Master-slave displacement compensation method and device of surgical robot, electronic equipment and storage medium

Abstract

The invention discloses a master-slave displacement compensation method and device of a surgical robot, electronic equipment and a storage medium. The method is applied to a master-slave surgical robot, the master-slave surgical robot comprises a master end and a slave end, and the method comprises the steps that in response to displacement compensation operation at the master end, a gain compensation coefficient is determined, and based on an initial position instruction increment of a current control period and the gain compensation coefficient, a target position instruction increment of the current control period is determined; and transmitting the target position instruction increment to the slave end, so that the slave end controls an instrument of the slave end to move to a target position based on the target position instruction increment. According to the invention, the problem of insufficient displacement caused by view deviation is solved, so that the moving distance of the slave end instrument better conforms to the operation intuition of an operator.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a master-slave displacement compensation method, device, electronic equipment and storage medium for a surgical robot. Background Art

[0002] The motion control of the laparoscopic surgical robot takes the motion trajectory of the master end as input, and obtains the target trajectory of the slave end through master-slave mapping. In this process, the slave end robot arm sometimes needs to meet the target trajectory of the slave end at a faster joint speed in different positions.

[0003] The laparoscopic surgical robot uses the operator to operate the master end motion controller to input the position control command of the instrument. The slave end obtains the joint angle through the inverse kinematic solution, and controls each motor to move to the specified joint angle to achieve the position command reproduction of the slave end to the master end. However, there is a situation where, although the slave end can accurately reproduce the master end action, due to factors such as visual deviation, the operator's subjective feeling of the hand operation distance and the instrument movement distance in the field of vision have a certain deviation, causing the operator to feel that the instrument movement position is shallow and does not reach the expected position in his mind. Summary of the invention

[0004] The present invention provides a master-slave displacement compensation method, device, electronic equipment and storage medium of a surgical robot to solve the problem of insufficient displacement caused by field of view deviation.

[0005] According to one aspect of the present invention, a master-slave displacement compensation method for a surgical robot is provided, which is applied to a master-slave surgical robot, wherein the master-slave surgical robot comprises a master end and a slave end, and the method comprises:

[0006] In response to the displacement compensation operation at the master end, a gain compensation coefficient is determined, and a target position command increment of the current control cycle is determined based on an initial position command increment of the current control cycle and the gain compensation coefficient;

[0007] The target position instruction increment is transmitted to the slave end, so that the slave end controls the instrument of the slave end to move to the target position based on the target position instruction increment.

[0008] According to another aspect of the present invention, a master-slave displacement compensation device for a surgical robot is provided, which is applied to a master-slave surgical robot, wherein the master-slave surgical robot comprises a master end and a slave end, and the device comprises:

[0009] A displacement compensation module, for determining a gain compensation coefficient in response to a displacement compensation operation at the master end, and determining a target position command increment of the current control cycle based on an initial position command increment of the current control cycle and the gain compensation coefficient;

[0010] The slave end control module is used to transmit the target position instruction increment to the slave end, so that the slave end controls the instrument of the slave end to move to the target position based on the target position instruction increment.

[0011] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the master-slave displacement compensation method of the surgical robot described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the master-slave displacement compensation method of a surgical robot described in any embodiment of the present invention when executed.

[0016] The technical solution of the embodiment of the present invention determines the gain compensation coefficient in response to the displacement compensation operation at the master end, determines the target position instruction increment of the current control cycle based on the initial position instruction increment of the current control cycle and the gain compensation coefficient; transmits the target position instruction increment to the slave end, so that the slave end controls the slave end's instrument to move to the target position based on the target position instruction increment. The problem of insufficient displacement caused by field of view deviation is solved, so that the moving distance of the instrument is more in line with the operator's operating intuition.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a flow chart of a master-slave displacement compensation method for a surgical robot provided in Embodiment 1 of the present invention;

[0020] Figure 2is a graph showing the relationship between acceleration and velocity of the end of the instrument as a function of time provided by the first embodiment of the present invention;

[0021] Figure 3 It is a structural schematic diagram of a master-slave displacement compensation device of a surgical robot provided in Embodiment 2 of the present invention;

[0022] Figure 4 It is a structural schematic diagram of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Embodiment 1

[0026] Figure 1 This is a flow chart of a master-slave displacement compensation method for a surgical robot provided in the first embodiment of the present invention. This embodiment is applicable to the situation where a laparoscopic surgical robot performs master-slave control. The method can be executed by a master-slave displacement compensation device of the surgical robot. The master-slave displacement compensation device of the surgical robot can be implemented in the form of hardware and / or software. The master-slave displacement compensation device of the surgical robot can be configured in a master-slave surgical robot. The master-slave surgical robot includes a master end and a slave end. The motion controller of the master end inputs the position control instruction of the instrument. The slave end obtains the joint angle through the inverse kinematic solution, controls each motor to move to the specified joint angle, and realizes the slave end to reproduce the position instruction of the master end.

[0027] like Figure 1 As shown, the method includes:

[0028] S110 , in response to the displacement compensation operation at the master end, determining a gain compensation coefficient, and determining a target position command increment of the current control cycle based on an initial position command increment of the current control cycle and the gain compensation coefficient.

[0029] Among them, the displacement compensation operation refers to the operation of visually compensating the displacement of the instrument at the slave end when the operator feels that the movement position of the instrument at the slave end is shallow and has not reached the expected position in the mind during the operation. The gain compensation coefficient refers to the compensation coefficient for compensating the position instruction increment. Specifically, the gain compensation coefficient can be statically configured; optionally, the gain compensation coefficient can also be dynamically configured and associated with the initial position instruction increment of the current control cycle to achieve gain compensation for the operation speed. Exemplarily, when the operator quickly performs the master-slave operation, the initial position instruction increment changes, and a dynamic gain compensation coefficient can be obtained according to a predefined function. It can be understood that when the initial position instruction increment of the current control cycle is large, the end of the instrument moves faster and the gain compensation coefficient is large; when the initial position instruction increment of the current control cycle is small, the end of the instrument moves slower and the gain compensation coefficient is small. Through additional position instruction increment compensation, the instrument movement delay caused by filtering is improved, so that the actual instrument movement distance is more in line with the operator's operating intuition.

[0030] Among them, the control cycle refers to the period in which the master end periodically sends position command increments to the slave end. The initial position command increment refers to the position command increment generated on the master end motion controller according to the operator's operation in the current control cycle. Specifically, the initial position command increment is the difference between the position before compensation in the current control cycle and the position before compensation in the previous control cycle. The target position command increment refers to the position command increment after compensation in the current control cycle. Specifically, the target position command increment is the difference between the position after compensation in the current control cycle and the position after compensation in the previous control cycle.

[0031] In this embodiment, during the operation, when the operator subjectively feels that there is a certain deviation between the distance of hand operation and the distance of instrument movement in the field of view, a displacement compensation operation can be performed on the main end. In response to the displacement compensation operation on the main end, a gain compensation coefficient is determined, and the target position command increment of the current control cycle is determined based on the initial position command increment of the current control cycle and the gain compensation coefficient.

[0032] Based on the above embodiment, optionally, determining the gain compensation coefficient in response to the displacement compensation operation at the master end includes: determining the gain compensation coefficient of the displacement compensation control corresponding to the operation direction in response to a trigger operation on the displacement compensation control.

[0033] Among them, the main end includes displacement compensation controls in multiple operating directions, and the displacement compensation operation can be a trigger operation on the displacement compensation control; specifically, the displacement compensation control includes a lateral displacement compensation control, a longitudinal displacement compensation control and a depth of field displacement compensation control, and correspondingly, the gain compensation coefficient includes a lateral compensation coefficient, a longitudinal compensation coefficient and a depth of field compensation coefficient.

[0034] In this embodiment, in response to the triggering operation of the displacement compensation control in any operating direction, the gain compensation coefficient of the displacement compensation control corresponding to the operating direction is determined, thereby determining the target position command increment of the current control cycle based on the initial position command increment of the current control cycle and the gain compensation coefficient of the displacement compensation control corresponding to the operating direction.

[0035] On the basis of the above embodiment, optionally, in response to the triggering operation of the displacement compensation control, the gain compensation coefficient of the displacement compensation control corresponding to the operation direction is determined, including: in response to the triggering operation of the lateral displacement compensation control, the lateral compensation coefficient is determined; and / or, in response to the triggering operation of the longitudinal displacement compensation control, the longitudinal compensation coefficient is determined; and / or, in response to the triggering operation of the depth of field displacement compensation control, the depth of field compensation coefficient is determined.

[0036] In this embodiment, the gain compensation coefficient can be determined in response to the triggering operation of the displacement compensation control. Specifically, the lateral compensation coefficient can be determined in response to the triggering operation of the lateral displacement compensation control; the longitudinal compensation coefficient can be determined in response to the triggering operation of the longitudinal displacement compensation control; the depth of field compensation coefficient can be determined in response to the triggering operation of the depth of field displacement compensation control. Exemplarily, taking the depth of field direction as an example, when the operator believes that the depth of field displacement is insufficient, the gain compensation coefficient in the depth of field direction can be increased alone, so that the increment of the compensated target position instruction in the depth of field direction is larger, so that the displacement is larger than before, thereby improving the problem of insufficient depth of field displacement.

[0037] On the basis of the above embodiment, optionally, the target position command increment of the current control cycle is determined based on the initial position command increment of the current control cycle and the gain compensation coefficient, including: determining the first position command increment of the current control cycle based on the initial position command increment of the current control cycle and the lateral compensation coefficient; and / or determining the second position command increment of the current control cycle based on the initial position command increment of the current control cycle and the longitudinal compensation coefficient; and / or determining the third position command increment of the current control cycle based on the initial position command increment of the current control cycle and the depth of field compensation coefficient; determining the target position command increment of the current control cycle based on at least one of the first position command increment, the second position command increment and the third position command increment.

[0038] Among them, the first position instruction increment refers to the position instruction increment after the initial position instruction increment is compensated laterally, the second position instruction increment refers to the position instruction increment after the initial position instruction increment is compensated longitudinally, and the third position instruction increment refers to the position instruction increment after the initial position instruction increment is compensated in the depth direction. In this embodiment, the first position instruction increment of the current control cycle can be calculated based on the initial position instruction increment and the lateral compensation coefficient of the current control cycle; the second position instruction increment of the current control cycle can be calculated based on the initial position instruction increment and the longitudinal compensation coefficient of the current control cycle; the third position instruction increment of the current control cycle can be calculated based on the initial position instruction increment and the depth compensation coefficient of the current control cycle; further, the target position instruction increment of the current control cycle is determined based on at least one of the first position instruction increment, the second position instruction increment and the third position instruction increment. Exemplarily, the calculation formula of the target gain compensation coefficient is as follows:

[0039] ;

[0040] in, is the target position command increment, is the initial position instruction increment, is the lateral compensation coefficient, is the longitudinal compensation coefficient, is the depth of field compensation factor.

[0041] In some embodiments, optionally, the target gain compensation coefficient can also be determined based on at least one of the lateral compensation coefficient, the longitudinal compensation coefficient and the depth of field compensation coefficient; further, the target position command increment of the current control cycle is determined based on the initial position command increment of the current control cycle and the target gain compensation coefficient.

[0042] It can be understood that compensation may be performed only for one operating direction of the position command increment, or compensation may be performed simultaneously for multiple operating directions of the position command increment.

[0043] S120, transmitting the target position instruction increment to the slave end, so that the slave end controls the instrument of the slave end to move to the target position based on the target position instruction increment.

[0044] In this embodiment, after determining the target position instruction increment, the master end can transmit the target position instruction increment to the slave end. After receiving the target position instruction increment, the slave end controls the device to move according to the target position instruction increment. Through precise control and feedback mechanism, the slave end can continuously adjust the position of the device until the target position is reached. The target position refers to the position that matches the target position instruction increment.

[0045] In some embodiments, optionally, the method further includes: acquiring movement data of the end of the slave device, identifying the operation behavior based on the movement data of the end of the slave device, and obtaining an operation behavior identification result; if the operation behavior identification result is a non-subjective operation, adjusting the gain compensation coefficient.

[0046] It is understandable that non-subjective operations will have an impact on the control of the slave device. Figure 2 : is a graph showing the relationship between the acceleration and velocity of the end of the device provided in the first embodiment of the present invention and the time. Figure 2 As shown in the figure, when the master-slave control device moves quickly from point A to point B, when it is about to move to point B, the acceleration will go through the braking stage, the movement speed will gradually decrease, and then it will be in the overshoot oscillation stage, and the acceleration and speed will change positively and negatively. When the acceleration increases -> decreases relatively significantly, and the speed decreases at the same time, and then the speed and acceleration oscillate back and forth, it is considered that the oscillation is the overshoot stage, and the position command increment at this time is adjusted to suppress the impact of the overshoot oscillation on the slave device.

[0047] In this embodiment, the movement data of the end of the instrument can be captured in real time by the sensor installed from the end. Wherein, the sensor includes but is not limited to a position sensor, an acceleration sensor, a speed sensor, etc., and correspondingly, the movement data includes position coordinates, speed, acceleration, etc. Further, the feature data in the movement data is extracted; the feature data is input into the operation behavior recognition model to identify the operation behavior, and the operation behavior recognition result is obtained. Wherein, the feature data includes the peak value of speed, the trend of speed change, the peak value of acceleration, the trend of acceleration change, etc. The operation behavior recognition result includes subjective operation and non-subjective operation. Specifically, subjective operation means that the operation is caused by the intention or control of the operator, and non-subjective operation means that the operation is not caused by the intention or control of the operator, such as inertial overshoot. Further, if the operation behavior recognition result is a non-subjective operation, the gain compensation coefficient is adjusted to suppress the non-subjective operation so that the actual movement distance of the instrument is more in line with the operator's operation intuition.

[0048] The technical solution of this embodiment determines the gain compensation coefficient in response to the displacement compensation operation at the master end, determines the target position instruction increment of the current control cycle based on the initial position instruction increment of the current control cycle and the gain compensation coefficient; transmits the target position instruction increment to the slave end, so that the slave end controls the slave end device to move to the target position based on the target position instruction increment. The problem of insufficient displacement caused by field of view deviation is solved, so that the moving distance of the slave end device is more in line with the operator's operating intuition.

[0049] Embodiment 2

[0050] Figure 3Schematic diagram of the structure of a master-slave displacement compensation device for a surgical robot provided by the second embodiment of the present invention. Figure 3 As shown, the device is applied to a master-slave surgical robot, which includes a master end and a slave end, including:

[0051] The displacement compensation module 310 is used to determine a gain compensation coefficient in response to the displacement compensation operation at the master end, and determine a target position command increment of the current control cycle based on an initial position command increment of the current control cycle and the gain compensation coefficient;

[0052] The slave end control module 320 is used to transmit the target position instruction increment to the slave end, so that the slave end controls the instrument of the slave end to move to the target position based on the target position instruction increment.

[0053] The technical solution of this embodiment determines the gain compensation coefficient in response to the displacement compensation operation at the master end, determines the target position instruction increment of the current control cycle based on the initial position instruction increment of the current control cycle and the gain compensation coefficient; transmits the target position instruction increment to the slave end, so that the slave end controls the slave end device to move to the target position based on the target position instruction increment. The problem of insufficient displacement caused by field of view deviation is solved, so that the moving distance of the slave end device is more in line with the operator's operating intuition.

[0054] Based on the above embodiment, optionally, the main end includes displacement compensation controls for multiple operating directions; the displacement compensation controls include lateral displacement compensation controls, longitudinal displacement compensation controls and depth of field displacement compensation controls, and correspondingly, the gain compensation coefficients include lateral compensation coefficients, longitudinal compensation coefficients and depth of field compensation coefficients.

[0055] On the basis of the above embodiment, optionally, the displacement compensation module 310 includes a gain compensation coefficient determination unit, which is used to determine the gain compensation coefficient of the displacement compensation control corresponding to the operation direction in response to the triggering operation of the displacement compensation control.

[0056] Based on the above embodiment, optionally, the gain compensation coefficient determination unit is used to determine the lateral compensation coefficient in response to a trigger operation on the lateral displacement compensation control; and / or, to determine the longitudinal compensation coefficient in response to a trigger operation on the longitudinal displacement compensation control; and / or, to determine the depth of field compensation coefficient in response to a trigger operation on the depth of field displacement compensation control.

[0057] On the basis of the above embodiment, optionally, the displacement compensation module 310 includes a target position instruction increment determination unit, which is used to determine the first position instruction increment of the current control cycle based on the initial position instruction increment of the current control cycle and the lateral compensation coefficient; and / or, determine the second position instruction increment of the current control cycle based on the initial position instruction increment of the current control cycle and the longitudinal compensation coefficient; and / or, determine the third position instruction increment of the current control cycle based on the initial position instruction increment of the current control cycle and the depth of field compensation coefficient; determine the target position instruction increment of the current control cycle based on at least one of the first position instruction increment, the second position instruction increment and the third position instruction increment.

[0058] Based on the above embodiment, optionally, the gain compensation coefficient is associated with the initial position instruction increment of the current control cycle.

[0059] On the basis of the above embodiment, optionally, the device also includes a gain compensation coefficient adjustment module, which is used to obtain the movement data of the end of the slave device, identify the operation behavior based on the movement data of the end of the slave device, and obtain the operation behavior identification result; if the operation behavior identification result is a non-subjective operation, the gain compensation coefficient is adjusted.

[0060] The master-slave displacement compensation device of the surgical robot provided in the embodiment of the present invention can execute the master-slave displacement compensation method of the surgical robot provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0061] Embodiment 3

[0062] Figure 4 1 is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0063] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0064] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0065] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the master-slave displacement compensation method of the surgical robot.

[0066] In some embodiments, the master-slave displacement compensation method of the surgical robot may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the master-slave displacement compensation method of the surgical robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the master-slave displacement compensation method of the surgical robot in any other appropriate manner (e.g., by means of firmware).

[0067] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0068] The computer program for implementing the master-slave displacement compensation method of the surgical robot of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0069] Embodiment 4

[0070] Embodiment 4 of the present invention further provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, the computer instructions are used to enable a processor to execute a master-slave displacement compensation method for a surgical robot, the method is applied to a master-slave surgical robot, the master-slave surgical robot includes a master end and a slave end, including:

[0071] In response to the displacement compensation operation at the master end, a gain compensation coefficient is determined, and a target position command increment of the current control cycle is determined based on an initial position command increment of the current control cycle and the gain compensation coefficient;

[0072] The target position command increment is transmitted to the slave end, so that the slave end controls the instrument of the slave end to move to the target position based on the target position command increment.

[0073] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0074] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0075] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0076] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0077] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0078] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A master-slave displacement compensation method for a surgical robot, characterized in that: Applied to a master-slave surgical robot, the master-slave surgical robot includes a master end and a slave end, and the method includes: In response to the displacement compensation operation at the master end, a gain compensation coefficient is determined, and a target position command increment of the current control cycle is determined based on an initial position command increment of the current control cycle and the gain compensation coefficient; The target position instruction increment is transmitted to the slave end, so that the slave end controls the instrument of the slave end to move to the target position based on the target position instruction increment.

2. The method according to claim 1, characterized in that: The main end includes displacement compensation controls for multiple operating directions; the displacement compensation controls include lateral displacement compensation controls, longitudinal displacement compensation controls and depth of field displacement compensation controls, and correspondingly, the gain compensation coefficients include lateral compensation coefficients, longitudinal compensation coefficients and depth of field compensation coefficients.

3. The method according to claim 2, characterized in that The step of determining a gain compensation coefficient in response to a displacement compensation operation at the master end comprises: In response to a triggering operation on the displacement compensation control, a gain compensation coefficient of the displacement compensation control corresponding to an operation direction is determined.

4. The method according to claim 3, characterized in that The step of determining a gain compensation coefficient of the displacement compensation control corresponding to an operation direction in response to a trigger operation on the displacement compensation control comprises: In response to a triggering operation on the lateral displacement compensation control, determining the lateral compensation coefficient; and / or, in response to a triggering operation on the longitudinal displacement compensation control, determining the longitudinal compensation coefficient; And / or, in response to a triggering operation on the depth of field displacement compensation control, determining the depth of field compensation coefficient.

5. The method according to claim 4, characterized in that The step of determining the target position command increment of the current control cycle based on the initial position command increment of the current control cycle and the gain compensation coefficient comprises: Determine a first position command increment of the current control cycle based on the initial position command increment of the current control cycle and the lateral compensation coefficient; and / or, determining a second position command increment of the current control cycle based on the initial position command increment of the current control cycle and the longitudinal compensation coefficient; and / or, determining a third position instruction increment of the current control cycle based on the initial position instruction increment of the current control cycle and the depth of field compensation coefficient; A target position command increment for a current control cycle is determined based on at least one of the first position command increment, the second position command increment, and the third position command increment.

6. The method according to any one of claims 1 to 5, characterized in that: The gain compensation coefficient is associated with an initial position command increment of the current control cycle.

7. The method according to claim 1, characterized in that The method further comprises: Acquiring movement data of the end of the slave device, identifying the operation behavior based on the movement data of the end of the slave device, and obtaining an operation behavior identification result; If the recognition result of the operation behavior is a non-subjective operation, the gain compensation coefficient is adjusted.

8. A master-slave displacement compensation device for a surgical robot, characterized in that: Applied to a master-slave surgical robot, the master-slave surgical robot includes a master end and a slave end, and the device includes: A displacement compensation module, for determining a gain compensation coefficient in response to a displacement compensation operation at the master end, and determining a target position command increment of the current control cycle based on an initial position command increment of the current control cycle and the gain compensation coefficient; The slave end control module is used to transmit the target position instruction increment to the slave end, so that the slave end controls the instrument of the slave end to move to the target position based on the target position instruction increment.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the master-slave displacement compensation method of the surgical robot according to any one of claims 1-7.

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

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