 1604a are equal.

[0184] Furthermore, the active pitch joint 1602a, the first passive pitch joint 1603a, and the second passive pitch joint 1604a form a parallelogram with the end effector P of the robotic arm. Thus, the rotation axis of the rotary joint 1601 is parallel to the first passive pitch link 1603b, causing the rotation axis of the rotary joint 1601 to intersect the rotation axis of the parallelogram at a single point. This allows the telecentric mechanism to perform posture adjustment movements around the patient's incision point. In other words, the telecentric mechanism does not affect the end effector pose of the robotic arm during movement. Figure 16 Point P in the diagram can be understood as the end of the robotic arm.

[0185] Figure 17 This is a schematic diagram of a sensing component according to an embodiment of this application. In one exemplary embodiment, in... Figure 14 Based on this, the sensing component 1405 includes a support arm 1405a and a sensor 1405b.

[0186] The first end of the support arm 1405a is connected to the surgical robot. Optionally, the first end of the support arm 1405a is connected to the trolley orientation assembly 1404f.

[0187] A sensor 1405b is provided at the second end of the support arm 1405a. The sensor 1405b includes, but is not limited to, a vision sensor, a position sensor, an attitude sensor, and a magnetic field sensor. In the case where the sensor 1405b is a magnetic field sensor, the surgical cannula includes magnetic material.

[0188] In this embodiment, the sensing component includes a support arm and a sensor. The first end of the support arm is connected to the surgical robot, and the second end of the support arm is equipped with a sensor. Therefore, the first pose of the surgical cannula can be obtained using the sensing component.

[0189] In one exemplary embodiment, optionally, the sensing components are scalably connected to the surgical robot.

[0190] Please continue to refer to Figure 14 and Figure 17 Optionally, the first end of the support arm 1405a is telescopically connected to the trolley orientation assembly 1404f.

[0191] In this embodiment, because the sensing component is retractably connected to the surgical robot, medical staff can extend the sensing component from the surgical robot when in use and retract it into the surgical robot when not in use, thus reducing space occupation.

[0192] Based on the same inventive concept, this application also provides a control device for a surgical robot to implement the control method of the surgical robot described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the control device for the surgical robot provided below can be found in the limitations of the control method for the surgical robot described above, and will not be repeated here.

[0193] Figure 18 This is a structural block diagram of the control and adjustment device for the surgical robot in an embodiment of this application. In one exemplary embodiment, such as... Figure 18 As shown, a control device 1800 for a surgical robot is provided, including: an acquisition module 1801, a first determination module 1802, and a first control module 1803, wherein:

[0194] The acquisition module 1801 is used to acquire the first pose of the surgical cannula placed in the region of interest.

[0195] The first determining module 1802 is used to determine the cannula movement space corresponding to the surgical cannula based on the first pose and the attribute information of the surgical cannula.

[0196] The first control module 1803 is used to control the end effector of the robotic arm in the surgical robot to move into the cannula's working space so as to dock with the surgical cannula.

[0197] In the control device of the aforementioned surgical robot, the first pose of the surgical cannula placed within the region of interest is acquired, and the cannula's movement space is determined based on the first pose and the cannula's attribute information. Then, the end effector of the robotic arm in the surgical robot can be controlled to move into the cannula's movement space. Since the robotic arm can automatically move into the cannula's movement space, it can easily dock with the surgical cannula. In this process, medical personnel do not need to adjust the surgical cannula with one hand and the robotic arm with the other to move the robotic arm into the cannula's movement space for docking. Therefore, the device provided in this embodiment simplifies the operational complexity. Furthermore, by reducing reliance on medical personnel, the control efficiency and intelligence of the surgical robot can also be improved.

[0198] Optionally, the first control module 1803 includes:

[0199] The first determining unit is used to determine candidate points in the sleeve's active space.

[0200] The second determining unit is used to determine the target point from the candidate points.

[0201] The control unit is used to control the movement of the robotic arm according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's working space.

[0202] Optionally, the first determining unit includes:

[0203] The solver subunit is used to perform inverse kinematics calculations on the robotic arm based on the poses of each spatial point in the sleeve's active space.

[0204] The first determining sub-unit is used to select spatial points with inverse solutions as candidate points.

[0205] Optionally, the control unit includes:

[0206] The second determining subunit is used to perform inverse kinematics calculations on the robotic arm based on the pose of the target point, so as to determine the target angles of each joint in the robotic arm.

[0207] The control subunit is used to control the movement of the robotic arm based on the target angle and current angle of each joint in the robotic arm.

[0208] Optionally, the sleeve movement space includes a conical space formed with the sleeve position corresponding to the first pose as the vertex.

[0209] Optionally, the acquisition module 1801 includes:

[0210] The acquisition unit is used to acquire the second pose of the surgical cannula in the first coordinate system corresponding to the sensor through the sensor.

[0211] The third determining unit is used to determine the first pose based on the coordinate transformation relationship and the second pose; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first pose is the pose of the surgical cannula in the second coordinate system.

[0212] Optionally, the control device 1800 of the surgical robot also includes:

[0213] The second determining module is used to determine the third pose of the surgical cannula when the end of the robotic arm is docked with the surgical cannula.

[0214] The third determining module is used to determine the current angle of the target joint in response to the dragging operation of the target joint in the robotic arm; the target joint is the joint in the robotic arm used to adjust the position of the robotic arm.

[0215] The second control module is used to control the movement of the robotic arm based on the current angle of the target joint and the third pose.

[0216] The various modules in the control device of the aforementioned surgical robot can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0217] Figure 19 The diagram below shows the internal structure of a computer device as described in an embodiment of this application. In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown below. Figure 19 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores relevant data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a control method for a surgical robot.

[0218] Those skilled in the art will understand that Figure 19The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0219] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0220] Obtain the first position of the surgical cannula placed within the region of interest;

[0221] Based on the first pose and the attribute information of the surgical cannula, the cannula's movement space is determined.

[0222] The end effector of the robotic arm in the surgical robot is controlled to move into the cannula's movement space to dock with the surgical cannula.

[0223] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0224] Candidate points are determined in the sleeve's active space; a target point is determined from the candidate points; the movement of the robotic arm is controlled according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's active space.

[0225] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0226] Based on the pose of each spatial point in the sleeve's active space, the robotic arm is subjected to inverse kinematics calculations; spatial points with inverse solutions are selected as candidate points.

[0227] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0228] The robot arm is subjected to inverse kinematics calculation based on the pose of the target point to determine the target angle of each joint in the robot arm; the robot arm is controlled to move based on the target angle and current angle of each joint in the robot arm.

[0229] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0230] The sleeve movement space includes a conical space with the sleeve position corresponding to the first pose as the vertex.

[0231] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0232] The second pose of the surgical cannula in the first coordinate system corresponding to the sensor is obtained by the sensor; the first pose is determined according to the coordinate transformation relationship and the second pose; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first pose is the pose of the surgical cannula in the second coordinate system.

[0233] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0234] With the end of the robotic arm docked with the surgical cannula, a third pose of the surgical cannula is determined; in response to a dragging operation on a target joint in the robotic arm, the current angle of the target joint is determined; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm; the movement of the robotic arm is controlled according to the current angle of the target joint and the third pose.

[0235] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0236] Obtain the first position of the surgical cannula placed within the region of interest;

[0237] Based on the first pose and the attribute information of the surgical cannula, the cannula's movement space is determined.

[0238] The end effector of the robotic arm in the surgical robot is controlled to move into the cannula's movement space to dock with the surgical cannula.

[0239] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0240] Candidate points are determined in the sleeve's active space; a target point is determined from the candidate points; the movement of the robotic arm is controlled according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's active space.

[0241] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0242] Based on the pose of each spatial point in the sleeve's active space, the robotic arm is subjected to inverse kinematics calculations; spatial points with inverse solutions are selected as candidate points.

[0243] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0244] The robot arm is subjected to inverse kinematics calculation based on the pose of the target point to determine the target angle of each joint in the robot arm; the robot arm is controlled to move based on the target angle and current angle of each joint in the robot arm.

[0245] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0246] The sleeve movement space includes a conical space with the sleeve position corresponding to the first pose as the vertex.

[0247] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0248] The second pose of the surgical cannula in the first coordinate system corresponding to the sensor is obtained by the sensor; the first pose is determined according to the coordinate transformation relationship and the second pose; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first pose is the pose of the surgical cannula in the second coordinate system.

[0249] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0250] With the end of the robotic arm docked with the surgical cannula, a third pose of the surgical cannula is determined; in response to a dragging operation on a target joint in the robotic arm, the current angle of the target joint is determined; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm; the movement of the robotic arm is controlled according to the current angle of the target joint and the third pose.

[0251] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0252] Obtain the first position of the surgical cannula placed within the region of interest;

[0253] Based on the first pose and the attribute information of the surgical cannula, the cannula's movement space is determined.

[0254] The end effector of the robotic arm in the surgical robot is controlled to move into the cannula's movement space to dock with the surgical cannula.

[0255] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0256] Candidate points are determined in the sleeve's active space; a target point is determined from the candidate points; the movement of the robotic arm is controlled according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's active space.

[0257] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0258] Based on the pose of each spatial point in the sleeve's active space, the robotic arm is subjected to inverse kinematics calculations; spatial points with inverse solutions are selected as candidate points.

[0259] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0260] The robot arm is subjected to inverse kinematics calculation based on the pose of the target point to determine the target angle of each joint in the robot arm; the robot arm is controlled to move based on the target angle and current angle of each joint in the robot arm.

[0261] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0262] The sleeve movement space includes a conical space with the sleeve position corresponding to the first pose as the vertex.

[0263] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0264] The second pose of the surgical cannula in the first coordinate system corresponding to the sensor is obtained by the sensor; the first pose is determined according to the coordinate transformation relationship and the second pose; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first pose is the pose of the surgical cannula in the second coordinate system.

[0265] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0266] With the end of the robotic arm docked with the surgical cannula, a third pose of the surgical cannula is determined; in response to a dragging operation on a target joint in the robotic arm, the current angle of the target joint is determined; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm; the movement of the robotic arm is controlled according to the current angle of the target joint and the third pose.

[0267] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0268] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0269] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A control device for a surgical robot, characterized in that, The device includes: The acquisition module is used to acquire the first pose of the surgical cannula placed within the region of interest; The first determining module is used to determine the cannula's movement space corresponding to the surgical cannula based on the first pose and the attribute information of the surgical cannula; the cannula's movement space is used to characterize the movable space of the surgical cannula, and the cannula's movement space includes the set of spatial coordinates that the end of the surgical cannula can reach. The first control module is used to control the end effector of the robotic arm in the surgical robot to move into the cannula's active space so as to dock with the surgical cannula; The first control module includes: The first determining unit is used to determine candidate points in the sleeve's active space; The second determining unit is used to determine the target point from the candidate points; A control unit is used to control the movement of the robotic arm according to the pose of the target point, so that the end of the robotic arm moves to the sleeve's movable space; The first determining unit includes: The calculation subunit is used to perform inverse kinematics calculation on the robotic arm based on the pose of each spatial point in the sleeve's active space; The first determining subunit is used to select spatial points with inverse solutions as candidate points.

2. The apparatus according to claim 1, characterized in that, The control unit includes: The second determining subunit is used to perform inverse kinematics calculations on the robotic arm based on the pose of the target point, so as to determine the target angles of each joint in the robotic arm. The control subunit is used to control the movement of the robotic arm based on the target angle and current angle of each joint in the robotic arm.

3. The apparatus according to claim 1 or 2, characterized in that, The sleeve movement space includes a conical space with the sleeve position corresponding to the first pose as the vertex.

4. The apparatus according to claim 1 or 2, characterized in that, The acquisition module includes: The acquisition unit is used to acquire the second pose of the surgical cannula in the first coordinate system corresponding to the sensor through a sensor. The third determining unit is used to determine the first pose based on the coordinate transformation relationship and the second pose; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first pose is the pose of the surgical cannula in the second coordinate system.

5. The apparatus according to claim 1 or 2, characterized in that, The device further includes: The second determining module is used to determine the third pose of the surgical cannula when the end of the robotic arm is docked with the surgical cannula. The third determining module is used to determine the current angle of the target joint in response to a dragging operation on the target joint in the robotic arm; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm. The second control module is used to control the movement of the robotic arm based on the current angle of the target joint and the third pose.

6. A control system for a surgical robot, characterized in that, The control system includes a surgical robot, computer equipment, and sensing components installed on the surgical robot; The sensing component is used to acquire the first pose of the surgical cannula placed in the region of interest; The computer device is used to determine the cannula's movement space corresponding to the surgical cannula based on the first pose and the attribute information of the surgical cannula, and to control the end effector of the robotic arm in the surgical robot to move into the cannula's movement space to dock with the surgical cannula; the cannula's movement space is used to characterize the movable space of the surgical cannula, and the cannula's movement space includes the set of spatial coordinates that the end effector of the surgical cannula can reach. The step of controlling the end effector of the robotic arm in the surgical robot to move into the cannula's movement space includes: Determine candidate points in the sleeve's active space; Determine the target point from the candidate points; The movement of the robotic arm is controlled according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's movable space; Determining candidate points in the sleeve's active space includes: Based on the pose of each spatial point in the sleeve's active space, the inverse kinematics of the robotic arm are calculated. Spatial points with inverse solutions are selected as candidate points.

7. The system according to claim 6, characterized in that, The sensing component includes a support arm and a sensor; the first end of the support arm is connected to the surgical robot, and the second end of the support arm is equipped with the sensor.

8. The system according to claim 6, characterized in that, The sensing component is retractably connected to the surgical robot.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The steps of implementing a control method for a surgical robot when the processor executes the computer program, the control method including: Obtain the first position of the surgical cannula placed within the region of interest; Based on the first pose and the attribute information of the surgical cannula, the cannula's movement space is determined; the cannula's movement space is used to characterize the movable space of the surgical cannula, and the cannula's movement space includes the set of spatial coordinates that the end of the surgical cannula can reach. The end effector of the robotic arm in the surgical robot is controlled to move into the cannula's movement space to dock with the surgical cannula; The step of controlling the end effector of the robotic arm in the surgical robot to move into the cannula's movement space includes: Determine candidate points in the sleeve's active space; Determine the target point from the candidate points; The movement of the robotic arm is controlled according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's movable space; Determining candidate points in the sleeve's active space includes: Based on the pose of each spatial point in the sleeve's active space, the inverse kinematics of the robotic arm are calculated. Spatial points with inverse solutions are selected as candidate points.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of a control method for a surgical robot, the control method including: Obtain the first position of the surgical cannula placed within the region of interest; Based on the first pose and the attribute information of the surgical cannula, the cannula's movement space is determined; the cannula's movement space is used to characterize the movable space of the surgical cannula, and the cannula's movement space includes the set of spatial coordinates that the end of the surgical cannula can reach. The end effector of the robotic arm in the surgical robot is controlled to move into the cannula's movement space to dock with the surgical cannula; The step of controlling the end effector of the robotic arm in the surgical robot to move into the cannula's movement space includes: Determine candidate points in the sleeve's active space; Determine the target point from the candidate points; The movement of the robotic arm is controlled according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's movable space; Determining candidate points in the sleeve's active space includes: Based on the pose of each spatial point in the sleeve's active space, the inverse kinematics of the robotic arm are calculated. Spatial points with inverse solutions are selected as candidate points.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of a control method for a surgical robot, the control method including: Obtain the first position of the surgical cannula placed within the region of interest; Based on the first pose and the attribute information of the surgical cannula, the cannula's movement space is determined; the cannula's movement space is used to characterize the movable space of the surgical cannula, and the cannula's movement space includes the set of spatial coordinates that the end of the surgical cannula can reach. The end effector of the robotic arm in the surgical robot is controlled to move into the cannula's movement space to dock with the surgical cannula; The step of controlling the end effector of the robotic arm in the surgical robot to move into the cannula's movement space includes: Determine candidate points in the sleeve's active space; Determine the target point from the candidate points; The movement of the robotic arm is controlled according to the pose of the target point, so that the end effector of the robotic arm moves to the sleeve's movable space; Determining candidate points in the sleeve's active space includes: Based on the pose of each spatial point in the sleeve's active space, the inverse kinematics of the robotic arm are calculated. Spatial points with inverse solutions are selected as candidate points.

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