Surgical robot control methods, devices, and surgical robot control systems

Abstract

This application relates to a control method, apparatus, and control system for a surgical robot. The method includes: upon detecting that the end effector of the surgical robot's robotic arm is connected to a surgical cannula, acquiring the end effector pose of the robotic arm; determining the current angle of the target joint in response to a dragging operation on a target joint within the robotic arm; and then controlling the robotic arm to move while maintaining the end effector pose of the robotic arm, based on the current angle of the target joint and the end effector pose of the robotic arm. The target joint is a joint in the robotic arm's adjustment mechanism used to adjust the position of the robotic arm. This method simplifies operational complexity.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a control method, apparatus and control system for a surgical robot. Background Technology

[0002] With advancements in robotics technology, surgical robots are increasingly being used in minimally invasive surgeries. The robotic arms within a surgical robot need to be positioned appropriately before surgery to meet the requirements of subsequent procedures.

[0003] However, currently, at least two medical staff are required to cooperate in controlling the surgical robot before surgery. One medical staff member manually fixes the end of the robotic arm, while the other medical staff members adjust the robotic arm so that it can be moved to the appropriate surgical position before surgery. Therefore, the current control method of surgical robots has the problem of complex operation. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method, device, and control system for surgical robots that can simplify the operation of the surgical robots and address the aforementioned technical problems.

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

[0006] If the end effector of the surgical robot is detected to be connected to the surgical cannula, the end effector pose of the robotic arm is obtained.

[0007] 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0008] Based on the current angle of the target joint and the end effector pose of the robotic arm, control the robotic arm to move while keeping the end effector pose unchanged.

[0009] In one embodiment, controlling the movement of the robotic arm while keeping its end-effector pose unchanged, based on the current angle of the target joint and the end-effector pose, includes:

[0010] Based on the end-effector pose of the robotic arm and the current angle of the target joint, determine the target angles of other joints in the adjustment mechanism; other joints include all joints in the adjustment mechanism other than the target joint.

[0011] Based on the target angles of other joints, control the movement of the robotic arm while keeping the end-effector pose unchanged.

[0012] In one embodiment, obtaining the end effector pose of the robotic arm includes:

[0013] Obtain the current angle of each joint in the adjustment mechanism of the robotic arm;

[0014] The end effector pose of the robotic arm is determined based on the current angles of each joint in the adjustment mechanism.

[0015] In one embodiment, the control method for the surgical robot further includes:

[0016] After controlling the robotic arm to move while keeping its end-effector pose unchanged, the pose evaluation results of the surgical robot are obtained.

[0017] If the pose assessment result of the surgical robot does not meet the preset pose requirements, a prompt message is output; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

[0018] Secondly, this application also provides a control system for a surgical robot, comprising:

[0019] The positioning module is used to acquire the end-effector pose of the surgical robot when it is detected that the end of the robot arm is connected to the surgical cannula, and to determine the current angle of the target joint in response to the dragging operation of the target joint in the robot arm; the target joint is the joint in the adjustment mechanism of the robot arm used to adjust the position of the robot arm.

[0020] The control module is used to control the movement of the robotic arm while keeping the end-effector pose unchanged, based on the current angle of the target joint and the end-effector pose of the robotic arm.

[0021] In one embodiment, the robotic arm includes multiple robotic arms, each robotic arm including an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism;

[0022] The telecentric mechanism can adjust the movement of the mechanism relative to each other;

[0023] Among them, the multiple robotic arms include multiple first robotic arms with the same structure, and the adjustment mechanism of the first robotic arm includes a crossbar assembly, an end rotary joint, and an axial support assembly;

[0024] An end rotary joint is located at one end of the crossbar assembly and is used to rotate the crossbar assembly in the horizontal direction; an axial support assembly is located between the crossbar assembly and the telecentric mechanism.

[0025] In one embodiment, the crossbar assembly includes a movable joint, and the axial support assembly includes an axial rotation joint and a pitch joint;

[0026] The movable joint is located on the side of the crossbar assembly facing the axial support assembly, and is used to drive the axial support assembly to move along the side of the crossbar assembly.

[0027] An axial rotation joint is located at one end of the axial support assembly near the crossbar assembly, and is used to drive the axial support assembly to rotate horizontally.

[0028] The pitch joint is located between the axial support assembly and the telecentric mechanism, and is used to adjust the pitch angle of the telecentric mechanism.

[0029] In one embodiment, the plurality of robotic arms includes at least two second robotic arms, and the adjustment mechanism of the second robotic arms includes a plurality of vertical rotary joints and a horizontal rotary joint; the plurality of vertical rotary joints and the horizontal rotary joint are connected to each other by a connecting component.

[0030] Thirdly, this application also provides a control device for a surgical robot, comprising:

[0031] The first determining module is used to obtain the end-effector pose of the robotic arm when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula.

[0032] The second 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 the joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0033] The control module is used to control the movement of the robotic arm while keeping the end-effector pose unchanged, based on the current angle of the target joint and the end-effector pose of the robotic arm.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] The aforementioned control method, device, and control system for the surgical robot acquire the end-effector pose of the robotic arm upon detecting its connection to the surgical cannula. Responding to a dragging operation on a target joint within the robotic arm, the system determines the current angle of that joint. Since the target joint is a joint in the robotic arm's adjustment mechanism used to adjust the arm's position, the robot can be controlled to move while maintaining its end-effector pose based on the current angle of the target joint and the end-effector pose. This process eliminates the need for medical personnel to manually fix the end-effector to remain stationary. Furthermore, only one medical professional is required to drag the target joint, allowing the robot to move to a suitable position while maintaining its end-effector pose, based on the professional's intention. Therefore, the method provided in this embodiment simplifies operational complexity. Moreover, since it eliminates the need for multiple medical personnel and manual fixation, it saves human resources and improves the ease of use and reliability of the surgical robot. Attached Figure Description

[0038] 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.

[0039] Figure 1 This is an application environment diagram of the control method for the surgical robot in the embodiments of this application;

[0040] Figure 2 This is a flowchart illustrating the control method of the surgical robot in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of one operation process in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of a process for controlling the movement of a robotic arm in an embodiment of this application;

[0043] Figure 5 This is a schematic diagram of a process for obtaining the end effector pose in an embodiment of this application;

[0044] Figure 6 This is a schematic diagram of a pose evaluation process in an embodiment of this application;

[0045] Figure 7 This is a schematic diagram illustrating the principle of a control method for a surgical robot according to an embodiment of this application;

[0046] Figure 8This is a schematic diagram of a control method for a surgical robot according to an embodiment of this application;

[0047] Figure 9 This is a schematic diagram of the structure of a surgical robot control system according to an embodiment of this application;

[0048] Figure 10 This is a schematic diagram of the structure of a surgical robot according to an embodiment of this application;

[0049] Figure 11 This is a schematic diagram showing the connection between a trolley mechanism and an adjustment mechanism in one embodiment of this application;

[0050] Figure 12 This is a schematic diagram of the structure of an adjustment mechanism in an embodiment of this application;

[0051] Figure 13 A schematic diagram of the architecture of a surgical robot is shown in one embodiment of this application;

[0052] Figure 14 This is a schematic diagram of the architecture of another surgical robot in the embodiments of this application;

[0053] Figure 15 This is a schematic diagram of the structure of a telecentric mechanism in an embodiment of this application;

[0054] Figure 16 This is a structural block diagram of the control and adjustment device for the surgical robot in the embodiments of this application;

[0055] Figure 17 This is a diagram showing the internal structure of a computer device in an embodiment of this application. Detailed Implementation

[0056] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0057] 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 with at least one joint. Taking abdominal surgery as an example, the robotic arms can be divided into endoscope-holding arms and instrument-holding arms according to their actual operational purpose. The endoscope-holding arm is used to connect to an endoscope, and the instrument-holding arm is used to connect surgical instruments. In other words, in abdominal surgery, the surgical robot 102 includes at least one instrument-holding arm and one endoscope-holding arm.

[0058] like Figure 1As 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.

[0059] 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.

[0060] Please continue to refer to this. 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.

[0061] 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.

[0062] S201, when it is detected that the end effector of the surgical robot's robotic arm is connected to the surgical cannula, the end effector pose of the robotic arm is obtained.

[0063] The surgical cannula is used to connect the end of the robotic arm to the corresponding instrument. Taking laparoscopic surgery as an example, the end of the endoscope-holding arm of the robotic arm is connected to the surgical cannula corresponding to the endoscope, and the end of the surgical instrument-holding arm of the robotic arm is connected to the surgical cannula corresponding to the surgical instrument.

[0064] Understandably, the robotic arm can be any one of the robotic arms in a surgical robot. During pre-operative positioning of the surgical robot, medical staff connect the end effector of the robotic arm to the surgical cannula. However, in existing technologies, after the robotic arm is connected to the surgical cannula, medical staff need to determine the relative pose of each robotic arm to meet the requirements of subsequent surgical procedures. Specifically, when adjusting each robotic arm, one medical staff member needs to manually fix the end effector to keep it stationary, and at least one other medical staff member needs to use both hands to drag the adjustment mechanism of the robotic arm to maintain the relative pose of the arms and ensure the required surgical space. Therefore, the control method of surgical robots in existing technologies is complex and requires two medical staff, consuming significant human resources. Furthermore, because the end effector of the robotic arm needs to be manually fixed by medical staff, the ease of use and reliability of the surgical robot are also relatively low.

[0065] In this embodiment, the computer device automatically detects whether the end effector of the surgical robot's robotic arm is connected to the surgical cannula. Optionally, the computer device can detect whether the end effector is connected to the surgical cannula by setting a sensor on the end effector of the robotic arm. The computer device can also detect whether a confirmation signal is received to detect whether the end effector of the robotic arm is connected to the surgical cannula. The confirmation signal can be a signal generated by the computer device in response to the confirmation operation triggered by medical personnel after confirming that the end effector of the robotic arm is connected to the surgical cannula.

[0066] Furthermore, once the end effector of the surgical robot's robotic arm is detected to be connected to the surgical cannula, the computer device will obtain the end effector pose of the robotic arm.

[0067] Optionally, the computer device can acquire the end-effector pose of the robotic arm via sensors. For example, the computer device can acquire the end-effector pose of the robotic arm via a pose sensor located at the end of the robotic arm.

[0068] S202, 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0069] The robotic arm includes an adjustment mechanism that can adjust the position and posture of the robotic arm. The adjustment mechanism includes at least one active joint, which is a joint capable of moving actively according to signals from a computer device.

[0070] Furthermore, at least one active joint of the adjustment mechanism includes a target joint. The target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm. In this way, medical personnel can drag the target joint in the robotic arm to adjust the position of the robotic arm in space.

[0071] Understandably, after medical staff drag the target joint, the angle of the target joint will change. Therefore, the computer equipment can respond to the dragging operation of the target joint in the robotic arm and determine the current angle of the target joint.

[0072] Optionally, a torque sensor can be installed on the target joint. The computer device can obtain the direction and magnitude of the force on the target joint in real time through the torque sensor, so as to determine the current angle of the target joint based on the direction and magnitude of the force.

[0073] 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.

[0074] S203, based on the current angle of the target joint and the end-effector pose of the robotic arm, control the robotic arm to move while keeping the end-effector pose unchanged.

[0075] In this embodiment, after determining the current angle of the target joint, the computer device can combine the current angle of the target joint with the end-effector pose of the robotic arm to control the robotic arm to move while keeping the end-effector pose unchanged.

[0076] Optionally, the computer device can input the current angle of the target joint and the end effector pose of the robotic arm into a trained control model. The control model then determines the motion strategy for the robotic arm and controls its movement accordingly. This allows the robotic arm to move while maintaining the end effector pose of the connected device. The control model can be a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), or other deep learning networks, machine learning networks, etc.

[0077] Figure 3 This is a schematic diagram of one operation in an embodiment of this application. Figure 3 The control process of the surgical robot before surgery is illustrated. For example... Figure 3 As shown, Figure 3 (a) is the initial state of the robotic arm. In this case, the robotic arm 301 in the surgical robot has not yet been connected to the surgical cannula 303. Figure 3 (b) is the connected state of the robotic arm. In this case, the medical staff connects the robotic arm 301 in the surgical robot to the surgical cannula 303 set on the patient 302. Figure 3(c) represents the control state of the robotic arm. In this case, only one medical staff member needs to drag the target joint of the robotic arm. After that, the computer equipment can control the robotic arm to move while keeping its end-effector pose unchanged, in accordance with the above-mentioned surgical robot control method, and at the same time meet the control needs of the medical staff to achieve the requirements of subsequent surgical operations.

[0078] In the aforementioned control method for the surgical robot, the end effector pose of the robotic arm is acquired upon detecting the connection between the end effector and the surgical cannula. In response to a dragging operation on a target joint within the robotic arm, the current angle of the target joint is determined. Since the target joint is a joint in the robotic arm's adjustment mechanism used to adjust the arm's position, the movement of the robotic arm can be controlled while maintaining its end effector pose based on the current angle of the target joint and the end effector pose. This process eliminates the need for medical personnel to manually fix the end effector 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 its end effector pose, based on the medical personnel's intention. Therefore, the method provided in this embodiment simplifies operational complexity. Moreover, since it eliminates the need for multiple medical personnel and manual fixation, it saves human resources and improves the ease of use and reliability of the surgical robot.

[0079] Figure 4 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 4 As shown, S203 includes S401 to S402.

[0080] S401, based on the end-effector pose of the robotic arm and the current angle of the target joint, determine the target angles of other joints in the adjustment mechanism; other joints include joints in the adjustment mechanism other than the target joint.

[0081] In this embodiment, to ensure that the end effector pose of the robotic arm remains unchanged during the control of the robotic arm's movement, the computer device determines the target angles of other joints in the adjustment mechanism based on the end effector pose of the robotic arm and the current angle of the target joint. These other joints include all joints in the adjustment mechanism other than the target joint.

[0082] Optionally, the computer device can perform inverse kinematics calculations on the adjustment mechanism of the robotic arm based on the end-effector pose and the current angle of the target joint, and determine the target angles of other joints if an inverse solution exists.

[0083] Optionally, if there is no inverse kinematic solution when performing inverse kinematics calculation on the adjustment mechanism of the robotic arm based on the end-effector pose and the current angle of the target joint, the computer device can issue an error message to alert medical staff.

[0084] For example, assuming that the joints included in the adjustment mechanism of the surgical robot's robotic arm 1 are denoted as joint 5, joint 6, joint 7, and joint 8, and joint 5 is the target joint, after the computer device determines the current angle of joint 5 in response to the dragging operation of joint 5 in the robotic arm 1, it can perform inverse kinematics calculation on the robotic arm 1 based on the end pose of the robotic arm 1 and the current angle of joint 5, and determine the target angles of joint 6, joint 7, and joint 8 in the robotic arm 1 if an inverse solution exists.

[0085] In other words, let the i-th robotic arm in the surgical robot be denoted as robotic arm i, and let the end effector pose of robotic arm i be P. i The target angles of joints 6, 7, and 8 in the adjustment mechanism of robotic arm i are denoted as θ. i6 θ i7 θ i8 The current angle of joint 5 in the adjustment mechanism of robotic arm i is denoted as θ. i5 The following formula (1) holds true.

[0086] In this way, the computer device can determine the target angles of other joints in the adjustment mechanism based on the end-effector pose of the robotic arm and the current angle of the target joint. Here, i is an integer greater than or equal to 1.

[0087] θ i6 ,θ i7 ,θ i8 =f1(θ) i5 ,P I (1)

[0088] S402 controls the movement of the robotic arm while keeping the end-effector pose unchanged, based on the target angles of other joints.

[0089] In this embodiment, after the computer device determines the target angle of other joints, it can control the other joints to move according to the movement of the target joint, thereby controlling the movement of the robotic arm while keeping the end-effector pose unchanged.

[0090] Optionally, the above-mentioned motion strategy includes a motion sequence. The computer device can perform motion planning for other joints based on their target and current angles, and then refine the planned sequence to obtain the robot arm's motion sequence. Alternatively, the computer device can directly determine the robot arm's motion sequence after performing motion planning for other joints; this embodiment is not limited to this. It should be noted that the above-mentioned motion planning may include, but is not limited to, mesh search, free space methods, and quadtree methods. The joint angles of other joints can be obtained through sensors.

[0091] Optionally, the motion sequence of the robotic arm can indicate the motion trajectories of other joints in the robotic arm. Taking joint 6 of robotic arm 1 as an example, the motion sequence of robotic arm 1 can include the expected angle 1 of joint 6 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.

[0092] In this way, the computer device can control the movement of the robotic arm according to the motion sequence of the robotic arm, so as to control the robotic arm without changing the end-effector pose. For example, taking joint 6 of robotic arm 1 as an example, the computer device can give a drive signal to joint 6 of robotic arm 1 at each moment according to the motion sequence of robotic arm 1 and the current angle of joint 6 of robotic arm 1 at each moment, so that the actual angle of joint 6 of robotic arm 1 at each moment meets the expected angle in the motion sequence.

[0093] This embodiment determines the target angles of other joints in the adjustment mechanism based on the end-effector pose of the robotic arm and the current angle of the target joint. Other joints include joints in the adjustment mechanism other than the target joint. Therefore, based on the target angles of other joints, the robotic arm can be controlled to move while the end-effector pose of the robotic arm remains unchanged.

[0094] Figure 5 This is a schematic diagram of a process for obtaining the end effector pose according to an embodiment of this application. In an exemplary embodiment, such as... Figure 5 As shown, S201 includes S501 to S502.

[0095] S501, obtain the current angle of each joint in the adjustment mechanism of the robotic arm.

[0096] In this embodiment, the current angles of joints 6, 7, and 8 of the adjustment mechanism in robotic arm i are denoted as θ. I For example, if the end of the surgical robot's robotic arm i is detected to be connected to the surgical cannula, and the robotic arm i is in a fixed pose at this time, then the computer device can obtain the current angle θ of each joint in the adjustment mechanism. I5 θ I6 θi7 and θ i8 .

[0097] S502 determines the end effector pose of the robotic arm based on the current angles of each joint in the adjustment mechanism.

[0098] Furthermore, θ I5 θ i6 θ i7 and θ i8 The end effector pose P of robotic arm i i The following equation (2) is satisfied. Therefore, based on the current angles of each joint in the adjustment mechanism, the computer device can determine the end pose P of the robotic arm i. I .

[0099] P I =f2(θ) i5 ,θ i6 ,θ i7 ,θ i8 (2)

[0100] Optionally, the computer device can perform forward kinematics calculations based on the current angles of the joints in the adjustment mechanism to determine the end-effector pose of the robotic arm.

[0101] This embodiment can obtain the current angle of each joint in the adjustment mechanism of the robotic arm and determine the end-effector pose of the robotic arm based on the current angle of each joint in the adjustment mechanism. Therefore, when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, the end-effector pose of the robotic arm can be obtained efficiently and accurately.

[0102] Figure 6 This is a schematic diagram of a pose evaluation process according to an embodiment of this application. In an exemplary embodiment, such as... Figure 6 As shown, the control methods for the surgical robot also include S601 to S602.

[0103] S601, after controlling the robotic arm to move while keeping its end-effector pose unchanged, obtains the pose evaluation results of the surgical robot.

[0104] In this embodiment, based on the current angle of the target joint and the end-effector pose of the robotic arm, after controlling the robotic arm to move while keeping the end-effector pose unchanged, the computer device will obtain the pose evaluation result of the surgical robot to evaluate whether the pose of the robotic arm is appropriate.

[0105] The pose evaluation result can be either pass or fail, or it can be any value between 0 and 10, with higher values ​​indicating better pose evaluation results for the robotic arm. In some embodiments, the pose evaluation result may also include the current pose status of each robotic arm in the surgical robot.

[0106] Optionally, the computer device can determine the pose assessment result of the surgical robot based on the current angle of each joint in each robotic arm after the end effector has moved without changing its position. Alternatively, the computer device can determine the pose assessment result of the surgical robot in response to input from medical personnel.

[0107] S602, if the pose evaluation result of the surgical robot does not meet the preset pose requirements, output a prompt message; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

[0108] In this embodiment, the preset pose requirement can be "pass," meaning the pose evaluation result meets the preset pose requirement. Alternatively, the preset pose requirement can be that the value in the pose evaluation result is less than a preset threshold. The preset threshold is set according to requirements and is a number greater than 0. The preset pose requirement can also be other pose constraints for the robotic arm; this embodiment does not impose any limitations.

[0109] Furthermore, if the pose assessment result of the surgical robot does not meet the preset pose requirements, the computer device will output a prompt message. This prompt message instructs the target joint in the adjustment mechanism to be dragged again, and may include, but is not limited to, at least one of the following: audible prompts, visual prompts, and vibration prompts.

[0110] In this way, after the computer equipment outputs a prompt, medical staff can determine that the current position of the robotic arm does not meet the requirements of the surgical operation. Therefore, medical staff can re-drag the target joint in the robotic arm according to the prompt.

[0111] This embodiment can obtain the surgical robot's pose evaluation result after the robotic arm moves while maintaining its end-effector pose. Therefore, the computer equipment can promptly confirm the motion effect of the robotic arm. Furthermore, since it can output prompts when the surgical robot's pose evaluation result does not meet the preset pose requirements, instructing the target joint in the adjustment mechanism to be dragged again, the computer equipment can also promptly notify medical personnel to revise the dragging operation if the robotic arm's motion effect is unsatisfactory, thereby improving the control efficiency and effect of the surgical robot.

[0112] To more clearly illustrate the control method of the surgical robot in this application, this paper combines... Figure 7 and Figure 8 illustrate. Figure 7 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 7As shown, before surgery, medical staff connect the end effector of the robotic arm in the surgical robot to the surgical cannula. Once the computer detects this connection, the robotic arm's adjustment mechanism enters a constraint-driven drag mode. In this mode, the target joint within the adjustment mechanism enters torque control mode, moving according to the medical staff's intention. Other joints in the adjustment mechanism are in position control mode, moving in tandem with the target joint. This allows the medical staff to drag the robotic arm's adjustment mechanism with one hand, i.e., drag the target joint with one hand. Subsequently, the computer controls the robotic arm's movement according to the aforementioned surgical robot control method.

[0113] After controlling the robotic arm to move, medical staff can assess whether the current surgical robot meets the surgical operation requirements, obtain the pose assessment results of the surgical robot, and feed the pose assessment results back to the computer device through input operations. Finally, the computer device determines whether the pose assessment results meet the preset pose requirements. If not, medical staff can re-drag the target joint. Medical staff can determine whether it is necessary to re-drag the target joint based on the prompts output by the computer device.

[0114] During the process of controlling the movement of the robotic arm according to the above-mentioned control method for surgical robots, the computer device first obtains the current angle of each joint in the adjustment mechanism of the robotic arm when it detects that the end of the robotic arm of the surgical robot is connected to the surgical cannula. Then, based on the current angle of each joint in the adjustment mechanism, the end pose of the robotic arm is calculated using forward kinematics.

[0115] Furthermore, in response to dragging operations on the target joint in the adjustment mechanism of the robotic arm, the computer device obtains the current angle of the target joint and, based on the end-effector pose of the robotic arm and the current angle of the target joint, uses inverse kinematics to calculate the target angles of other joints in the adjustment mechanism. Then, based on the target angles of the other joints, the computer device controls the robotic arm to move while maintaining the end-effector pose of the robotic arm.

[0116] Figure 8 This is a schematic diagram of a control method for a surgical robot according to an embodiment of this application, as shown below. Figure 8 As shown, the computer device executes the control method of the surgical robot according to the following process.

[0117] S801: When it is detected that the end of the surgical robot's robotic arm is connected to the surgical cannula, the current angle of each joint in the adjustment mechanism of the robotic arm is obtained.

[0118] S802 determines the end effector pose of the robotic arm based on the current angles of each joint in the adjustment mechanism.

[0119] S803, in response to a dragging operation on a target joint in the robotic arm, determines the current angle of the target joint.

[0120] S804, based on the end-effector pose of the robotic arm and the current angle of the target joint, determines the target angles of other joints in the adjustment mechanism. These other joints include all joints in the adjustment mechanism other than the target joint.

[0121] S805 controls the movement of the robotic arm while keeping the end-effector pose unchanged, based on the target angles of other joints.

[0122] S806 obtains the pose evaluation results of the surgical robot after controlling the robotic arm to move while keeping its end-effector pose unchanged.

[0123] S807 outputs a prompt message if the surgical robot's pose evaluation result does not meet the preset pose requirements. This prompt message instructs the target joint in the adjustment mechanism to be dragged again.

[0124] S801 to S807 can be referred to the above embodiments, and will not be repeated here.

[0125] Figure 9 This is a schematic diagram of the structure of a surgical robot control system according to an embodiment of this application. In an exemplary embodiment, such as... Figure 9 As shown, the surgical robot control system 900 includes:

[0126] The positioning module 901 is used to acquire the end pose of the robotic arm when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, and 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0127] The control module 902 is used to control the movement of the robotic arm while keeping the end-effector pose unchanged, based on the current angle of the target joint and the end-effector pose of the robotic arm.

[0128] The surgical robot control system 900 can be referenced in the above introduction to the control methods of surgical robots, and will not be repeated here.

[0129] To more clearly illustrate the control method and control system of the surgical robot in this application, the structure of the surgical robot is described below. It is understood that the above-described control method and control system can be applied to the surgical robot described below.

[0130] Figure 10 This is a schematic diagram of the structure of a surgical robot according to an embodiment of this application. In an exemplary embodiment, such as... Figure 10 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. Taking abdominal surgery as an example, Figure 10 The third robotic arm in the diagram is the endoscope-holding arm, which is used to connect the endoscope. Figure 10 All robotic arms except for arm number 3 are holding arms. This is understandable. Figure 10 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.

[0131] Each robotic arm includes an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism, and the telecentric mechanism is movable 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.

[0132] During the procedure, the telecentric mechanism connects to both the adjustment mechanism and the surgical cannula to further constrain the telecentric point of the robotic arm, thus controlling the end effector's position. 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 the procedure, thereby affecting the flexibility and safety of the instruments.

[0133] For example, Figure 10 The fourth robotic arm, namely robotic arm 1001, includes an adjustment mechanism 1002 and a telecentric mechanism 1003. The adjustment mechanism 1002 and the telecentric mechanism 1003 are connected, and the telecentric mechanism 1003 can move relative to the adjustment mechanism 1002.

[0134] Please continue to refer to Figure 10 In one exemplary embodiment, the robotic arms in the surgical robot include multiple first robotic arms with identical structures. The number of first robotic arms is greater than or equal to 2 and less than or equal to the total number of robotic arms in the surgical robot. Of course, all robotic arms in the surgical robot can also be first robotic arms.

[0135] Taking the first robotic arm, including robotic arm 1001, as an example, the adjustment mechanism 1002 of robotic arm 1001 includes an end rotary joint 1002a, a crossbar assembly 1002b, and an axial support assembly 1002c.

[0136] like Figure 10As shown, an end-rotation joint 1002a is disposed at one end of the crossbar assembly 1002b for rotating the crossbar assembly 1002b in the horizontal direction, and an axial support assembly 1002c is disposed between the crossbar assembly 1002b and the telecentric mechanism 1003. Optionally, the target joint in the adjustment mechanism of the above-mentioned robotic arm can be the end-rotation joint 1002a.

[0137] Please continue to refer to this. Figure 10 In one exemplary embodiment, the surgical robot may further include a carriage mechanism 1004, to which each robotic arm is connected. The carriage mechanism 1004 is used to fix or adjust the posture of the robotic arms. In other words, the carriage mechanism 1004 provides support and positioning for the adjustment mechanisms within the robotic arms.

[0138] Please continue to refer to this. Figure 10 In one exemplary embodiment, the trolley mechanism 1004 may further optionally include a trolley base 1004a, a trolley lifting assembly 1004b, a trolley first rotating assembly 1004c, a trolley moving assembly 1004d, a trolley second rotating assembly 1004e, and a trolley orientation assembly 1004f.

[0139] The trolley base 1004a provides overall support for the surgical robot and serves as a reference for its placement. Optionally, the trolley base 1004a can be floatingly connected to the ground via a lifting mechanism.

[0140] The first end of the trolley lifting assembly 1004b is located on the trolley base 1004a and can extend and retract vertically to drive the trolley orientation assembly 1004f to move vertically. The first trolley rotation assembly 1004c is located at the second end of the trolley lifting assembly 1004b and drives the trolley orientation assembly 1004f to rotate horizontally. The trolley moving assembly 1004d is telescopically connected to the trolley lifting assembly 1004b. During the movement of the trolley lifting assembly 1004b, the distance between the trolley moving assembly 1004d and the trolley lifting assembly 1004b can be adjusted to adjust the position of the trolley orientation assembly 1004f in space. The second trolley rotation assembly 1004e also drives the trolley orientation assembly 1004f to rotate horizontally. The trolley orientation assembly 1004f is used to connect the various robotic arms.

[0141] In other words, the aforementioned trolley lifting assembly 1004b, trolley first rotating assembly 1004c, and trolley moving assembly 1004d are used to position the trolley orientation assembly 1004f. Specifically, the trolley lifting assembly 1004b is used to position the trolley orientation assembly 1004f in the vertical direction; the trolley first rotating assembly 1004c and the trolley moving assembly 1004d together are used to position the trolley orientation assembly 1004f in planar space. Therefore, the trolley lifting assembly 1004b, trolley first rotating assembly 1004c, and trolley moving assembly 1004d can completely achieve the spatial positioning of the trolley orientation assembly 1004f.

[0142] Furthermore, the second rotating component 1004e of the trolley mainly realizes the attitude adjustment of the trolley orientation component 1004f 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.

[0143] Figure 11 This is a schematic diagram illustrating the connection between a trolley mechanism and an adjustment mechanism in one embodiment of this application. In an exemplary embodiment, Figure 11 It shows Figure 10 A top-view diagram showing the connection between the trolley mechanism and the robotic arm. (See diagram below.) Figure 11 As shown, continuing with the example of four robotic arms, robotic arms 1 through 4 in the surgical robot are all connected to the trolley orientation assembly 1004f.

[0144] Alternatively, robotic arms 1 through 4 can all be connected to the trolley orientation assembly 1004f via their end-effectors. This allows for individual adjustment of the robotic arm's position in space using the end-effectors.

[0145] Figure 12 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 10 On the basis of, such as Figure 12 As shown, the crossbar assembly 1002b includes a movable joint 1201, and the axial support assembly 1002c includes an axial rotation joint 1202 and a pitch joint 1203.

[0146] The movable joint 1201 is disposed on the side of the crossbar assembly 1002b facing the axial support assembly 1002c, and is used to drive the axial support assembly 1002c to move along the side of the crossbar assembly 1002b. The crossbar assembly 1002b includes, but is not limited to, a slide rail.

[0147] The axial rotation joint 1202 is located at one end of the axial support assembly 1002c near the crossbar assembly 1002b, and is used to drive the axial support assembly 1002c to rotate in the horizontal direction. The pitch joint 1203 is located between the axial support assembly 1002c and the telecentric mechanism 1003, and is used to adjust the pitch angle of the telecentric mechanism 1003. Figure 12 Point P in the diagram is the end of the robotic arm.

[0148] Currently, existing technologies cannot adjust the pitch angle of the telecentric mechanism. However, the surgical robot in this embodiment achieves the pitch angle of the telecentric mechanism, which can adapt to the tilt angle requirements of different patients in clinical surgery. At the same time, by adjusting the pitch angle of the telecentric mechanism, the tilt angle can be optimized, thereby increasing the height of the telecentric point in the telecentric mechanism and enhancing the clinical adaptability of the system.

[0149] Furthermore, the surgical robot provided in this embodiment fully integrates the configuration features of the adjustment mechanism and the telecentric mechanism. While ensuring spatial motion performance, the adjustment mechanism only needs to have four joints, reducing unnecessary redundant degrees of freedom in the system and improving the compactness and stability of the surgical robot. Thus, based on the compact configuration of this surgical robot, the surgical arm can be adjusted according to the surgeon's intention by controlling the active joint telecentric point of the adjustment mechanism, thereby improving surgical reliability, obstacle avoidance, and ease of use.

[0150] Figure 13 This application provides an embodiment of a surgical robot's architecture diagram. Figures 10-12 Based on this, an architecture for a surgical robot is as follows: Figure 13 As shown. Please refer to. Figure 13 The surgical robot includes a trolley base 1004a, a trolley lifting assembly 1004b, a first trolley rotating assembly 1004c, a trolley moving assembly 1004d, a second trolley rotating assembly 1004e, and a trolley orientation assembly 1004f, connected in sequence. The trolley orientation assembly 1004f connects to multiple identical first robotic arms. For example... Figure 13 The surgical robot shown consists of four robotic arms, all of which are the first robotic arms.

[0151] Please continue to refer to this. Figure 13 Each first robotic arm includes an end effector rotary joint 1002a, a traverse joint 1201, an axial rotation joint 1202, a pitch joint 1203, and a telecentric mechanism 1003. In one embodiment, the end effector rotary joint 1002a, traverse joint 1201, axial rotation joint 1202, and pitch joint 1203 can be understood as joints 5, 6, 7, and 8 as described above. Optionally, the end effector rotary joint 1002a, traverse joint 1201, axial rotation joint 1202, and pitch joint 1203 are all active joints.

[0152] In the surgical robot described above, the first three connected end-rotation joints 1002a, locating joint 1201, and axial rotation joint 1202 in the adjustment mechanism can be used to locate the telecentric point P in the telecentric mechanism in the plane, that is, to locate the end pose of the robotic arm.

[0153] The pitch joint 1203 is connected to the telecentric mechanism. On one hand, the pitch joint 1203 can adjust the installation pitch angle of the mechanism. On the other hand, the pitch joint 1203 can work with the first three tandem joints in the adjustment mechanism to position the end effector P of the robotic arm in space. This allows the telecentric mechanism to still have spatial positioning redundancy, effectively improving its flexibility and making the space more compact.

[0154] Figure 14 This is a schematic diagram of the architecture of another surgical robot according to an embodiment of this application. In an exemplary embodiment, the multiple robotic arms include at least two second robotic arms. The adjustment mechanism of the second robotic arm includes multiple vertical rotary joints and one horizontal rotary joint; the multiple vertical rotary joints and the horizontal rotary joint are connected by connecting components.

[0155] Optionally, the second robotic arm can be one of the two outer robotic arms of the surgical robot. Figure 14 This illustrates a surgical robot in which the two outer robotic arms are the second robotic arms, and the two middle robotic arms are the first robotic arms. Figure 14 As shown, taking the second robotic arm on the far left as an example, it includes a vertical rotation joint 1401, a vertical rotation joint 1402, a vertical rotation joint 1403, and a horizontal rotation joint 1404.

[0156] In other words, there are at least two different architectural approaches for surgical robots. Figure 13 In the implementation method, the joints of the four adjustment mechanisms in the four robotic arms are consistent. For each adjustment mechanism, the joints include: a joint for rotation, a joint for movement, a joint for rotation, and a joint for pitch.

[0157] exist Figure 14 In the implementation, if there are still four robotic arms, the joint configurations of the two outer adjustment mechanisms and the two inner adjustment mechanisms are different. The outer adjustment mechanisms include joints for rotation, rotation, and pitch, while the inner adjustment mechanisms still include joints for rotation, movement, rotation, and pitch. Figure 14 In the middle, the outer robotic arm can better simulate the joints of a human hand, thus increasing obstacle avoidance capabilities.

[0158] Figure 15 This is a schematic diagram of the structure of a telecentric mechanism in an embodiment of this application, as shown below. Figure 15 As shown, the telecentric mechanism in the surgical robot includes a rotary joint 1501, an active pitch section 1502, a first passive pitch section 1503, a second passive pitch section 1504, and an instrument joint 1505.

[0159] Optionally, the active pitch section 1502 includes an active pitch joint 1502a and an active pitch link 1502b. The first passive pitch section 1503 includes a first passive pitch joint 1503a and a first passive pitch link 1503b. The second passive pitch section 1504 includes a second passive pitch joint 1504a and a second passive pitch link 1504b.

[0160] The rotary joint 1501 is connected to the adjustment mechanism; the active pitch joint 1502a is disposed at one end of the active pitch link 1502b; the other end of the active pitch link 1502b is connected to one end of the first passive pitch link 1503b via the first passive pitch joint 1503a. The other end of the first passive pitch link 1503b is connected to the second passive pitch link 1504b via the second passive pitch link 1504a. The instrument joint 1505 is disposed on the second passive pitch link 1504b.

[0161] Optionally, the speeds of the active pitch joint 1502a, the first passive pitch joint 1503a, and the second passive pitch joint 1504a are less than a preset difference. The preset difference is a number close to zero. For example, the speeds of the active pitch joint 1502a, the first passive pitch joint 1503a, and the second passive pitch joint 1504a are equal.

[0162] Furthermore, the active pitch joint 1502a, the first passive pitch joint 1503a, and the second passive pitch joint 1504a form a parallelogram with the end effector P of the robotic arm. Thus, the rotation axis of the rotary joint 1501 is parallel to the first passive pitch link 1503b, causing the rotation axis of the rotary joint 1501 to intersect the rotation axis of the parallelogram at a single point. This allows the telecentric mechanism to perform posture adjustments around the patient's incision point. In other words, the telecentric mechanism does not affect the end effector posture of the robotic arm during movement.

[0163] In summary, the surgical robot and control method based on the surgical robot provided in this embodiment can effectively solve the problems of pitch angle adjustment for telecentric mechanism installation, insufficient motion space, and poor usability, and effectively ensure the safety, flexibility, and ease of use of the surgical robot.

[0164] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0165] 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.

[0166] Figure 16 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 16 As shown, a control device 1600 for a surgical robot is provided, comprising: a first determining module 1601, a second determining module 1602, and a control module 1603, wherein:

[0167] The first determining module 1601 is used to obtain the end pose of the robotic arm when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula.

[0168] The second determining module 1602 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0169] The control module 1603 is used to control the movement of the robotic arm while keeping the end-effector pose unchanged, based on the current angle of the target joint and the end-effector pose of the robotic arm.

[0170] In the control device of the aforementioned surgical robot, the end-effector pose of the robotic arm is acquired upon detecting its connection to the surgical cannula. In response to a dragging operation on a target joint within the robotic arm, the current angle of the target joint is determined. Since the target joint is a joint in the robotic arm's adjustment mechanism used to adjust the arm's position, the movement of the robotic arm can be controlled while maintaining its end-effector pose based on the current angle of the target joint and the end-effector pose. This process eliminates the need for medical personnel to manually fix the end-effector to remain 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 its end-effector pose, based on the medical personnel's intention. Therefore, the device provided in this embodiment simplifies operational complexity. Moreover, since it eliminates the need for multiple medical personnel and manual fixation, it saves human resources and improves the ease of use and reliability of the surgical robot.

[0171] Optionally, the control module 1603 includes:

[0172] The first determining unit is used to determine the target angle of other joints in the adjustment mechanism based on the end-effector pose of the robotic arm and the current angle of the target joint; the other joints include joints in the adjustment mechanism other than the target joint.

[0173] The control unit is used to control the movement of the robotic arm while keeping the end-effector pose unchanged, based on the target angles of other joints.

[0174] Optionally, the first determining module 1601 includes:

[0175] The acquisition unit is used to acquire the current angle of each joint in the adjustment mechanism of the robotic arm.

[0176] The second determining unit is used to determine the end-effector pose of the robotic arm based on the current angles of each joint in the adjustment mechanism.

[0177] Optionally, the control unit 1600 of the surgical robot also includes:

[0178] The acquisition module is used to acquire the pose evaluation results of the surgical robot after the control arm moves while maintaining its end-effector pose.

[0179] The output module is used to output a prompt message when the pose evaluation result of the surgical robot does not meet the preset pose requirements; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

[0180] 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.

[0181] Figure 17 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 17 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.

[0182] Those skilled in the art will understand that Figure 17 The 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.

[0183] 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:

[0184] If the end effector of the surgical robot is detected to be connected to the surgical cannula, the end effector pose of the surgical robot is obtained.

[0185] 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0186] Based on the current angle of the target joint and the end effector pose of the robotic arm, the robotic arm is controlled to move while the end effector pose of the robotic arm remains unchanged.

[0187] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0188] Based on the end-effector pose of the robotic arm and the current angle of the target joint, the target angles of other joints in the adjustment mechanism are determined; the other joints include joints in the adjustment mechanism other than the target joint; according to the target angles of the other joints, the robotic arm is controlled to move while the end-effector pose of the robotic arm remains unchanged.

[0189] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0190] Obtain the current angle of each joint in the adjustment mechanism of the robotic arm; determine the end effector pose of the robotic arm based on the current angle of each joint in the adjustment mechanism.

[0191] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0192] After controlling the robotic arm to move while keeping the end-effector pose unchanged, the pose evaluation result of the surgical robot is obtained; if the pose evaluation result of the surgical robot does not meet the preset pose requirements, a prompt message is output; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

[0193] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0194] If the end effector of the surgical robot is detected to be connected to the surgical cannula, the end effector pose of the surgical robot is obtained.

[0195] 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0196] Based on the current angle of the target joint and the end effector pose of the robotic arm, the robotic arm is controlled to move while the end effector pose of the robotic arm remains unchanged.

[0197] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0198] Based on the end-effector pose of the robotic arm and the current angle of the target joint, the target angles of other joints in the adjustment mechanism are determined; the other joints include joints in the adjustment mechanism other than the target joint; according to the target angles of the other joints, the robotic arm is controlled to move while the end-effector pose of the robotic arm remains unchanged.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0200] Obtain the current angle of each joint in the adjustment mechanism of the robotic arm; determine the end effector pose of the robotic arm based on the current angle of each joint in the adjustment mechanism.

[0201] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0202] After controlling the robotic arm to move while keeping the end-effector pose unchanged, the pose evaluation result of the surgical robot is obtained; if the pose evaluation result of the surgical robot does not meet the preset pose requirements, a prompt message is output; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

[0203] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0204] If the end effector of the surgical robot is detected to be connected to the surgical cannula, the end effector pose of the surgical robot is obtained.

[0205] 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0206] Based on the current angle of the target joint and the end effector pose of the robotic arm, the robotic arm is controlled to move while the end effector pose of the robotic arm remains unchanged.

[0207] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0208] Based on the end-effector pose of the robotic arm and the current angle of the target joint, the target angles of other joints in the adjustment mechanism are determined; the other joints include joints in the adjustment mechanism other than the target joint; according to the target angles of the other joints, the robotic arm is controlled to move while the end-effector pose of the robotic arm remains unchanged.

[0209] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0210] Obtain the current angle of each joint in the adjustment mechanism of the robotic arm; determine the end effector pose of the robotic arm based on the current angle of each joint in the adjustment mechanism.

[0211] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0212] After controlling the robotic arm to move while keeping the end-effector pose unchanged, the pose evaluation result of the surgical robot is obtained; if the pose evaluation result of the surgical robot does not meet the preset pose requirements, a prompt message is output; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

[0213] 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.

[0214] 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.

[0215] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for a surgical robot, characterized in that, The method includes: If the end effector of the surgical robot is detected to be connected to the surgical cannula, the end effector pose of the surgical robot is obtained. 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm. Based on the end-effector pose of the robotic arm and the current angle of the target joint, the target angles of other joints in the adjustment mechanism are determined; the other joints include all joints in the adjustment mechanism other than the target joint. Based on the target angles of the other joints, the robotic arm is controlled to move while the end-effector pose remains unchanged.

2. The method according to claim 1, characterized in that, The step of obtaining the end effector pose of the robotic arm includes: Obtain the current angle of each joint in the adjustment mechanism of the robotic arm; The end effector pose of the robotic arm is determined based on the current angles of each joint in the adjustment mechanism.

3. The method according to claim 1 or 2, characterized in that, The method further includes: After controlling the robotic arm to move while keeping the end-effector pose unchanged, the pose evaluation result of the surgical robot is obtained; If the pose evaluation result of the surgical robot does not meet the preset pose requirements, a prompt message is output; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

4. A surgical robot control system, characterized in that, The system includes: A positioning module is used to acquire the end-effector pose of the surgical robot when it is detected that the end of the robot arm is connected to the surgical cannula, and to determine the current angle of the target joint in response to a dragging operation on the target joint in the robot arm; the target joint is a joint in the adjustment mechanism of the robot arm used to adjust the position of the robot arm. A control module is configured to determine the target angles of other joints in the adjustment mechanism based on the end-effector pose of the robotic arm and the current angle of the target joint; the other joints include joints in the adjustment mechanism other than the target joint; and control the robotic arm to move while the end-effector pose of the robotic arm remains unchanged according to the target angles of the other joints.

5. The system according to claim 4, characterized in that, The robotic arm includes multiple robotic arms, and each robotic arm includes an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism; The telecentric mechanism is capable of moving relative to the adjustment mechanism; The plurality of robotic arms include a plurality of first robotic arms with the same structure, and the adjustment mechanism of the first robotic arm includes a crossbar assembly, an end rotary joint, and an axial support assembly; The end rotary joint is disposed at one end of the crossbar assembly and is used to rotate the crossbar assembly in the horizontal direction; the axial support assembly is disposed between the crossbar assembly and the telecentric mechanism.

6. The system according to claim 5, characterized in that, The crossbar assembly includes a movable joint, and the axial support assembly includes an axial rotation joint and a pitch joint; The movable joint is disposed on the side of the crossbar assembly facing the axial support assembly, and is used to drive the axial support assembly to move along the side of the crossbar assembly. The axial rotation joint is located at one end of the axial support assembly near the crossbar assembly, and is used to drive the axial support assembly to rotate along the horizontal direction; The pitch joint is disposed between the axial support assembly and the telecentric mechanism, and is used to adjust the pitch angle of the telecentric mechanism.

7. The system according to claim 5, characterized in that, The plurality of robotic arms includes at least two second robotic arms, and the adjustment mechanism of the second robotic arm includes a plurality of vertical rotary joints and a horizontal rotary joint; the plurality of vertical rotary joints and the horizontal rotary joint are connected by a connecting assembly.

8. A control device for a surgical robot, characterized in that, The device comprises: The first determining module is used to obtain the end-effector pose of the robotic arm when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula. The second 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 adjustment mechanism of the robotic arm used to adjust the position of the robotic arm. A control module is configured to determine the target angles of other joints in the adjustment mechanism based on the end-effector pose of the robotic arm and the current angle of the target joint; the other joints include joints in the adjustment mechanism other than the target joint; and control the robotic arm to move while the end-effector pose of the robotic arm remains unchanged according to the target angles of the other joints.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

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 the method according to any one of claims 1 to 3.

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 the method according to any one of claims 1 to 3.

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