Master-slave displacement compensation method, device, electronic device and storage medium for a surgical robot

Abstract

The present invention discloses a master-slave displacement compensation method, device, electronic device and storage medium for a surgical robot. The method is applied to a master-slave surgical robot, and the master-slave surgical robot includes a master end and a slave end, and includes: in response to a displacement compensation operation at the master end, determining a gain compensation coefficient, and determining a target position command increment for the current control cycle based on an initial position command increment of the current control cycle and the gain compensation coefficient; transmitting the target position command increment to the slave end, so that the slave end controls the instrument at the slave end to move to a target position based on the target position command increment. The present invention solves the problem of insufficient displacement caused by visual field deviation, and makes the moving distance of the slave end instrument more in line with the operation intuition of the operator.

Description

Technical Field

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

[0002] For the motion control of a laparoscopic surgical robot, the motion trajectory of the master end is used as the input, and through master-slave mapping, the target trajectory of the slave end is obtained. In this process, at different configurations, the slave manipulator sometimes needs to move at a relatively fast joint speed to meet the target trajectory of the slave end.

[0003] The laparoscopic surgical robot receives the pose control instruction of the instrument input by the operator operating the master end motion controller. The slave end obtains the joint angles through inverse kinematics and controls each motor to move to the specified joint angles to achieve the reproduction of the position instruction of the master end by the slave end. However, there is a situation that although the slave end can accurately reproduce the actions of the master end, due to factors such as visual deviation, there is a certain deviation between the distance that the operator subjectively feels the hand operates and the distance that the instrument moves in the field of view, resulting in the operator feeling that the movement position of the instrument is relatively shallow and does not reach the expected position in mind. Summary of the Invention

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

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

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

[0007] Transmitting the target position instruction increment to the slave end so that the slave end controls the instrument at 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, there is provided a master-slave displacement compensation device for a surgical robot, which is applied to a master-slave surgical robot. The master-slave surgical robot includes a master end and a slave end. The device includes:

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

[0010] A slave control module, configured to incrementally transmit the target position instruction to the slave end, so that the slave end controls the instrument at the slave end to move to the target position based on the incremental target position instruction.

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

[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 when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the master-slave displacement compensation method of the surgical robot according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for implementing the master-slave displacement compensation method of the surgical robot according to any embodiment of the present invention when executed by a processor.

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

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

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

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

[0020] Figure 2It is a graph showing the relationship between the acceleration and velocity of the instrument end over time provided by Embodiment 1 of the present invention;

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

[0022] Figure 4 It is a schematic structural diagram of an electronic device provided by Embodiment 3 of the present invention. Detailed implementation manners

[0023] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[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 do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0025] Embodiment 1

[0026] Figure 1 It is a flowchart of a master-slave displacement compensation method of a surgical robot provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where a laparoscopic surgical robot performs master-slave control. This method can be executed by the 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, and the master-slave displacement compensation device of the surgical robot can be configured in the master-slave surgical robot. Among them, the master-slave surgical robot includes a master end and a slave end. The master end motion controller inputs the position control instruction of the instrument, and the slave end obtains the joint angle through inverse kinematics and controls each motor to move to the specified joint angle to realize the reproduction of the position instruction of the master end by the slave end.

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

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

[0029] The displacement compensation operation refers to an operation in which, during a surgical procedure, when the operator feels that the movement position of the slave-end instrument is relatively shallow and does not reach the expected position in mind, a visual compensation is performed on the displacement of the slave-end instrument. The gain compensation coefficient refers to a compensation coefficient for compensating the position command 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 command increment of the current cycle to achieve gain compensation for the operation speed. Exemplarily, when the operator quickly performs master-slave operations, there is a change in the initial position command increment, and a dynamic gain compensation coefficient can be obtained according to a predefined function. It can be understood that when the initial position command increment of the current cycle is large, the movement speed of the instrument end is fast, and the gain compensation coefficient is large; when the initial position command increment of the current cycle is small, the movement speed of the instrument end is slow, and the gain compensation coefficient is small. Through additional compensation of the position command increment, the instrument movement delay caused by filtering is improved, so that the actual instrument movement distance is more in line with the operator's operation intuition.

[0030] The control cycle refers to the cycle in which the master end periodically sends a position command increment 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 a surgical procedure, when the operator subjectively feels that there is a certain deviation between the distance of the hand operation and the movement distance of the instrument in the field of view, a displacement compensation operation can be performed at the master end. In response to the displacement compensation operation at the master end, determine a gain compensation coefficient, and determine a target position command increment for the current control cycle based on the initial position command increment of the current control cycle and the gain compensation coefficient.

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

[0033] Among them, the master end includes displacement compensation controls in multiple operation directions, and the displacement compensation operation can be a triggering operation on the displacement compensation controls; specifically, the displacement compensation controls include a horizontal displacement compensation control, a vertical displacement compensation control, and a depth-of-field displacement compensation control. Correspondingly, the gain compensation coefficients include a horizontal compensation coefficient, a vertical compensation coefficient, and a depth-of-field compensation coefficient.

[0034] In this embodiment, in response to a triggering operation on the displacement compensation control in any operation direction, the gain compensation coefficient corresponding to the operation direction of the displacement compensation control is determined, so as to determine 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 corresponding to the operation direction of the displacement compensation control.

[0035] Based on the above embodiments, optionally, the determining the gain compensation coefficient corresponding to the operation direction of the displacement compensation control in response to the triggering operation on the displacement compensation control includes: determining the horizontal compensation coefficient in response to the triggering operation on the horizontal displacement compensation control; and / or determining the vertical compensation coefficient in response to the triggering operation on the vertical displacement compensation control; and / or determining the depth-of-field compensation coefficient in response to the triggering operation on the depth-of-field displacement compensation control.

[0036] In this embodiment, the gain compensation coefficient can be determined in response to the triggering operation on the displacement compensation control. Specifically, the horizontal compensation coefficient can be determined in response to the triggering operation on the horizontal displacement compensation control; the vertical compensation coefficient can be determined in response to the triggering operation on the vertical displacement compensation control; the depth-of-field compensation coefficient can be determined in response to the triggering operation on 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 separately, so that the increment of the target gain compensation coefficient in the depth-of-field direction after compensation is larger, and its displacement is larger than before, thereby improving the problem of insufficient depth-of-field displacement.

[0037] Based on the above embodiments, optionally, the 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 includes: determining the first position command increment of the current cycle based on the initial position command increment of the current control cycle and the horizontal compensation coefficient; and / or determining the second position command increment of the current cycle based on the initial position command increment of the current control cycle and the vertical compensation coefficient; and / or determining the third position command increment of the current 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 command increment refers to the position command increment after horizontal compensation for the initial position command increment, the second position command increment refers to the position command increment after vertical compensation for the initial position command increment, and the third position command increment refers to the position command increment after depth-of-field direction compensation for the initial position command increment. In this embodiment, the first position command increment of the current cycle can be determined based on the initial position command increment of the current control cycle and the horizontal compensation coefficient; the second position command increment of the current cycle can be determined based on the initial position command increment of the current control cycle and the vertical compensation coefficient; the third position command increment of the current cycle can be determined based on the initial position command increment of the current control cycle and the depth-of-field compensation coefficient; further, the target position command increment of the 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. Exemplarily, the calculation formula for the target position command increment is as follows:

[0039]

[0040] Wherein, is the target position command increment, is the initial position command increment, is the horizontal compensation coefficient, is the vertical compensation coefficient, is the depth-of-field compensation coefficient.

[0041] In some embodiments, optionally, the target gain compensation coefficient can also be determined based on at least one of the horizontal compensation coefficient, the vertical 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 can be performed only for one operation direction of the position command increment, or compensation can be performed simultaneously for multiple operation directions of the position command increment.

[0043] S120, Transmit the target position command increment to the slave end, so that the slave end controls the movement of the device of the slave end to the target position based on the target position command increment.

[0044] In this embodiment, after the master end determines the target position command increment, it can transmit the target position command increment to the slave end after the slave end receives the target position command increment. The slave end controls the movement of the device according to the position command increment. Through an accurate control and feedback mechanism, the slave end can continuously adjust the position of the device until it reaches the target position. Among them, the target position refers to the position that matches the target position command increment.

[0045] In some embodiments, optionally, the method further includes: obtaining the 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 to obtain an operation behavior recognition result; and if the operation behavior recognition result is a non-subjective operation, adjusting the gain compensation coefficient.

[0046] It can be understood that non-subjective operations will affect the control of the slave device. Figure 2 It is a graph showing the relationship between the acceleration and velocity of the end of the device over time provided in the first embodiment of the present invention. As Figure 2 shown, when the master-slave controlled device quickly moves from point A to point B, when approaching point B, the acceleration will go through a braking stage, the moving speed gradually decreases, and then enters an overshoot oscillation stage, where the acceleration and velocity change positively and negatively. When the acceleration shows a relatively large increase -> decrease, and at the same time the velocity decreases, and then the velocity and acceleration oscillate reciprocally, it is considered that the oscillation is in the overshoot stage, and the position command increment at this time is adjusted to suppress the influence of the overshoot oscillation on the slave device.

[0047] In this embodiment, the motion state of the end of the device can be captured in real time by a sensor installed at the slave end. Among them, the sensor includes but is not limited to a position sensor, an acceleration sensor, a velocity sensor, etc. Correspondingly, the movement data includes position coordinates, velocity, acceleration, etc. Further, the feature data in the movement data is extracted; the feature data is input into an operation behavior recognition model to recognize the operation behavior and obtain an operation behavior recognition result. Among them, the feature data includes the peak velocity, the velocity change trend, the peak acceleration, the acceleration change trend, etc. The operation behavior recognition result includes subjective operation and non-subjective operation. Specifically, a subjective operation means that the operation is caused by the intention or control of the operator, and a 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 device 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 command increment of the current control cycle based on the initial position command increment and the gain compensation coefficient of the current control cycle; transmits the target position command increment to the slave end, so that the slave end controls the movement of the slave device to the target position based on the target position command increment. It solves the problem of insufficient displacement caused by visual field deviation, and makes the movement distance of the slave device more in line with the operator's operation intuition.

[0049] Embodiment Two

[0050] Figure 3This is a schematic structural diagram of a master-slave displacement compensation device for a surgical robot provided in the second embodiment of the present invention. As Figure 3 shown, this device is applied to a master-slave surgical robot, and the master-slave surgical robot includes a master end and a slave end, including:

[0051] A displacement compensation module 310, configured to determine a gain compensation coefficient in response to a displacement compensation operation at the master end, and determine a target position instruction increment for the current control cycle based on the initial position instruction increment of the current control cycle and the gain compensation coefficient;

[0052] A slave end control module 320, configured to transmit the target position instruction increment to the slave end, so that the slave end controls the instrument at the slave end to move to the target position based on the target position instruction increment.

[0053] The technical solution of this embodiment determines a gain compensation coefficient in response to a displacement compensation operation at the master end, and determines a target position instruction increment for 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 instrument at the slave end to move to the target position based on the target position instruction increment. This solves the problem of insufficient displacement caused by visual field deviation, making the moving distance of the slave end instrument more in line with the operator's operation intuition.

[0054] Based on the above embodiment, optionally, the master end includes displacement compensation controls in multiple operation directions; the displacement compensation controls include a lateral displacement compensation control, a longitudinal displacement compensation control, and a depth-of-field displacement compensation control. Correspondingly, the gain compensation coefficient includes a lateral compensation coefficient, a longitudinal compensation coefficient, and a depth-of-field compensation coefficient.

[0055] Based on the above embodiment, optionally, the displacement compensation module 310 includes a gain compensation coefficient determination unit, configured to determine the gain compensation coefficient for the operation direction corresponding to the displacement compensation control in response to a trigger operation on the displacement compensation control.

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

[0057] Based on the above embodiments, optionally, the displacement compensation module 310 includes a target position command increment determination unit, configured to determine a first position command increment of the current cycle based on the initial position command increment of the current control cycle and the lateral compensation coefficient; and / or, determine a second position command increment of the current cycle based on the initial position command increment of the current control cycle and the longitudinal compensation coefficient; and / or, determine a third position command increment of the current cycle based on the initial position command increment of the current control cycle and the depth of field compensation coefficient; determine a 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.

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

[0059] Based on the above embodiments, optionally, the device further includes a gain compensation coefficient adjustment module, configured to obtain the movement data of the end of the slave instrument, identify the operation behavior based on the movement data of the end of the slave instrument, and obtain an operation behavior identification result; if the operation behavior identification result is a non-subjective operation, adjust the gain compensation coefficient.

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

[0061] Embodiment III

[0062] Figure 4 FIG. 16 is a schematic structural diagram of an electronic device provided by Embodiment III of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as, for example, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present invention described and / or claimed herein.

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

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

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

[0066] In some embodiments, the master-slave displacement compensation method of a surgical robot can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via 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 can be executed. Alternatively, in other embodiments, the processor 11 can 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] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0068] The computer programs 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 the processors of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the computer programs are executed by the processors, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0069] Embodiment IV

[0070] Embodiment IV of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a master-slave displacement compensation method for a surgical robot. The method is applied to a master-slave surgical robot including a master end and a slave end, and includes:

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

[0072] Transmitting the target position instruction increment to the slave end so that the slave end controls the instrument at the slave end to move to the target position based on the target position instruction increment.

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

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

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

[0076] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective 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 a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0077] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitations are imposed herein.

[0078] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within 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 a displacement compensation operation at the master end, determine a gain compensation coefficient, and determine the target position command increment for the current control cycle based on the initial position command increment of the current control cycle and the gain compensation coefficient; Transmit the target position command increment to the slave end, so that the slave end controls the instrument at the slave end to move to the target position based on the target position command increment; Wherein, the master end includes displacement compensation controls in multiple operation directions; the displacement compensation controls include a lateral displacement compensation control, a longitudinal displacement compensation control, and a depth-of-field displacement compensation control. Correspondingly, the gain compensation coefficient includes a lateral compensation coefficient, a longitudinal compensation coefficient, and a depth-of-field compensation coefficient; The step of determining the gain compensation coefficient in response to a displacement compensation operation at the master end includes: In response to a trigger operation on the lateral displacement compensation control, determine the lateral compensation coefficient; And / or, in response to a trigger operation on the longitudinal displacement compensation control, determine the longitudinal compensation coefficient; And / or, in response to a trigger operation on the depth-of-field displacement compensation control, determine the depth-of-field compensation coefficient; Correspondingly, the step of determining the target position command increment for the current control cycle based on the initial position command increment of the current control cycle and the gain compensation coefficient includes: Determine the first position command increment for the current cycle based on the initial position command increment of the current control cycle and the lateral compensation coefficient; And / or, determine the second position command increment for the current cycle based on the initial position command increment of the current control cycle and the longitudinal compensation coefficient; And / or, determine the third position command increment for the current cycle based on the initial position command increment of the current control cycle and the depth-of-field compensation coefficient; Determine the target position command increment for 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.

2. The method according to claim 1, wherein The gain compensation coefficient is associated with the initial position command increment of the current cycle.

3. The method according to claim 1, wherein The method further includes: Obtain the movement data of the end of the instrument at the slave end, identify the operation behavior based on the movement data of the end of the instrument at the slave end, and obtain the operation behavior identification result; If the operation behavior identification result is a non-subjective operation, adjust the gain compensation coefficient.

4. 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, configured to determine a gain compensation coefficient in response to a displacement compensation operation at the master end, and determine the target position command increment for the current control cycle based on the initial position command increment of the current control cycle and the gain compensation coefficient; A slave end control module, configured to transmit the target position command increment to the slave end, so that the slave end controls the instrument at the slave end to move to the target position based on the target position command increment; Among them, the master end includes displacement compensation controls in multiple operation directions; the displacement compensation controls include a lateral displacement compensation control, a longitudinal displacement compensation control, and a depth-of-field displacement compensation control. Correspondingly, the gain compensation coefficients include a lateral compensation coefficient, a longitudinal compensation coefficient, and a depth-of-field compensation coefficient; The displacement compensation module includes a gain compensation coefficient determination unit, configured to determine the lateral compensation coefficient in response to a trigger operation on the lateral displacement compensation control; and / or determine the longitudinal compensation coefficient in response to a trigger operation on the longitudinal displacement compensation control; and / or determine the depth-of-field compensation coefficient in response to a trigger operation on the depth-of-field displacement compensation control; The displacement compensation module includes a target position command increment determination unit, configured to determine a first position command increment of the current cycle based on the initial position command increment of the current control cycle and the lateral compensation coefficient; and / or determine a second position command increment of the current cycle based on the initial position command increment of the current control cycle and the longitudinal compensation coefficient; and / or determine a third position command increment of the current cycle based on the initial position command increment of the current control cycle and the depth-of-field compensation coefficient; determine 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.

5. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the master-slave displacement compensation method of the surgical robot according to any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for enabling a processor to execute the master-slave displacement compensation method of the surgical robot according to any one of claims 1-3 when executed.

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