Surgical robot control system

Abstract

The present application relates to a surgical robot control system and control method. The surgical robot control method includes: receiving user needs and generating interactive control commands; generating motion control commands according to the interactive control commands; and controlling the end of the robotic arm to execute the motion control commands, wherein the motion control commands include controlling the end of the robotic arm to perform actions according to multiple motion modes. The surgical robot control method can control the end of the robotic arm to perform actions according to multiple motion modes through the motion control commands, thereby realizing different motion schemes in multiple clinical application scenarios. In any application scenario, the interactive control commands can be used to realize the flexible switching of the end of the robotic arm between multiple motion modes.

Description

[0001] Note: This application is a divisional application filed for the parent case with the original application number "202110483833.8", the application date "2021-04-30", and the invention name "Surgical robot control system and control method". Technical Field

[0002] The present application relates to the field of medical technology, and in particular to a surgical robot control system and control method. Background Art

[0003] Using surgical robots to assist surgery can improve surgical efficiency and quality. A surgical robot consists of hardware components such as a control system, a robotic arm, a floor brake, a foot pedal, or a camera. Each of these components is connected to the control system. The control system and robotic arm incorporate various control logic systems. However, the control logic systems of traditional surgical robots lack clear logic, resulting in inflexible operation of the robotic arm controlled by the control system and poor safety. Summary of the Invention

[0004] Based on this, it is necessary to provide a surgical robot control system and control method to address the problems that the operation logic of the control logic operation system of the traditional surgical robot is not clear enough, the operation of the robotic arm manipulated by the control system is not flexible enough, and the safety is poor.

[0005] The present application provides a surgical robot control method, comprising:

[0006] Receive user needs and generate interactive control commands;

[0007] generating a motion control command according to the interactive control command; and,

[0008] The end of the robotic arm is controlled to execute the motion control command, where the motion control command includes controlling the end of the robotic arm to perform actions according to multiple motion modes.

[0009] In one embodiment, the controlling the end of the manipulator to execute the motion control command includes the step of controlling the end of the manipulator to perform actions according to multiple motion modes, and the multiple motion modes include:

[0010] Free motion mode, autonomous motion mode, axial motion mode, fine-tuning motion mode and spherical motion mode.

[0011] In one embodiment, the motion control command includes any one or more of the following four control commands:

[0012] Controlling each of the plurality of motion modes to be reciprocated multiple times;

[0013] controlling the interactive execution between the autonomous motion mode and the free motion mode, the axial motion mode, the fine-tuning motion mode, and the spherical motion mode;

[0014] controlling the bidirectional interaction between the axial motion mode and the fine-tuning motion mode, the bidirectional interaction between the axial motion mode and the spherical motion mode, and the bidirectional interaction between the fine-tuning motion mode and the spherical motion mode;

[0015] The axial motion mode, the fine-tuning motion mode and the spherical motion mode are controlled to be unidirectionally switched to the free motion mode respectively.

[0016] In one embodiment, the robot control method further includes:

[0017] Interact with at least one motion mode information among the multiple motion modes to achieve safe control of the surgical robot control system.

[0018] In one embodiment, the step of implementing safety control of the surgical robot control system includes implementing safety control of the surgical robot by adopting any one or more of the following steps:

[0019] The robot arm is subjected to emergency stop control, a safety risk warning is issued to the user, an automatic avoidance route is generated for the robot arm, and the movement of the robot arm is prohibited.

[0020] A surgical robot control system, comprising:

[0021] Main control module, used to generate motion control commands;

[0022] An interactive module, which interacts with the main control module to receive user requests, generate interactive control commands, and send them to the main control module;

[0023] Multiple motion modules interact with the main control module to execute the motion control command.

[0024] In one embodiment, the plurality of motion modules include:

[0025] A free motion module, which interacts with the main control module and the interaction module to control the free motion of the end of the robotic arm;

[0026] An autonomous motion module, which interacts with the main control module and the interaction module respectively, and is used to perform autonomous motion according to the path points planned by the main control module;

[0027] An axial motion module, which interacts with the main control module and the interaction module to control the end of the robotic arm to move along a predefined axial direction;

[0028] The motion adjustment module interacts with the main control module and the interaction module respectively, and is used to control the final adjustment of the end of the robotic arm before axial movement.

[0029] In one embodiment, the adjustment motion module includes,

[0030] a fine-tuning motion module, which interacts with the main control module and the interaction module respectively, and is used to control the end of the robotic arm to translate a predetermined distance along a fixed direction in a predefined plane; and / or

[0031] The spherical motion module interacts with the main control module and the interaction module respectively, and is used to control the end of the robotic arm to move along a predefined spherical surface.

[0032] In one embodiment, the interaction module includes:

[0033] The self-loop interaction device interacts with information of each of the multiple motion modules respectively, and is used to control each of the multiple motion modules to execute reciprocally multiple times.

[0034] In one embodiment, the interaction module further includes:

[0035] An autonomous interaction device interacts with information of each of the multiple motion modules respectively, and is used to control the interaction execution between the autonomous motion module and the free motion module, the axial motion module, the fine-tuning motion module and the spherical motion module.

[0036] In one embodiment, the interaction module further includes:

[0037] A predefined motion interaction device interacts with the axial motion module, the fine-tuning motion module and the spherical motion module respectively, and is used to control the two-way interaction between the axial motion module and the fine-tuning motion module, the two-way interaction between the axial motion module and the spherical motion module, and the two-way interaction between the fine-tuning motion module and the spherical motion module.

[0038] In one embodiment, the interaction module further includes:

[0039] The one-way switching device interacts with the free motion module, the axial motion module, the fine-tuning motion module and the spherical motion module respectively, and is used to control the axial motion module, the fine-tuning motion module and the spherical motion module to switch to the free motion module in one direction respectively.

[0040] In one embodiment, the surgical robot control system further includes:

[0041] The safety control system interacts with the main control module and each of the multiple motion modules to achieve safety control of the surgical robot control system.

[0042] In one embodiment, the safety control system includes:

[0043] The emergency stop device interacts with information of each of the multiple motion modules, and is used for stopping the robotic arm from continuing to move through the emergency stop device when the user determines that there is a safety risk in the movement of the robotic arm.

[0044] In one embodiment, the safety control system further includes:

[0045] The safety boundary computing device interacts with the free motion module, the axial motion module, and the spherical motion module respectively, and is used to compare the actual motion trajectory of the robotic arm with the predefined safety boundary in real time. When it is found that the actual motion trajectory is about to reach the safety boundary, it warns the user of the safety risk.

[0046] In one embodiment, the safety control system further includes:

[0047] The obstacle collision avoidance device interacts with the autonomous motion module and is used to generate a simplified obstacle model based on the system hardware model and the unknown patient head model. When the main control module plans the path points of the autonomous motion module, the obstacle collision avoidance device generates an avoidance route that can avoid the simplified obstacle model.

[0048] In one embodiment, the safety control system further includes:

[0049] The trajectory interlocking device interacts with information of each of the multiple motion modules to monitor the motion trajectory of the robotic arm in real time. When it is found that the actual motion trajectory of the robotic arm deviates from the planned motion trajectory by more than a preset deviation, the user is warned or the movement of the robotic arm is directly prohibited.

[0050] The present application relates to a surgical robot control system and control method. The surgical robot control method includes: receiving user needs and generating interactive control commands; generating motion control commands according to the interactive control commands; and controlling the end of the robotic arm to execute the motion control commands, wherein the motion control commands include controlling the end of the robotic arm to perform actions according to multiple motion modes. The surgical robot control method can control the end of the robotic arm to perform actions according to multiple motion modes through the motion control commands, thereby realizing different motion schemes in multiple clinical application scenarios. In any application scenario, the interactive control commands can be used to realize the flexible switching of the end of the robotic arm between multiple motion modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 This is a schematic diagram of a surgical robot control system provided in one embodiment of the present application;

[0053] Figure 2 A schematic diagram of a motion module provided in one embodiment of the present application;

[0054] Figure 3 A schematic diagram of an interaction module provided in one embodiment of the present application;

[0055] Figure 4 A schematic diagram of switching between different motion modules provided in one embodiment of the present application;

[0056] Figure 5 This is a schematic diagram of a surgical robot control system provided in one embodiment of the present application;

[0057] Figure 6 This is a schematic diagram of a surgical robot control system provided in another embodiment of the present application;

[0058] Figure 7 This is a main interface display diagram of the multiple motion modules provided in one embodiment of the present application;

[0059] Figure 8 This is an interface display diagram of the axial motion module provided in one embodiment of the present application;

[0060] Figure 9 This is an interface display diagram of plane fine adjustment in the fine adjustment motion module provided in one embodiment of the present application;

[0061] Figure 10 This is an interface display diagram of spherical fine-tuning in the fine-tuning motion module provided in one embodiment of the present application.

[0062] Description of reference numerals:

[0063] Surgical robot control system 100

[0064] Main control module 10

[0065] Interaction Module 20

[0066] Self-circulating interactive device 21

[0067] Autonomous interactive device 22

[0068] Predefined motion interaction device 23

[0069] One-way switching device 24

[0070] Motion Module 30

[0071] Free Movement Module 31

[0072] Autonomous Movement Module 32

[0073] Axial motion module 33

[0074] Fine-tuning motion module 34

[0075] Spherical motion module 35

[0076] Safety control system 40

[0077] Emergency stop device 41

[0078] Security boundary computing device 42

[0079] Obstacle collision avoidance device 43

[0080] Track interlocking device 44 DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0082] The serial numbers assigned to the components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any order or technical meaning. The terms "connection" and "coupling" used in this application, unless otherwise specified, include both direct and indirect connections (couplings). In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or positional relationships, are based on the positions or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0083] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0084] See also Figure 1 , Figure 1 The present application provides a surgical robot control system 100 , which includes a main control module 10 , an interaction module 20 , and a plurality of motion modules 30 .

[0085] The main control module 10 is used to generate motion control commands. The main control module 10 may include a computer host and a computer program stored in the computer host.

[0086] The interaction module 20 interacts with the main control module 10. The interaction module 20 receives motion control commands from the main control module 10 and generates interactive control commands based on user needs. These user needs might include controlling the robotic arm to move a certain distance in a certain direction, or controlling the end of the robotic arm to enter a certain precision area.

[0087] The multiple motion modules 30 interact with the main control module 10. The multiple motion modules 30 are used to execute the motion control commands. In addition, the multiple motion modules 30 interact with the interactive module 20, that is, the multiple motion modules 30 and the interactive module 20 are logically interconnected. Similarly, the user clicks on a certain motion module among the multiple motion modules 30 through the interactive module 20. The command is transmitted to the main control module 10, and the control software in the main control module 10 generates the relevant motion control command required by the certain motion module, and then sends it to the multiple motion modules 30, and the corresponding motion mode is executed by the robotic arm and the robotic arm control system. The multiple motion modules 30 can switch with each other. Switching between the multiple motion modules 30 can command safer and more flexible movements of the robotic arm or the end of the robotic arm.

[0088] The surgical robot control system 100 provided in this embodiment can coordinate or switch the motion modes of the multiple motion modules 20 through the interaction module 20, thereby achieving flexible switching of motion modes and safe and reliable real-time robotic arm motion in any application scenario. In addition, the surgical robot control system 100 in this embodiment can be applied to a flexible, reliable and safe multi-mode robotic arm motion module-level solution, not only for stereotactic surgical robots, but also for orthopedic or spinal surgery robots based on six-degree-of-freedom robotic arms or seven-degree-of-freedom robotic arms, such as joint replacements and bone trauma treatment.

[0089] See also Figure 2 , Figure 2 Schematic diagram of the motion module 30 provided in one embodiment of the present application. In one embodiment, the plurality of motion modules 30 include: a free motion module 31, an autonomous motion module 32, an axial motion module 33, and an adjustment motion module.

[0090] The free motion module 31 exchanges information with the main control module 10 and the interaction module 20, respectively. The free motion module 31 is used to control the free motion of the robotic arm end. In the free motion module 31, the user manually drags the robotic arm end for free motion, that is, the user can control the robotic arm's own motion space to move freely. Specifically, the free motion module 31 allows the user to manually drag the robotic arm end for movement along any trajectory, provided that the robotic arm is movable. Generally, a grip can be designed at the end of the robotic arm for the user to hold conveniently. Near the grip, translational motion can be performed forward, backward, left, right, up, and down, as well as rotational motion in counterclockwise and clockwise directions, and motion that combines rotational and translational motion. In specific implementation, the user enters the operating state of the free motion module 31 through the main control module 10. That is, the user clicks the "free motion" button on the operating interface of the main control module 10 to enter the free motion module 31 and begin operation.

[0091] From the implementation layer, the main control module 10 accepts input from the user: enters the free motion module 31, and then sends the parameters of the free motion mode and the robot arm unlocking command to the free motion module 31. The free motion module 31 receives the above two parameters, and at the same time determines whether the communication and data reading with the end six-degree-of-freedom force sensor are normal (the free motion mode is a force control mode, and the prerequisite is that the end six-degree-of-freedom force sensor works normally). If normal, the parameters of the free motion mode and the points required for the robot arm joint movement calculated based on the real-time external force information obtained by the six-degree-of-freedom force sensor are sent to the underlying control hardware (which can be a robot arm control cabinet). When the underlying control hardware detects that the foot enable signal is valid, it executes the free motion mode according to the external drag force information.

[0092] The autonomous motion module 32 interacts with the main control module 10 and the interaction module 20. It is used to perform autonomous motion according to the path points planned by the main control module 10. Without manual user intervention, it is used to automatically move the end of the robotic arm from its current position to a predefined surgical target point, thereby achieving the positioning and orientation function of the surgical instrument. The autonomous motion module 32 is an active motion module that enables the robot / robotic arm to autonomously avoid obstacles.

[0093] During specific implementation, the main control module 10 determines by itself whether the spatial registration process has been completed (that is, whether the alignment of the robotic arm coordinate system and the patient coordinate system has been completed. Only after alignment can the robotic arm know where the patient's head is), and the spatial registration result is confirmed, which is guaranteed by the workflow. The main control module 10 needs to send the path information to be planned (the initial point and the end point) to the path planning algorithm of the autonomous motion module 32. The autonomous motion module 32 performs path planning based on the path information. After successful planning, the trajectory points are sent to the underlying control hardware (robotic arm control cabinet). The underlying control hardware waits for the pedal to be stepped on, and the robotic arm executes according to the planned path points until it moves to the final target point.

[0094] The axial motion module 33 interacts with the main control module 10 and the interaction module 20 respectively. The axial motion module 33 is used to control the movement of the end of the robotic arm along a predefined axial direction. When manually dragged by the user, the end of the robotic arm can only move in a single direction along the depth of the surgical instrument, and cannot move in other directions or rotate. During surgery, after the robotic arm completes automatic movement positioning, the doctor needs to manually adjust the distance between the surgical instrument and the target without affecting the posture, thereby achieving a more precise orientation function.

[0095] In specific implementation, the main control module 10 determines on its own whether the spatial registration process has been completed (the alignment of the robotic arm coordinate system and the patient coordinate system is completed. After alignment, the robotic arm can know where the patient's head is), and the spatial registration result is confirmed and guaranteed by the workflow.

[0096] The main control module 10 independently determines whether a path has been completed and has reached its designated position. Since the axial motion module 33 is coupled to the autonomous motion module 32, the axial motion mode is enabled only after a path has completed its autonomous motion and reached its designated position. Otherwise, it remains in a disabled state, meaning that the user cannot actively trigger the axial motion mode.

[0097] After receiving the axial mode parameters, the axial motion module 33 checks the operation of the 6-DOF force sensor (the axial mode is also a force-controlled mode based on the 6-DOF force sensor). If normal, it calculates the axial motion point of the manipulator according to the axial motion algorithm and sends it to the underlying control hardware. After receiving the axial mode parameters and the manipulator's target motion point, the underlying control hardware executes the axial motion under the control of the foot pedal.

[0098] The fine-tuning motion module 34 interacts with the main control module 10 and the interaction module 20, respectively. The fine-tuning motion module 34 is used to control the end of the robotic arm to translate a predetermined distance along a fixed direction in a predefined plane. Automatic movement can be completed according to predefined motion parameters without the need for manual dragging by the user. Based on clinical application scenarios, it can be divided into plane fine-tuning and spherical fine-tuning. Plane fine-tuning refers to stepping motion at equal intervals or set intervals along the front, back, left, and right directions of a certain end face of the robotic arm's end tool. Movement can also be extended to eight directions, such as four diagonal directions. Spherical fine-tuning refers to movement of equal arcs in the front, back, left, and right directions on a sphere with a constant radius, centered on the target point. Plane fine-tuning mode and spherical fine-tuning mode refer to stepping small displacements on a specific plane or sphere. Spherical mode refers to the human-assisted robotic arm moving within a specific area, not allowed to exceed the area (such as within a cone), and the tool center point remains unchanged. Specifically, the fine-tuning motion module 34 can provide parameters such as fine-tuning step size, fine-tuning distance, and fine-tuning direction.

[0099] In specific implementation, the main control module 10 independently determines whether the spatial registration process has been completed (the alignment of the robot arm coordinate system and the patient coordinate system is completed. Only after alignment can the robot arm know where the patient's head is), and the spatial registration result is confirmed, which is guaranteed by the workflow. The main control module 10 independently determines whether the execution process of a path has been completed and the path has been run to the desired position. It is coupled with the autonomous motion mode, that is, the fine-tuning motion mode can only be enabled after a certain path has completed autonomous motion and is in place. Otherwise, it will remain in a disabled state, that is, the user cannot actively trigger the fine-tuning motion mode.

[0100] The adjustment motion module interacts with the main control module 10 and the interaction module 20 to control the final adjustment of the robotic arm's end before axial movement. In one embodiment, the adjustment motion module includes a fine-tuning motion module 34 and / or a spherical motion module 35. In other embodiments, the adjustment motion module may also include other types of irregular fine-tuning motion modules.

[0101] After receiving the mode parameters (fine-tuning mode), fine-tuning distance, and fine-tuning direction, the fine-tuning module 34 calculates the manipulator's movement point for the fine-tuning movement based on the fine-tuning motion algorithm and sends it to the underlying control hardware. After receiving the mode parameters (fine-tuning mode) and the manipulator's movement point, the underlying control hardware executes the fine-tuning movement under the control of the foot pedal.

[0102] The spherical motion module 35 interacts with the main control module 10 and the interaction module 20. It controls the movement of the robotic arm end along a predefined spherical surface. Similar to the aforementioned spherical fine-tuning motion mode, the difference is that spherical motion is a user-controlled spherical motion, tailored to different application scenarios.

[0103] In specific implementations, the main control module 10 independently determines whether the spatial registration process has been completed (aligning the robotic arm coordinate system with the patient coordinate system. Only after alignment can the robotic arm know where the patient's head is located) and the spatial registration results are confirmed, which is guaranteed by the workflow. The main control module 10 independently determines whether the execution process of a path has been completed and the path has been run to the desired position. Coupled with the autonomous motion mode, the spherical motion mode is only enabled after a path has completed autonomous motion and is in place. Otherwise, it remains in a disabled state, meaning that the user cannot actively trigger the spherical motion mode.

[0104] After receiving the spherical pattern parameters, spherical distance, spherical direction, and other parameters, the spherical motion module 35 calculates the robot arm's motion point for spherical motion using a spherical motion algorithm and sends it to the underlying control hardware. After receiving the spherical pattern parameters and the robot arm's motion point, the underlying control hardware executes the spherical motion under the control of the foot pedal.

[0105] The surgical robot control system 100 provided in this application can enable a stereotactic surgical robot to meet the motion schemes in a variety of clinical application scenarios. Specifically, when using a surgical robot based on a six-degree-of-freedom or seven-degree-of-freedom robotic arm to treat spinal diseases, the free motion module 31 can be switched to the axial motion module 33. After the end of the robotic arm moves to positioning point 1, it can be switched to the fine-tuning motion module 34 to slowly move to positioning point 2, and then the specific surgical steps can be implemented according to the surgical plan. Here, positioning point 2 is closer to the affected area than positioning point 1.

[0106] See also Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of the interaction module 20 provided in one embodiment of the present application. Figure 4 Schematic diagram of switching between different motion modules 30 provided in one embodiment of the present application. Different motion modules in the multiple motion modules 30 can be flexibly switched according to actual clinical application scenarios. The logic diagram of flexible switching between different motion modules is as follows: Figure 4 .

[0107] In one embodiment, the interaction module 20 includes a self-circulating interaction device 21 .

[0108] The self-loop interaction device 21 interacts with each of the plurality of motion modules 30. The self-loop interaction device 21 is used to control each of the plurality of motion modules 30 to execute back and forth multiple times. In this embodiment, each motion module can be executed back and forth multiple times after being selected, such as Figure 4 ① in .

[0109] In one embodiment, the interaction module 20 further includes an autonomous interaction device 22 .

[0110] The autonomous interaction device 22 interacts with each of the multiple motion modules 30. The autonomous interaction device 22 is used to control the interaction between the autonomous motion module 32 and the free motion module 31, the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35. Figure 4 ② in the .

[0111] In one embodiment, the interaction module 20 further includes a predefined motion interaction device 23 .

[0112] The predefined motion interaction device 23 interacts with the axial motion module 33, the fine-tuning motion module 34, and the spherical motion module 35 respectively. The predefined motion interaction device 23 is used to control the two-way interaction between the axial motion module 33 and the fine-tuning motion module 34, the two-way interaction between the axial motion module 33 and the spherical motion module 35, and the two-way interaction between the fine-tuning motion module 34 and the spherical motion module 35. Figure 4 ③ in the.

[0113] In one embodiment, the interaction module 20 further includes a one-way switching device 24 .

[0114] The one-way switching device 24 interacts with the free motion module 31, the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35. The one-way switching device 24 is used to control the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35 to switch to the free motion module 31 in one direction. Figure 4 ④ in the.

[0115] Because in actual operation, the multiple motion modules 30 need to complete a certain path according to the autonomous motion module before switching to the axial motion module 33, the fine-tuning motion module 34, and the spherical motion module 35. Therefore, in clinical application scenarios, the switching of the axial motion module 33, the fine-tuning motion module 34, and the spherical motion module 35 to the free motion module 31 is a one-way switch.

[0116] See also Figure 5 , Figure 5 This is a schematic diagram of a surgical robot control system 100 provided in one embodiment of the present application. In one embodiment, the surgical robot control system 100 further includes a safety and control system 40. The safety and control system 40 interacts with the main control module 10 and each of the multiple motion modules 30. The safety and control system 40 is used to implement safety and control of the surgical robot control system 100.

[0117] In this embodiment, the surgical robot control system 100 provided includes: the main control module 10, the interactive module 20, the multiple motion modules 30 and the safety and control system 40. The surgical robot control system 100 in this embodiment includes the safety and control system 40 for realizing safety and control of the surgical robot control system 100. When the surgical robot control system 100 allocates or switches the motion modes of the multiple motion modules 20 through the interactive module 20, it realizes the real-time motion function of the robotic arm that can flexibly switch the motion mode and is safe and reliable in any application scenario. In addition, the surgical robot control system 100 in this embodiment can be applied to a flexible, reliable and safe multi-mode robotic arm motion module-level solution, which is not only applicable to stereotactic surgical robots, but also can be used in orthopedic or spinal surgical robots based on six-degree-of-freedom robotic arms or seven-degree-of-freedom robotic arms, such as joint replacements and bone trauma treatment.

[0118] The surgical robot control system 100 provided in the embodiment of the present application defines a variety of motion modules 30 based on clinical scenarios. Each motion module 30 has corresponding safety design considerations. When using the surgical robot control system 100, the user only needs to consider the actual clinical application and does not need to pay too much attention to the safety design, because the relevant safety design is completely completed by the surgical robot control system 100. At the same time, combined with actual clinical application scenarios, the various motion modes can be flexibly switched, which expands the usability and safety design of the stereotactic surgical robot in the application scenario, and further reduces the doctor user's dependence on system operation experience.

[0119] See also Figure 6 , Figure 6 This is a schematic diagram of the surgical robot control system 100 provided in one embodiment of the present application. The main safety risk introduced by the surgical robot's robotic arm during movement is the possibility of accidental collision with the patient's head or the cart itself. Therefore, the surgical robot control system 100 provided in this application provides the following corresponding safety design solutions based on the identified safety risks:

[0120] In one embodiment, the safety control system 40 includes an emergency stop device 41 .

[0121] The emergency stop device 41 interacts with each of the multiple motion modules 30. The emergency stop device 41 is used to stop the robotic arm from continuing to move when the user determines that there is a safety risk in the movement of the robotic arm. Specifically, the emergency stop device 41 can be a foot pedal that interacts with the robotic arm information. Conventionally, during the operation of the surgical robot, the various motion modules 30 can only be triggered when the user steps on the foot pedal. When the user determines that there is a safety risk in the movement of the robotic arm, the user can immediately release the foot pedal to stop all movements of the robotic arm. In one embodiment, the free motion module 31, the autonomous motion module 32, the axial motion module 33, the fine-tuning motion module 34 and the spherical motion module 35 all require the user to continue stepping on the foot pedal to complete the corresponding motion process when starting operation.

[0122] In one embodiment, the security control system 40 further includes a security boundary computing device 42 .

[0123] The safety margin computing device 42 interacts with the free motion module 31, the axial motion module 33, and the spherical motion module 35. The safety margin computing device 42 is configured to compare the actual motion trajectory of the robotic arm with the predefined safety margin in real time and, if the actual motion trajectory is about to reach the safety margin, warn the user of a safety risk.

[0124] In this embodiment, for the manual dragging motion of the free motion module 31, the axial motion module 33, and the spherical motion module 35, the main control module 10 cannot know all the motion trajectories in advance, but can compare the actual motion trajectory with the pre-defined safety boundary in real time. When the main control module 10 finds that the actual motion trajectory is about to reach the safety boundary, it can prompt the user through a warning or voice. When the safety boundary is reached again, the main control module 10 can control the safety boundary calculation device 42 to stop the movement of the robotic arm to avoid further safety risks. It should be noted that only when the warning is confirmed by the user can the robotic arm move within the safety boundary when the user drags it. For the axial motion module 33, it is also necessary to define a safety boundary in the depth direction based on the length of the surgical instrument and the length of the adapter to ensure that in the axial motion mode, when the user manually drags, the end of the instrument or adapter does not collide with the patient's head.

[0125] In one embodiment, the safety control system 40 further includes an obstacle collision avoidance device 43 .

[0126] The obstacle collision avoidance device 43 interacts with the autonomous motion module 32. The obstacle collision avoidance device 43 is used to generate a simplified obstacle model based on the system hardware model and an unknown patient head model. When the main control module 10 plans the path points of the autonomous motion module 32, the obstacle collision avoidance device 43 generates an avoidance route that avoids the simplified obstacle model. For situations where the autonomous motion module 32 can pre-plan its path trajectory, the system avoids potential collisions when planning the path, based on the cart model, patient head model, and other instrument and tool models, and prevents collision interference in advance.

[0127] The simplified obstacle model can be simplified into a combination of the following three categories. The first type of model is a model of a system cart, instrument tool, or component that may be hit on the cart. This type of model has been solidified after the mechanical design is completed, and can be exported through dedicated software to generate a grid file for collision detection during path planning. The second type of model is an unknown patient head model. This type of model can be obtained through preoperative radiological imaging CT scanning and finally passed to the collision detection algorithm of the lower computer to perform collision detection. The third type of model is an unknown number of third-party head frame models for fixing the head. This type of model can be expanded to the outside by a bounding box model of approximately 20mm-60mm based on the acquired patient head model and the known system mechanical component model for fixing the patient's head, that is, no part of the robotic arm can enter this bounding box.

[0128] In one embodiment, the safety control system 40 further includes a trajectory interlocking device 44 .

[0129] The trajectory interlocking device 44 interacts with information of each motion module in the multiple motion modules 30. The trajectory interlocking device 44 is used to monitor the motion trajectory of the robot arm in real time. When it is found that the deviation between the actual motion trajectory of the robot arm and the planned motion trajectory exceeds the preset deviation, the user is warned or the movement of the robot arm is directly prohibited. Specifically, when it is found that the deviation between the actual path trajectory and the planned path trajectory is large, an advance warning or prohibition of the movement of the robot arm is given. The large deviation here can be understood as the deviation between the actual motion trajectory of the robot arm and the planned motion trajectory exceeding the preset deviation. Because the actual motion trajectory is quite different from the planned motion trajectory (for example, the Euclidean distance exceeds 1 cm), there must be some unpredictable anomalies, which increases the possibility of the final collision, so it can be avoided in advance.

[0130] In another embodiment of the present application, the surgical robot control system 100 further includes: a speed selection device, a locking and unlocking device, a motion enabling device, and an automatic homing device. The speed selection device can set different motion speeds for different motion states in the motion module 30. The locking and unlocking device can lock and control different motion states in the motion module 30. The motion enabling device can perform emergency stop processing in different motion states of the motion module 30. The automatic homing device can control the motion module 30 to return to its initial position from different motion states.

[0131] This application also provides a surgical robot control method, comprising:

[0132] Receiving user needs and generating interactive control commands: In this step, the interactive module 20 described above may be used to receive user needs and generate interactive control commands.

[0133] Generate motion control commands according to the interactive control commands. In this step, the main control module 10 mentioned above can be used to generate motion control commands.

[0134] The end of the manipulator is controlled to execute the motion control command, wherein the motion control command includes controlling the end of the manipulator to perform actions according to multiple motion modes. In this step, the multiple motion modules 30 described above can be used to respectively execute the multiple motion modes.

[0135] In this embodiment, the surgical robot control method can realize different motion schemes in a variety of clinical application scenarios. In any application scenario, interactive control commands can be generated by receiving user needs; motion control commands can be generated according to the interactive control commands; and the end of the robotic arm can be controlled to execute the motion control commands, and the motion control commands include controlling the end of the robotic arm to perform actions according to a variety of motion modes. Thus, the surgical robot control method can realize flexible switching between the multiple motion modes. Specifically, in the process of treating spinal diseases using a surgical robot with a robotic arm based on a seven-degree-of-freedom force sensor, it can be switched from a free motion mode to an axial motion mode. After the end of the robotic arm moves to positioning point 1, it can switch to a fine-tuning motion mode and slowly move to positioning point 2, and then implement specific surgical steps according to the surgical plan. Here, positioning point 2 is closer to the affected area than positioning point 1.

[0136] In one embodiment, the control of the robotic arm end to execute the motion control command includes the steps of controlling the robotic arm end to perform actions according to multiple motion modes, and the multiple motion modes include: free motion mode, autonomous motion mode, axial motion mode, fine-tuning motion mode and spherical motion mode. Among them, in the free motion mode, the robotic arm end can be controlled to move freely. In the autonomous motion mode, autonomous motion can be performed according to the path points planned by the main control module 10. In the axial motion mode, the robotic arm end can be controlled to move along a predefined axial direction. In the fine-tuning motion mode, the robotic arm end can be controlled to translate a predetermined distance along a fixed direction in a predefined plane. In the spherical motion mode, the robotic arm end can be controlled to move along a predefined spherical surface.

[0137] In one embodiment, the motion control command includes any one or more of the following four control commands:

[0138] Controlling each of the plurality of motion modes to be reciprocated multiple times;

[0139] controlling the interactive execution between the autonomous motion mode and the free motion mode, the axial motion mode, the fine-tuning motion mode, and the spherical motion mode;

[0140] controlling the bidirectional interaction between the axial motion mode and the fine-tuning motion mode, the bidirectional interaction between the axial motion mode and the spherical motion mode, and the bidirectional interaction between the fine-tuning motion mode and the spherical motion mode; or,

[0141] The axial motion mode, the fine-tuning motion mode and the spherical motion mode are controlled to be unidirectionally switched to the free motion mode respectively.

[0142] In this embodiment, the logic diagram for flexible switching between different motion modes can be referred to, wherein Figure 4 It demonstrates that different motion systems in the multiple motion modes can be flexibly switched according to actual clinical application scenarios.

[0143] In one embodiment, the robot control method further includes: interacting with at least one motion mode information among the multiple motion modes to achieve safety control of the surgical robot control system.

[0144] In this embodiment, a safety control step has been added, enabling the robot control method to achieve flexible switching of motion modes and safe and reliable real-time robotic arm motion in any application scenario. Furthermore, the surgical robot control method of this embodiment, along with the multi-mode robotic arm motion system and solution with flexible and reliable control strategies and high safety, is applicable not only to stereotactic surgical robots but also to orthopedic or spinal surgical robots using six-degree-of-freedom force sensors or seven-degree-of-freedom force sensors, for applications such as joint replacement and bone trauma treatment.

[0145] In one embodiment, the step of implementing safety control of the surgical robot control system includes implementing safety control of the surgical robot by adopting any one or more of the following steps:

[0146] The robot arm is subjected to emergency stop control, a safety risk warning is issued to the user, an automatic avoidance route is generated for the robot arm, and the movement of the robot arm is prohibited.

[0147] Specifically, the emergency stop control of the robotic arm may be implemented as follows: when the user determines that there is a safety risk in the movement of the robotic arm, the user may stop the robotic arm from continuing to move through the emergency stop device 41 .

[0148] The warning to the user of the existence of a safety risk can be: based on the real-time comparison of the actual motion trajectory of the robot arm with the predefined safety boundary, when it is found that the actual motion trajectory is about to reach the safety boundary, the user is warned of the safety risk.

[0149] Generating the automatic avoidance route of the robotic arm can be: generating a simplified obstacle model based on the system hardware model and the unknown patient head model; when the main control module 10 plans the path points of the autonomous motion module 32, the obstacle collision avoidance device 43 generates an avoidance route that can avoid the simplified obstacle model.

[0150] Prohibiting the movement of the robotic arm may include: monitoring the movement trajectory of the robotic arm in real time, and when it is found that the deviation between the actual movement trajectory of the robotic arm and the planned movement trajectory exceeds a preset deviation, warning the user or directly prohibiting the movement of the robotic arm.

[0151] The present application also provides a surgical robot, comprising the surgical robot control system 100 described in any of the above embodiments, a robotic arm, a floor brake, a foot pedal, a camera device and other hardware devices.

[0152] See also Figure 7 , Figure 7This is a diagram showing the main interface display of the multiple motion modules 30 in the main control module 10 in one embodiment of the present application. The present application also provides diagrams showing the interface displays of the two motion modules, the axial motion module 33 and the fine-tuning motion module 34, in the main control module 10, to illustrate the operation processes of the two motion modules respectively.

[0153] See also Figure 8 , Figure 8 This is an interface display diagram of the axial motion module 33 in one embodiment of the present application. The interface operation method is as follows:

[0154] Determine that positioning point 1 is the target distance, which is completed by preoperative planning. Step on the foot pedal (start the movement of the robotic arm), and use the free movement module 31, the autonomous movement module 32, or the combined movement module of the free movement module 31 and the autonomous movement module 32 to move the robotic arm to positioning point 1.

[0155] The main control module 10 can display multiple types of information, including image information, fixed data information, real-time data information, and operational information. The image information can display a single image or multiple images simultaneously. Fixed data information and real-time data information can be displayed directly on the image information or in separate display areas. Operational information can be used for user input and can be displayed directly on the image information or in a separate display area.

[0156] In a specific embodiment, select "Axial Mode" from the main page of the main control module 10, and the system enters the sub-page of "Axial Mode". When the user needs to manually adjust the axial position of the end instrument, the image information display area will perform a global real-time dynamic display based on the position of the end instrument and the skull. Figure 8 As shown, the motion mode interface of the axial motion module 33 includes two image information, namely a real-time display of the global image and a real-time display of the magnified image. The above two image information are used to display the overall position relationship, wherein the human head is a scanned CT image, and the robotic arm, instrument and human hand are its STL data format model or preset 3D data format model. When the user needs to manually adjust the axial position of the end instrument, the image information display area will perform a global real-time dynamic display according to the position of the end instrument and the skull, displaying the puncture axis movement direction, positioning point 1, positioning point 2, the current end tool point, the skull entry point, the target point, etc. The image information display area will also display the magnified image in real time, and the main magnified area is the puncture axis movement direction, positioning point 2, the current end tool point, and the skull entry point. The magnified image can be dynamically adjusted and enlarged according to the current end tool point position, and the user can also manually adjust and enlarge the local view.

[0157] like Figure 8As shown, the motion mode interface of the axial motion module 33 also includes a display area for fixed data information. The display area for fixed data information can display "entry point coordinates", "target point coordinates", "locating point 1 coordinates" and "locating point 2 coordinates".

[0158] like Figure 8 As shown, the motion mode interface of the axial motion module 33 also includes a display area for real-time data information. For example, the end adapter is subjected to a thrust (N), which indicates the force information applied by the user to the instrument; the coordinates from the origin Q of the end instrument coordinate system to the positioning point 2 are displayed in real time; the coordinates from the origin Q of the end instrument coordinate system to the cranial entry point are displayed in real time; and the coordinates from the origin Q of the end instrument coordinate system to the target point are displayed in real time. The coordinate values ​​in this example are all displayed relative to the target coordinates, but can also be displayed relative to other coordinate systems. The types of coordinate display include but are not limited to rectangular coordinates and spherical coordinates. The display area for real-time data information may include all or part of the above display contents.

[0159] like Figure 8 As shown, the motion mode interface of the axial motion module 33 also includes a display area for operation information. The user can set the maximum distance of the axial mode by himself. The user can also arbitrarily choose to "lock the robotic arm", "unlock the robotic arm" or "exit the axial motion mode". Locking the robotic arm allows the user to perform other operations more safely without worrying about other abnormal movements of the robotic arm. When the user wants the axial motion mode, he can unlock the robotic arm to perform axial motion or exit the current axial motion mode. In principle, the axial motion interface is the main interface of the motion module, but the sub-interface can still include some functions of the main interface. If the user does not want to return to the main interface to switch the motion mode (such as autonomous motion mode, etc.), he can directly switch to other motion modes in the sub-interface.

[0160] See also Figure 9 and Figure 10 , Figure 9 This is an interface display diagram of plane fine adjustment in the fine adjustment motion module 34 in one embodiment of the present application. Figure 10 This is an interface display diagram of spherical fine adjustment in the fine adjustment motion module 34 in one embodiment of the present application. Figure 9 Taking the fine-tuning motion module 34 as an example, the interface operation method is explained:

[0161] Determine that the positioning point 1 is the target distance, which is completed by preoperative planning. Step on the pedal and select the autonomous motion module 32 or the combined motion module of the free motion module 31 and the autonomous motion module 32 to move the robotic arm to the positioning point 1.

[0162] Select "Plane Fine-tuning Mode" or "Spherical Fine-tuning Mode" on the main page of the main control module 10, and the system will enter the sub-page of "Fine-tuning Mode". "Fine-tuning Mode" can further select "Plane Fine-tuning Mode" and "Spherical Fine-tuning Mode". Figure 9 As shown, the motion mode interface of the fine-tuning motion module 34 includes image information, data information and operation information. The image information display area includes two areas, which are respectively used to display the global image (viewing Figure 1 ) and real-time display magnified image (view Figure 2 ).

[0163] The display area of ​​the data information includes a step amount input area and a step position display area. The user can enter the fine-tuning movement after entering the step amount, selecting the movement mode and unlocking the robotic arm.

[0164] The display area of ​​the data information also includes step direction keys, and the step direction includes but is not limited to the interface button form in this example, and can also be physical up, down, left, and right buttons or corresponding voice recognition, etc. The direction diagram displays the coordinates of the current position after stepping relative to the initial position in real time, and displays relative numerical information in real time. The coordinate values ​​in this example are all displayed relative to the coordinates of the initial positioning point, but can also be displayed relative to other coordinate systems. The types of coordinate display include but are not limited to rectangular coordinates and spherical coordinates.

[0165] The display area of ​​the operation information includes a mode selection switching area, which can freely switch between the plane fine-tuning mode and the spherical fine-tuning mode, and the initial position point can be clicked to reset to the initial positioning point.

[0166] The display area of ​​the operation information also includes control buttons. After the user uses the step mode, the user can lock the robotic arm and perform other surgical operations more safely. The user can also perform multiple consecutive steps until the desired puncture position is reached. When the fine-tuning mode is completed, the user can click to exit the directional quantitative stepping micro-displacement motion mode. Figure 7 The main interface of .

[0167] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0168] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A surgical robot control system, characterized in that: include: A main control module (10), configured to generate motion control commands; An interactive module (20) interacts with the main control module (10) to receive user requirements, generate interactive control commands, and send them to the main control module (10); A plurality of motion modules (30) interact with the main control module (10) to execute the motion control command; The plurality of motion modules (30) include: an axial motion module (33), a fine-tuning motion module (34), a spherical motion module (35) and an autonomous motion module (32); The axial motion module (33) interacts with the main control module (10) and the interaction module (20) to control the end of the robotic arm to move along a predefined axial direction; A fine-tuning motion module (34) is configured to interact with the main control module (10) and the interaction module (20) to control the end of the robotic arm to translate a predetermined distance along a fixed direction in a predefined plane; A spherical motion module (35) is configured to interact with the main control module (10) and the interaction module (20) to control the end of the robotic arm to move along a predefined spherical surface; An autonomous motion module (32) interacts with the main control module (10) and the interactive module (20) to perform autonomous motion according to the path points planned by the main control module (10); The interaction module (20) further includes: The predefined motion interaction device (23) interacts with the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35) respectively to control the two-way interaction between the axial motion module (33) and the fine-tuning motion module (34), the two-way interaction between the axial motion module (33) and the spherical motion module (35), and the two-way interaction between the fine-tuning motion module (34) and the spherical motion module (35).

2. The surgical robot control system according to claim 1, characterized in that: The plurality of motion modules (30) include: The free motion module (31) interacts with the main control module (10) and the interaction module (20) to control the free motion of the end of the robotic arm.

3. The surgical robot control system according to claim 2, characterized in that: The interaction module (20) further includes: The autonomous interaction device (22) interacts with the free motion module (31) to control the interaction between the autonomous motion module (32) and the free motion module (31), the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35).

4. The surgical robot control system according to claim 2, characterized in that: The interaction module (20) comprises: The one-way switching device (24) interacts with the free motion module (31), the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35) to control the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35) to switch to the free motion module (31) in one direction.

5. The surgical robot control system according to claim 1, characterized in that: The interaction module (20) comprises: The self-loop interaction device (21) interacts with each of the plurality of motion modules (30) to exchange information, and is used to control each of the plurality of motion modules (30) to execute reciprocally multiple times.

6. The surgical robot control system according to claim 1, characterized in that: The interaction module (20) further includes: The autonomous interaction device (22) interacts with each of the plurality of motion modules (30) to control the interaction between the autonomous motion module (32), the axial motion module (33), the fine-tuning motion module (34) and the spherical motion module (35).

7. The surgical robot control system according to claim 1, characterized in that: Also includes: A safety control system (40) interacts with the main control module (10) and interacts with at least one of the plurality of motion modules (30) to achieve safety control of the surgical robot control system (100).

8. The surgical robot control system according to claim 7, characterized in that: The safety control system (40) includes: An emergency stop device (41) interacts with information of each of the plurality of motion modules (30) and is used for stopping the robotic arm from continuing to move through the emergency stop device (41) when the user determines that there is a safety risk in the movement of the robotic arm.

9. The surgical robot control system according to claim 7, characterized in that: The safety control system (40) further includes: The safety boundary computing device (42) interacts with the free motion module (31), the axial motion module (33) and the spherical motion module (35) respectively, and is used to compare the actual motion trajectory of the robot arm with the predefined safety boundary in real time, and warn the user of the safety risk when it is found that the actual motion trajectory is about to reach the safety boundary; the free motion module (31) is one of the motion modules included in the multiple motion modules.

10. The surgical robot control system according to claim 7, characterized in that: The safety control system (40) further includes: The obstacle collision avoidance device (43) interacts with the autonomous motion module (32) and is used to generate a simplified obstacle model based on a system hardware model and an unknown patient head model. When the main control module (10) plans a path point of the autonomous motion module (32), the obstacle collision avoidance device (43) generates an avoidance route that can avoid the simplified obstacle model.

11. The surgical robot control system according to claim 7, characterized in that: The safety control system (40) further includes: A trajectory interlocking device (44) interacts with information of each of the plurality of motion modules (30) to monitor the motion trajectory of the robotic arm in real time, and warns a user or directly prohibits the motion of the robotic arm when it is found that the deviation between the actual motion trajectory of the robotic arm and the planned motion trajectory exceeds a preset deviation.

12. The surgical robot control system according to claim 1, characterized in that: The axial motion module, fine-tuning motion module and spherical motion module are respectively coupled with the autonomous motion module; after a certain path completes autonomous motion and is in place, the axial motion module, fine-tuning motion module and spherical motion module are in an enabled state, otherwise the axial motion module, fine-tuning motion module and spherical motion module are in a disabled state. In the disabled state, the user cannot initiate the corresponding motion module.

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