Surgical robot system, control method of surgical robot, and computer device

Abstract

The invention relates to a surgical robot system, a control method of a surgical robot and computer equipment. The surgical robotic system includes a surgical mechanism and a control module. Wherein the surgical mechanism comprises a plurality of mechanical arms, and the control module is used for determining the target configuration of the surgical mechanism according to the initial configuration and the target function of the surgical mechanism and controlling the surgical mechanism to move autonomously according to the target configuration of the surgical mechanism so as to adjust the current space performance of the surgical robot; the target function is determined according to the target space performance index of the surgical robot and the weight corresponding to the target space performance index. By adopting the surgical robot system, the space performance of the surgical robot can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a surgical robot system, a control method for a surgical robot, and a computer device. Background Art

[0002] Compared to traditional open surgery, minimally invasive surgery is increasingly being chosen as the preferred treatment option by patients due to its advantages, including smaller incisions, less pain, and faster recovery. However, minimally invasive surgery also presents challenges such as fatigue, hand tremors, inflexible instruments, and poor hand-eye coordination.

[0003] To address these challenges in minimally invasive surgery, the use of robotic arms to assist doctors in completing surgeries is becoming a growing trend. However, due to limited operating space, robotic arms often experience issues such as collisions and insufficient travel in the joints, which can reduce the robot's spatial performance and affect the smoothness of the surgical procedure and its clinical adaptability.

[0004] Therefore, how to improve the spatial performance of surgical robots is a key research topic for researchers in this field. Summary of the Invention

[0005] Based on this, it is necessary to provide a surgical robot system, a surgical robot control method and a computer device that can improve the spatial performance of the surgical robot in order to address the above technical problems.

[0006] In a first aspect, the present application provides a control method for a surgical robot, comprising:

[0007] a surgical mechanism including multiple robotic arms;

[0008] The control module is used to determine the target configuration of the surgical mechanism based on the initial configuration of the surgical mechanism and the objective function, and to control the autonomous movement of the surgical mechanism according to the target configuration of the surgical mechanism to adjust the current spatial performance of the surgical robot; the objective function is determined based on the target spatial performance index of the surgical robot and the weight corresponding to the target spatial performance index.

[0009] In one embodiment, the control module includes:

[0010] A first determining unit, configured to determine a weight corresponding to a target space performance indicator;

[0011] The second determining unit is configured to determine the objective function according to the weight corresponding to the target space performance indicator and the target space performance indicator of the surgical robot.

[0012] In one embodiment, the first determining unit is configured to do at least one of the following:

[0013] Determine the weight corresponding to the target spatial performance index based on the current spatial performance index of the surgical robot and the fuzzy model;

[0014] Determine the weight corresponding to the target space performance indicator based on user input;

[0015] Based on the historical information of the surgical institution, the weights corresponding to the target space performance indicators are determined.

[0016] In one embodiment, the control module includes:

[0017] A third determining unit is used to determine the relative importance relationship between the weights corresponding to the target space performance indicators;

[0018] The fourth determining unit is used to determine the target configuration of the surgical mechanism according to the relative importance relationship, the initial configuration and the target function.

[0019] In one embodiment, the control module is further configured to:

[0020] determining a first candidate configuration of the surgical mechanism according to the initial configuration and the objective function;

[0021] In response to a selection operation on a first candidate configuration of the surgical mechanism, determining a second candidate configuration from the first candidate configurations;

[0022] A target configuration is determined based on the second candidate configuration and the target function.

[0023] In one embodiment, the control module is further configured to:

[0024] determining a plurality of intermediate configurations of the surgical mechanism according to the initial configuration of the surgical mechanism and the objective function;

[0025] The target configuration is determined based on the intermediate configurations.

[0026] In a second aspect, the present application further provides a method for controlling a surgical robot, comprising:

[0027] determining a target configuration of the surgical mechanism according to the initial configuration of the surgical mechanism and the objective function;

[0028] The autonomous movement of the surgical mechanism is controlled according to the target configuration of the surgical mechanism to adjust the current spatial performance of the surgical robot; the objective function is determined according to the target spatial performance index of the surgical robot and the weight corresponding to the target spatial performance index; the surgical robot includes a surgical mechanism, and the surgical mechanism includes multiple robotic arms.

[0029] In a third aspect, the present application also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned control method of the surgical robot when executing the computer program.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned method for controlling a surgical robot:

[0031] In a fifth aspect, the present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for controlling a surgical robot.

[0032] In the above-mentioned surgical robot system, surgical robot control method, and computer device, since the objective function is determined based on the surgical robot's target spatial performance index and the weight corresponding to the target spatial performance index, the target configuration of the surgical mechanism can be made to meet the expectations of the target spatial performance index based on the initial configuration of the surgical mechanism and the objective function, thereby determining a target configuration with better spatial performance index. Moreover, the weight corresponding to the target spatial performance index can flexibly adjust the configuration requirements of the surgical mechanism, so that the target configuration can be adapted to different application scenarios. Furthermore, since the surgical mechanism includes multiple robotic arms, controlling the autonomous movement of the surgical mechanism based on the target configuration of the surgical mechanism can more efficiently and accurately adjust the current spatial performance of the surgical robot, reducing problems such as robotic arm collisions and insufficient robotic arm travel that degrade the surgical robot's spatial performance during surgery, thereby improving the spatial performance of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 is a schematic structural diagram of a surgical robot in one embodiment;

[0035] Figure 2 is a schematic structural diagram of yet another surgical robot according to an embodiment;

[0036] Figure 3 is a schematic diagram of joints of a surgical robot according to an embodiment;

[0037] Figure 4 is a schematic diagram of joints of yet another surgical robot according to an embodiment;

[0038] Figure 5 Schematic diagram of the structure of a telecentric mechanism in one embodiment;

[0039] Figure 6 A schematic structural diagram of a surgical mechanism in one embodiment;

[0040] Figure 7 is a schematic structural diagram of a surgical robot system in one embodiment;

[0041] Figure 8 A schematic diagram of adjusting spatial performance according to an embodiment;

[0042] Figure 9 is a schematic structural diagram of a control module in one embodiment;

[0043] Figure 10 A schematic diagram of a fuzzy reasoning process in one embodiment;

[0044] Figure 11 is a schematic diagram of a decision reasoning in one embodiment;

[0045] Figure 12 A schematic diagram of yet another decision-making reasoning in one embodiment;

[0046] Figure 13 Schematic diagram of single-objective decision-making in one embodiment;

[0047] Figure 14 is a structural diagram of yet another control module in an embodiment;

[0048] Figure 15 A schematic diagram of the value range of an objective function according to an embodiment;

[0049] Figure 16 A schematic diagram of a multi-objective decision-making process;

[0050] Figure 17 A diagram showing an application environment of a control method for a surgical robot according to an embodiment;

[0051] Figure 18 1 is a flow chart of a control method for a surgical robot according to an embodiment;

[0052] Figure 19 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] 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.

[0054] In order to more clearly introduce the surgical robot system of this application, Figure 1To explain, Figure 1 FIG. 1 is a schematic structural diagram of a surgical robot in an embodiment. In an exemplary embodiment, a surgical robot 100 is provided. Figure 1 As shown, the surgical robot 100 includes a surgical mechanism 101, and the surgical mechanism 101 includes a plurality of robotic arms 1011. Figure 1 In the figure, the robotic arms are robotic arm A, robotic arm B, robotic arm C and robotic arm D from left to right.

[0055] Taking abdominal surgery as an example, Figure 1 The robotic arm C in the figure can be a mirror holding arm. Figure 1 The robotic arms except the robotic arm C are robotic arms. It is understandable that Figure 2 This example only illustrates one optional form of the robotic arm 1011. This embodiment does not limit the type of surgical robot and the number of robotic arms.

[0056] In an exemplary embodiment, please refer to Figure 1 Optionally, the robotic arm 1011 may include an adjustment mechanism 1011a. The adjustment mechanism 1011a may include multiple joints. For example, the adjustment mechanism 1011a of the robotic arm 1011 may include at least four joints. Each joint in the adjustment mechanism 1011a may be any combination of translational joints or rotational joints, which is not limited in this embodiment.

[0057] Further optionally, the adjustment mechanism 1011a may include at least one active joint. An active joint refers to a joint that can actively move according to a drive signal sent from an external source. Exemplarily, all joints in the adjustment mechanism 1011a may be active joints.

[0058] In an exemplary embodiment, the surgical mechanism 101 may optionally further include a rotary joint (also referred to as a suspension disc joint) 1012. The rotary joint 1012 is also referred to as Figure 1 The plurality of robotic arms 1011 are connected to the rotary joint 1012. Optionally, the rotary joint may be an active joint.

[0059] Further optionally, the rotary joint 1012 and the adjustment mechanism 1011a of each robotic arm 1011 may include at least five active joints. That is, for each robotic arm 1011, the rotary joint 1012 and the adjustment mechanism 1011a of the robotic arm 1011 may include at least five active joints in total. For example, the rotary joint 1012 may include one active joint, and the adjustment mechanism 1011a of the robotic arm 1011 may include four active joints.

[0060] Because the rotary joint 1012 and the adjustment mechanism 1011a of the robotic arm 1011 include at least five joints, greater adjustment space is available when controlling the movement of the surgical mechanism 101. For example, when the rotary joint 1012, or joint J0, rotates horizontally, it can drive all robotic arms 1011 to move accordingly. Thus, the spatial performance of the surgical robot can be adjusted by controlling the movement of the robotic arms through the rotary joint 1012.

[0061] Further optionally, controlling the autonomous movement of the surgical mechanism 101 includes controlling the autonomous movement of at least five active joints mentioned above.

[0062] In an exemplary embodiment, please refer to Figure 1 Optionally, the robotic arm 1011 further includes a telecentric mechanism 1011b connected to the adjustment mechanism 1011a. It can be seen that for the same robotic arm 1011, the telecentric mechanism 1011b can move relative to the adjustment mechanism 1011a.

[0063] In an exemplary embodiment, the robotic arm 1011 may optionally further include a redirection mechanism. The redirection mechanism may include at least one joint. The redirection mechanism is respectively connected to the adjustment mechanism and the telecentric mechanism. Figure 2 FIG. 1 is a schematic diagram of the structure of another surgical robot in an embodiment. Figure 2 For example, the adjustment mechanism includes joints J1 to J4, and the redirection mechanism includes joint J5, which can be a yaw joint. In some embodiments, during the process of controlling the autonomous movement of the surgical mechanism, the movement of the adjustment mechanism can follow the movement of the redirection mechanism.

[0064] In an exemplary embodiment, optionally, the joints in the adjustment mechanism 1011a of the robotic arm 1011 include, in sequence: a first rotation joint, a first translation joint, a second rotation joint or a second translation joint, and a third translation joint or a third rotation joint.

[0065] Figure 3 FIG. 1 is a schematic diagram of joints of a surgical robot in one embodiment, as shown in FIG. Figure 3 As shown, the joints in the adjustment mechanism 1011a of the robotic arm 1011 may include, in sequence, a first rotational joint J1, a first translational joint J2, a second rotational joint J3, and a third translational joint J4. In other words, the joints in the adjustment mechanism 1011a of the robotic arm 1011 may be connected in the order of rotation—horizontal linear motion—rotation—vertical lifting.

[0066] Figure 4 FIG. 1 is a schematic diagram of joints of another surgical robot in one embodiment, as shown in FIG. Figure 4As shown, the joints in the adjustment mechanism 1011a of the robotic arm 1011 may include, in sequence, a first rotation joint J1, a first translation joint J2, a third translation joint J3, and a third rotation joint J4. In other words, the joints in the adjustment mechanism 1011a of the robotic arm 1011 may also be connected in the order of rotation - horizontal linear movement - vertical lifting - rotation.

[0067] In the above embodiment, since the joints in the adjustment mechanism of the robotic arm include, in sequence: a first rotation joint, a first translation joint, a second rotation joint or a second translation joint, and a third translation joint or a third rotation joint, the robotic arm can achieve different control effects based on different configurations and has better flexibility.

[0068] Please continue to refer to Figures 1 to 4 In an exemplary embodiment, the surgical robot system may further include a trolley mechanism 102. The surgical mechanism 101 is connected to the trolley mechanism 102 via a rotary joint 1012. In other words, each robotic arm 1011 is connected to the trolley mechanism 102 via a rotary joint 1012.

[0069] Please continue to refer to Figure 4 In some embodiments, optionally, the trolley mechanism 102 may include a trolley base 1021 , a trolley lifting joint 1022 , a trolley rotating joint 1023 and a trolley horizontal moving joint 1024 .

[0070] The trolley base 1021 is used to provide overall support for the surgical robot and a reference for the placement of the surgical robot 100. Optionally, the trolley base 1021 can be connected to the ground in a floating manner through a lifting mechanism.

[0071] The first end of the trolley lifting joint 1022 is arranged on the trolley base 1021. For example, the trolley lifting joint 1022 can be rigidly connected to the trolley base 1021 through a connecting rod. The trolley lifting joint 1022 can be extended and retracted up and down, and is used to drive the rotary joint 1012 to move up and down. The trolley rotary joint 1023 is arranged at the second end of the trolley lifting joint 1022. For example, the trolley rotary joint 1023 is mechanically connected to the trolley lifting joint 1022 through a connecting rod. The trolley rotary joint 1023 is used to drive the rotary joint 1012 to rotate in the horizontal direction. The trolley horizontal moving joint 1024 is connected to the rotary joint 1012. For example, the trolley horizontal moving joint 1024 is connected to the rotary joint 1012 through an intermediate connecting rod. In the process of moving the trolley lifting joint 1022, the position of the rotary joint 1012 in space can be adjusted.

[0072] In this way, the four joints of the trolley mechanism can support and position the adjustment mechanism, so that the surgical instruments connected to the robotic arm during the operation have a larger effective movement space, thereby covering the patient's lesions and having a larger obstacle avoidance space.

[0073] Figure 5 FIG. 1 is a schematic structural diagram of a telecentric mechanism in an embodiment. Figure 5 As shown, in an exemplary embodiment, the telecentric mechanism 1011b may include a first revolute joint J6, a second revolute joint J7, an active pitch portion 501, a first passive pitch portion 502, a second passive pitch portion 503 and an instrument joint J8.

[0074] Optionally, the active pitch portion 501 includes an active pitch joint 501a and an active pitch link 501b. The first passive pitch portion 502 includes a first passive pitch joint 502a and a first passive pitch link 502b. The second passive pitch portion 503 includes a second passive pitch joint 503a and a second passive pitch link 503b.

[0075] The first rotary joint J6 is connected to the adjustment mechanism 1011a and the second rotary joint J7, respectively. The active pitch joint 501a is located at one end of the active pitch link 501b; the other end of the active pitch link 501b is connected to one end of the first passive pitch link 502b via the first passive pitch joint 502a. The other end of the first passive pitch link 502b is connected to the second passive pitch link 503b via the second passive pitch link 503a. The instrument joint 1505 is located on the second passive pitch link 503b.

[0076] Further optionally, the velocities of the active pitch joint 501a, the first passive pitch joint 502a, and the second passive pitch joint 503a are less than a preset difference. The preset difference is a number close to 0. For example, the velocities of the active pitch joint 501a, the first passive pitch joint 502a, and the second passive pitch joint 503a are equal.

[0077] In one embodiment, the active pitch joint 501a, the first passive pitch joint 502a, the second passive pitch joint 503a, and the distal end P of the robotic arm form a parallelogram. Thus, the rotation axis of the first rotary joint J6 intersects the axis of rotation of the parallelogram at a point, allowing the telecentric mechanism to perform posture adjustment around the patient's upper incision point. This allows the telecentric mechanism to maintain its position without affecting the distal end point during movement. The distal end P of the robotic arm is also its distal end point.

[0078] In other words, the telecentric mechanism 1011b is connected to the adjustment mechanism 1011a and the cannula, respectively, to further constrain the distal point of the robotic arm, thereby constraining the distal point of the distal end. Thus, the telecentric mechanism 1011b enables the distal end of the robotic arm to adjust its posture around the patient's upper incision point, while the adjustment mechanism 1011a supports and positions the telecentric mechanism. During the movement of the adjustment mechanism 1011a, it also drives the movement of the telecentric mechanism 1011b. This shows that the positioning of the adjustment mechanism 1011a can directly determine the layout and posture of the surgical instruments during surgery, thereby affecting the flexibility and safety of the surgical instruments.

[0079] Figure 6 FIG. 1 is a schematic structural diagram of a surgical mechanism in one embodiment. Figure 6 As shown, in one embodiment, the surgical mechanism 101 includes joints J0 to J8, wherein the joints J0 to J8 are all active joints. Thus, each robotic arm includes multiple redundant joints. Figure 6 For example, each robotic arm has three redundant degrees of freedom. Furthermore, through multiple redundant joints in the robotic arm, the robotic arm's motion can be controlled more flexibly and efficiently. For example, the redundant joints may be joints J0, J1, and J5. Of course, in some embodiments, other joints may also be used as redundant joints, and this embodiment is not limited to this.

[0080] Figure 7 FIG. 1 is a schematic structural diagram of a surgical robot system in an embodiment. In an exemplary embodiment, as shown in FIG. Figure 7 As shown, a surgical robot system 200 is provided, which includes a surgical mechanism 101 and a control module 201. Figures 1 to 6 The surgical mechanism 101 includes multiple robotic arms 1011.

[0081] The control module 201 is used to determine the target configuration of the surgical mechanism based on the initial configuration of the surgical mechanism and the objective function, and to control the autonomous movement of the surgical mechanism according to the target configuration of the surgical mechanism to adjust the current spatial performance of the surgical robot; the objective function is determined based on the target spatial performance index of the surgical robot and the weight corresponding to the target spatial performance index.

[0082] In this embodiment, the configuration of the surgical mechanism can represent its position and shape in space, and can be determined based on the joint angles of each joint in the surgical mechanism. In other words, once the joints in the surgical mechanism are determined, the configuration of the surgical mechanism can also be fixed. Furthermore, the control module 201 can determine the initial configuration of the surgical mechanism based on the current angles of each joint in the surgical mechanism.

[0083] The control module 201 can also determine an objective function. The objective function can be understood as the adjustment target of the surgical mechanism's configuration. The objective function is determined based on the surgical robot's target space performance indicators and the corresponding weights of the target space performance indicators.

[0084] The target spatial performance index is also the spatial performance index of the target. The target spatial performance index characterizes the spatial performance index that the surgical robot is expected to achieve. The spatial performance index of the surgical robot can be linearly related to the spatial performance of the surgical robot. For example, the smaller the spatial performance index, the better the spatial performance of the surgical robot. Of course, the spatial performance index can be nonlinearly related to the spatial performance of the surgical robot, and this embodiment does not limit it. It can be understood that the target spatial performance index can take the maximum value of the spatial performance index or the value of other ranges, and this embodiment does not limit it. The number of target spatial performance indicators can be one or more, and this embodiment does not limit it.

[0085] The weight associated with the target space performance indicator reflects its importance. The weight can be between 0 and 1. A higher weight indicates a more important target space performance indicator. Different target space performance indicators can have different weights.

[0086] For example, let the kth spatial performance index of the surgical robot be f k (θ), the weight corresponding to the kth spatial performance index is ω k , then the objective function argmax f(θ)=ω1f1(θ)+ω2f2(θ)+……+ω k f k (θ).

[0087] Optionally, the spatial performance index of the surgical robot may include the spatial relationship of the robotic arms. For example, the spatial performance index of the surgical robot may include but is not limited to the minimum joint margin of a single robotic arm.

[0088] Further optionally, the spatial performance indicator of the surgical robot may include the spatial relationship between at least two robotic arms in the surgical robot. The spatial relationship between two robotic arms may include, but is not limited to, the arm spacing between the robotic arms or the intersection of their ranges of motion. For example, the control module 201 may determine the minimum arm spacing between the robotic arms in the current surgical robot and use this minimum arm spacing as the current spatial performance indicator.

[0089] In some embodiments, the spatial performance indicator may include at least one of the following:

[0090] (1) Arm spacing index of the robotic arms. In this embodiment, the arm spacing index may include, but is not limited to, the sum, weighted average, average, minimum, etc. of the arm spacings between any two robotic arms in the surgical robot. Continuing with robotic arms A to D as an example, the arm spacing 1 between robotic arms A and B, the arm spacing 2 between robotic arms A and C, the arm spacing 3 between robotic arms A and D, and so on, the arm spacing 6 between robotic arms C and D may be calculated, and the minimum value among arm spacings 1 to 6 may be used as the arm spacing index of the robotic arms.

[0091] When calculating the arm spacing between two robotic arms, the distance between the centers of mass of the two robotic arms can be used as the arm spacing, or the distance between the telecentric mechanisms of the two robotic arms can be used as the arm spacing. Alternatively, the distance between the adjustment mechanisms of the two robotic arms can be used as the arm spacing. Alternatively, a weighted calculation can be performed on the distance between the telecentric mechanisms and the distance between the adjustment mechanisms of the two robotic arms to determine the arm spacing. For example, when calculating the arm spacing 1 described above, the distance between the adjustment mechanisms of robotic arm A and robotic arm B can be used as the arm spacing 1. Other calculations are similar and will not be repeated here.

[0092] The above examples only illustrate some optional methods for determining the arm spacing index, and the present embodiment is not limited thereto. The index can be used to evaluate the arm spacing between the robotic arms. It is understood that the arm spacing index can be used to determine whether the robotic arms of the surgical robot will collide or interfere with each other.

[0093] (2) Joint margin index of the robotic arm. In this embodiment, the robotic arm may include a telecentric mechanism, which includes at least one joint, and the joint margin index may be determined based on the joint margin of each joint in the telecentric mechanism of the robotic arm. The joint margin is the minimum value between the current angle of the joint and the angle corresponding to the limit position, and may also be understood as the angle margin of the joint from its nearest limit position to indicate the angle space in which the joint can still rotate. Similarly, the joint margin index may include, but is not limited to, the sum, weighted average, average, minimum, etc. of the joint margins of each robotic arm.

[0094] The above examples are merely examples of optional methods for determining the joint margin index, and the present embodiment is not limited thereto. It is sufficient that the index can evaluate the joint margin of the joints in the robotic arm. It is understood that the joint margin index can be used to determine whether the robotic arms in the surgical robot have insufficient travel, etc.

[0095] (3) Flexibility of the end operating area of ​​the manipulator. In this embodiment, the flexibility of the end operating area of ​​the manipulator is used to evaluate the flexibility of the end of the manipulator in moving in space. Optionally, the flexibility of the end operating area of ​​the manipulator can be determined based on the speed of each joint in the manipulator and the speed of the end of the manipulator. For example, the greater the difference between the speed of each joint in the manipulator and the speed of the end of the manipulator, the worse the flexibility of the end operating area of ​​the manipulator.

[0096] (4) Collaborative work index of the robotic arm. In this embodiment, the flexibility of the end operating area of ​​the robotic arm is used to evaluate the collaborative work space of the robotic arm. The collaborative work space is the overlapping area between the work spaces corresponding to the robotic arms when multiple robotic arms work together. Taking abdominal surgery as an example, the field of view of the endoscope at the end of the endoscope arm and the range of movement of the instrument at the end of the robotic arm can be determined, and the intersection of the field of view of the endoscope and the range of movement of the instrument can be used as the collaborative work space, so as to determine the collaborative work index based on the collaborative work space. The larger the coverage of the collaborative work space, the better the collaborative work index.

[0097] (5) Environmental indicators of the surgical robot. In this embodiment, the environmental indicators of the surgical robot are used to evaluate the environmental conditions of the surgical robot. Environmental indicators can also be understood as environmental factors that can affect the movement of the surgical mechanism. They can be determined based on the spatial layout of the operating room (such as the distance between the walls, doors, etc. and the surgical robot), the patient's posture changes, the height of the operating table, or the relative position relationship between other equipment and the surgical robot. This embodiment is not limited to these.

[0098] Continuing with the above example, f1(θ) can represent the arm spacing index of the robotic arm, f2(θ) can represent the joint margin index of the robotic arm, f3(θ) can represent the flexibility of the end operation area of ​​the robotic arm, f4(θ) can represent the collaborative operation index of the robotic arm, and f5(θ) can represent the environmental index of the surgical robot.

[0099] It is understandable that the above examples only illustrate some optional methods of space performance indicators, and this embodiment is not limited thereto.

[0100] Furthermore, the control module 201 can determine the target configuration of the surgical mechanism based on the initial configuration and the objective function of the surgical mechanism. The control module 201 can determine the target configuration of the surgical mechanism based on the initial configuration and the objective function of the surgical mechanism under the triggering of the user, or it can automatically determine the target configuration of the surgical mechanism based on the initial configuration and the objective function of the surgical mechanism. For example, when the current spatial performance indicators of the surgical robot do not meet the preset conditions, the target configuration of the surgical mechanism can be determined based on the initial configuration and the objective function of the surgical mechanism. This embodiment is not limited to this. The preset conditions are used to determine whether the current spatial performance of the surgical robot meets the requirements, and the preset conditions can be set according to actual needs.

[0101] Optionally, the control module 201 may perform single-objective decision-making or multi-objective decision-making based on the initial configuration of the surgical mechanism and the objective function to obtain the target configuration of the surgical mechanism. Single-objective decision-making may include, but is not limited to, dynamic programming. Multi-objective decision-making may include, but is not limited to, goal programming or Pareto optimality.

[0102] Further optionally, after determining the target configuration of the surgical mechanism, the control module 201 can control the autonomous movement of the surgical mechanism according to the target configuration of the surgical mechanism to adjust the current spatial performance of the surgical robot, that is, adjust the current spatial performance of the surgical robot.

[0103] In one embodiment, the control module 201 can control the autonomous movement of the surgical mechanism according to the target configuration of the surgical mechanism while keeping the distal end point of the robotic arm unchanged.

[0104] Optionally, the control module 201 can determine the target angle of a target joint in the surgical mechanism based on the target configuration of the surgical mechanism. Furthermore, while maintaining the distal end point position unchanged, the control module 201 can control the autonomous movement of the surgical mechanism based on the target angle and current angle of the target joint in the surgical mechanism, thereby adjusting the current spatial performance of the surgical robot. The target joint may include an active joint in the surgical mechanism. Further optionally, the target joint may include at least one of a rotational joint, an adjustment mechanism, and a redirection mechanism of at least one robotic arm.

[0105] Continuing with the above example, the target joints may include joints J0 through J8. After the control module 201 determines the target configuration of the surgical mechanism, it also determines the target angles of joints J0 through J8. Furthermore, based on the target angles and current angles of joints J0 through J8, the autonomous movement of the surgical mechanism can be controlled.

[0106] Optionally, the control module 201 can perform motion planning based on the target angle and the current angle of the target joint in the surgical mechanism while keeping the position of the distal end's center of rotation unchanged, obtain a motion sequence, and control the autonomous motion of the surgical mechanism according to the motion sequence. Among them, the motion planning can include, but is not limited to, grid search method, free space method, and quadtree method.

[0107] The motion sequence can indicate the motion trajectory of the target joint in the surgical mechanism. Taking the target joint including joint J0 as an example, the motion sequence can include the desired angle of joint J0 at time 1, the desired angle 2 at time 2, the desired angle 3 at time 3, …… the desired angle t at time t. t is an integer greater than or equal to 1. Furthermore, the control module 201 can, according to the motion sequence, give the drive signal corresponding to joint J0 at each moment, so that the actual angle of joint J0 at each moment meets the desired angle in the motion sequence. The same applies to other target joints, and so on, so that the autonomous motion of the surgical mechanism can be controlled, thereby adjusting the current spatial performance of the surgical robot.

[0108] The position of the distal end's center of rotation is the pose of the center of rotation of the robotic arm. Optionally, the position of the distal end's center of rotation can be the pose calculated by the control module 201 in real time. For example, the control module 201 can obtain the current angles of each joint in the robotic arm and perform forward kinematic solution according to the current angles of each joint in the robotic arm to determine the position of the distal end's center of rotation. The position of the distal end's center of rotation can also be the pose obtained by the control module 201 from other devices. For example, the position of the distal end's center of rotation can be the pose obtained by the control module 201 through a sensor. This embodiment does not make any restrictions.

[0109] During the surgical process, the distal end of the robotic arm is used to connect the surgical tool. For example, in abdominal surgery, the distal end of the instrument arm is used to connect the surgical instrument, and the distal end of the scope arm is used to connect the endoscope. Taking a surgical scenario as an example, after the instrument arm is connected to the trocar (which can also be called a cannula), the surgical instrument is arranged at the distal end of the instrument arm and extends into the patient's body through the trocar. The center of rotation of the instrument arm is the contact point between the trocar and the patient's body surface. The same applies to the scope arm, which will not be elaborated here. Therefore, in order to reduce the impact on the patient during the surgical process and improve the stability and accuracy of control, it is necessary to keep the center of rotation of the robotic arm stationary during the control of the robotic arm, that is, to keep the position of the distal end's center of rotation unchanged.

[0110] Further optionally, for a robotic arm with a total of p degrees of freedom, if it is necessary to keep the position of its distal end's center of rotation unchanged, a total of q (q < p, q ≤ 6) constraints are required, so that there are m = p - q redundant degrees of freedom available for adjustment. In this way, under the constraint of given q poses, the m degrees of freedom can be redundantly adjusted to determine the target configuration according to the initial configuration and the objective function of the surgical mechanism.

[0111] Figure 8 A schematic diagram of adjusting spatial performance according to an embodiment is shown in FIG. Figure 8 As shown, when the spatial performance of a surgical robot needs to be adjusted, the initial configuration of the surgical mechanism is first determined. Modeling and solving are then performed based on the initial configuration and the objective function. The process of determining the target configuration is considered a decision optimization problem, whereby single-objective or multi-objective decision-making is performed to optimize and solve the target configuration of the surgical mechanism. Finally, motion planning and execution can be performed based on the target configuration. For example, an executable, collision-free trajectory can be planned from the initial configuration to the target configuration, either offline or online. Joint control is then performed at the driver level, thereby adjusting the current spatial performance of the surgical robot.

[0112] In the above-described surgical robot system, since the objective function is determined based on the surgical robot's target spatial performance index and the weights corresponding to the target spatial performance indexes, the target configuration of the surgical mechanism can be made to meet the expectations of the target spatial performance index based on the initial configuration of the surgical mechanism and the objective function, thereby determining a target configuration with better spatial performance indexes. Furthermore, the weights corresponding to the target spatial performance indexes can flexibly adjust the configuration requirements of the surgical mechanism, allowing the target configuration to adapt to different application scenarios. Furthermore, since the surgical mechanism includes multiple robotic arms, controlling the autonomous movement of the surgical mechanism based on its target configuration can more efficiently and accurately adjust the current spatial performance of the surgical robot, reducing issues such as robotic arm collisions and insufficient robotic arm travel that degrade the surgical robot's spatial performance during surgery, thereby improving the spatial performance of the surgical robot.

[0113] The following will unfold the process of single-objective decision-making. Figure 9 FIG. 1 is a schematic diagram of a structure of a control module in an embodiment, such as Figure 9 As shown, the control module 201 includes a first determining unit 2011 and a second determining unit 2012 .

[0114] The first determining unit 2011 is configured to determine a weight corresponding to a target space performance indicator.

[0115] In this embodiment, the first determining unit 2011 may receive the weight corresponding to the target space performance indicator sent by other devices, or may receive the weight corresponding to the target space performance indicator specified by the user, and this embodiment does not impose any restrictions. For example, taking the above-mentioned objective function argmax f(θ) as an example, the user may specify ω1, ω2, ..., ω k The value of .

[0116] The second determining unit 2012 is configured to determine an objective function according to the weight corresponding to the target space performance index and the target space performance index of the surgical robot.

[0117] In this embodiment, after the weights corresponding to the target space performance indicators are determined, the second determination unit 2012 can determine the objective function because the weights correspond to the target space performance indicators. Furthermore, the control module 201 can perform a single-objective decision based on the initial configuration of the surgical mechanism and the objective function to determine the target configuration of the surgical mechanism and control the autonomous movement of the surgical mechanism based on the target configuration of the surgical mechanism.

[0118] In the above embodiment, since the weight corresponding to the target space performance indicator can be determined, and the objective function can be determined based on the weight corresponding to the target space performance indicator and the target space performance indicator of the surgical robot, the objective function can be flexibly adjusted through the weight corresponding to the target space performance indicator, that is, the configuration requirements for the surgical mechanism can be adjusted so that the target configuration can adapt to different application scenarios.

[0119] In an exemplary embodiment, optionally, the first determining unit 2011 is configured to determine the weight corresponding to the target space performance indicator by at least one of the following:

[0120] (1) According to the current spatial performance index and fuzzy model of the surgical robot, the weight corresponding to the target spatial performance index is determined.

[0121] In this embodiment, the first determination unit 2011 can determine the current spatial performance index of the surgical robot. For example, the first determination unit 2011 can periodically determine the current spatial performance index of the surgical robot. The first determination unit 2011 can calculate the current spatial performance index of the surgical robot or receive the current spatial performance index of the surgical robot from other devices.

[0122] The current spatial performance index is also the current spatial performance index of the surgical robot. The current spatial performance index can characterize the current spatial performance of the surgical robot. The spatial performance index can refer to the above embodiment and will not be described here. For example, the first determination unit 2011 can determine the minimum arm spacing between the robotic arms of the current surgical robot and use the minimum arm spacing as the current spatial performance index.

[0123] A fuzzy model is a model determined based on fuzzy reasoning methods. Optionally, the fuzzy model can be determined based on expert knowledge. Expert knowledge includes, but is not limited to, clinical experience. For example, based on expert knowledge, requirements for various spatial performance indicators can be summarized based on surgical procedure, surgical stage, and the distance from the distal point to the lesion area, and the importance of each indicator can be determined to obtain a fuzzy model.

[0124] The fuzzy model has the ability to determine the weight corresponding to the target spatial performance indicator based on the current spatial performance indicator. Thus, the first determination unit 2011 can determine the weight corresponding to the target spatial performance indicator based on the surgical robot's current spatial performance indicator and the fuzzy model. For example, the first determination unit 2011 can input the surgical robot's current spatial performance indicator into the fuzzy model, and the fuzzy model will output the weight corresponding to the target spatial performance indicator.

[0125] In one embodiment, a fuzzy rule base may be determined according to expert knowledge, and a fuzzy relationship matrix may be determined based on the fuzzy rules in the fuzzy rule base. The fuzzy relationship matrix may be defuzzified to generate a fuzzy model.

[0126] The fuzzy rule base may include a plurality of fuzzy rules determined based on expert knowledge, and the fuzzy rules include a correspondence between spatial performance indicators and weights. Optionally, the fuzzy rule may be that when the first spatial performance indicator is in the corresponding first range, the weight corresponding to the second spatial performance indicator is in the second range. The first spatial performance indicators may be the same, different, or partially the same. For example, when the arm spacing indicator is small and the joint margin indicator is large, a larger weight may be assigned to the arm spacing indicator; when the arm spacing indicator is large and the joint margin indicator is small, a smaller weight may be assigned to the arm spacing indicator.

[0127] Optionally, the fuzzy rule base may be aggregated based on a maximum-minimum synthesis method to obtain a fuzzy relationship matrix. Further, optionally, the fuzzy relationship matrix may be defuzzified based on a centroid method to generate a fuzzy model.

[0128] Figure 10 FIG. 1 is a schematic diagram of a fuzzy reasoning process in one embodiment, as shown in FIG. Figure 10 As shown in the figure, the fuzzy rule base is a rule base determined based on expert knowledge. After the current spatial performance indicator is input into the fuzzy model, the fuzzy model can fuzzify the current spatial performance indicator. Fuzzy reasoning is then performed based on the fuzzy rule base, and the weight corresponding to the target spatial performance indicator is obtained after defuzzification. Fuzzification is the process of deriving the membership of a fuzzy set from a specific input based on a membership function. Fuzzy reasoning is the method of deriving fuzzy conclusions from the membership of fuzzy rules and inputs to the relevant fuzzy sets. Defuzzification is the process of converting fuzzy conclusions into specific and accurate outputs.

[0129] For example, in the initial configuration of a surgical robot, the minimum spacing is 35mm, and the range of motion of the end operating area is 20mm. Clinical experience indicates that the spacing indicator is moderate for this procedure and stage, while the range of motion is insufficient. Therefore, it is known that the range of motion indicator requires a greater weight, and the weight of each indicator is calculated using fuzzy reasoning. In this way, by using fuzzy mathematics to quantitatively describe it, establishing reasonable fuzzy rules, and using fuzzy decision-making to determine the weights of multiple optimization objectives, the multi-objective optimization problem can be simplified to a single-objective optimization problem, thereby optimizing the solution of the problem.

[0130] (2) Determine the weight corresponding to the target space performance indicator based on user input.

[0131] In this embodiment, the first determining unit 2011 may also receive user input, wherein the user input may be any interactive method such as voice, text, touch, etc. Then, the first determining unit 2011 may determine the weight corresponding to the target space performance indicator according to the user input.

[0132] Optionally, the first determining unit 2011 may directly input the user input into the output model, and the output model determines the weight corresponding to the target space performance indicator. The output model may include but is not limited to a machine learning model.

[0133] Optionally, the first determining unit 2011 may also determine the space requirement corresponding to the user input, and determine the weight corresponding to the target space performance indicator based on the space requirement corresponding to the user input. The first determining unit 2011 may identify the user input to obtain the corresponding space requirement, but this embodiment is not limited thereto.

[0134] Further optionally, the first determining unit 2011 may perform decision reasoning based on the space requirement corresponding to the user input to obtain a weight corresponding to the target space performance indicator. For example, the first determining unit 2011 may input the space requirement into a state machine to determine the weight corresponding to the target space performance indicator.

[0135] Figure 11 FIG. 1 is a schematic diagram of a decision reasoning in an embodiment, such as Figure 11As shown, user input can be provided through any interactive method to determine the surgical robot's spatial requirements. This interactive method can be implemented through an electronic interactive panel, voice assistant, or other means, providing the user with options. For example, the user can input whether the range of motion of a surgical manipulator arm is restricted by environmental obstacles, which arm's surgical instruments require more operating space, or whether the entire workspace is required to be moved. Furthermore, after determining the spatial requirements corresponding to the user input, the relative importance of various spatial indicators can be determined through decision-making reasoning methods such as state machines.

[0136] (3) Determine the weights corresponding to the target space performance indicators based on the historical information of the surgical institution.

[0137] In this embodiment, historical information is used to indicate the historical usage of the surgical mechanism. The historical information includes but is not limited to the historical collision conditions of the robotic arm in the surgical mechanism, historical joint limit conditions, historical spatial performance indicators, etc. This embodiment does not limit this.

[0138] Furthermore, the first determining unit 2011 may determine the weight corresponding to the target space performance indicator according to the historical information of the surgical institution.

[0139] Optionally, the first determining unit 2011 may perform decision reasoning based on historical information of the surgical mechanism to obtain a weight corresponding to the target space performance indicator. For example, the first determining unit 2011 may input historical information into a state machine to determine the weight corresponding to the target space performance indicator.

[0140] Optionally, the first determination unit 2011 may also collect statistics on historical information of the surgical mechanism to determine spatial event statistics, and determine weights corresponding to the target spatial performance indicators based on the spatial event statistics. The spatial event statistics are used to count spatial events that have occurred in the surgical mechanism in the past, such as collision events, joint limit events, and so on.

[0141] In some embodiments, the first determining unit 2011 may optionally determine a weight corresponding to the target space performance indicator based on at least one of the surgical procedure and the surgical stage, as well as historical information about the surgical institution. For example, the weight corresponding to the target space performance indicator may be obtained by performing decision reasoning based on at least one of the surgical procedure and the surgical stage, as well as historical information about the surgical institution.

[0142] Figure 12 FIG. 1 is a schematic diagram of another decision reasoning in an embodiment, such as Figure 12As shown, spatial event statistics can be determined based on the surgical mechanism's historical information. Decision reasoning based on this spatial event statistics can then be used to determine the weights corresponding to the target spatial performance indicators. For example, if arm A has repeatedly contacted the telecentric mechanism's joint limits over a period of time, then the corresponding joint margin indicator for arm A should be larger. If the telecentric mechanisms of arms C and D have collided multiple times over a period of time, then more space is needed between arms C and D, and the weight corresponding to the arm spacing indicator should be larger.

[0143] Figure 13 is a schematic diagram of a single-objective decision in one embodiment, such as Figure 13 As shown in the figure, in single-objective decision-making, after fuzzy reasoning or decision reasoning based on the initial configuration, the weight corresponding to the target space performance index can be determined, and then the objective function can be determined. The single-objective optimization solution can be performed based on the initial configuration and the objective function to obtain the target configuration. Finally, motion planning and execution can be performed based on the target configuration to control the autonomous movement of the surgical mechanism.

[0144] In the above embodiment, since the weight corresponding to the target space performance indicator can be determined according to at least one of the above methods, the weight corresponding to the target space performance indicator can be flexibly and accurately determined according to different information.

[0145] The above introduces the process of single-objective decision-making, and the following will introduce the process of multi-objective decision-making. Figure 14 FIG. 1 is a structural diagram of another control module in an embodiment, Figure 14 As shown, the control module 201 may further include a third determining unit 2013 and a fourth determining unit 2014 .

[0146] The third determining unit 2013 is configured to determine the relative importance relationship between the weights corresponding to the target space performance indicators.

[0147] In this embodiment, the third determining unit 2013 may receive the relative importance relationship sent by other devices, or may receive the relative importance relationship specified by the user, which is not limited in this embodiment.

[0148] The relative importance relationship between the weights corresponding to the target space performance indicators refers to the relative importance relationship between the weights corresponding to at least two target space performance indicators.

[0149] The fourth determining unit 2014 is configured to determine the target configuration of the surgical mechanism according to the relative importance relationship, the initial configuration, and the target function.

[0150] In this embodiment, the fourth determining unit 2014 can optionally utilize a genetic algorithm to perform multi-objective decision making based on the relative importance relationship, the initial configuration, and the objective function to obtain the target configuration. Genetic algorithms include, but are not limited to, the second-generation Non-dominated Sorting Genetic Algorithm-II (NSGA-II).

[0151] For example, taking two target space performance indicators as an example, any two different target space performance indicators are denoted as f i With f j , the corresponding relatively important relationships are as follows. (1)f i than f j Important, the relative importance relationship is recorded as f i Pf j (2)f j than f θ Important, the relative importance relationship is recorded as f j Pf i (3)f i With f j Equally important, denoted as f i If j ;(4)f i With f j Cannot be compared, denoted as f i Qf j .

[0152] Figure 15 A schematic diagram of the range of the objective function of an embodiment is shown in FIG. Figure 15 As shown, usually only the first three relative importances are considered. The two-dimensional space of the normalized objective function range can be divided into three regions. In the multi-decision process, a corresponding solution (individual) can be found in this two-dimensional space as the target configuration. Assuming that the slopes of L1 and L2 are 1.73 and 0.58 respectively when the two-dimensional space is evenly divided, the two-dimensional space of the objective function range can be divided into f by L1 and L2. j Pf i Area, f i If j Area and f i Pf j Area, if f i =f j =0.5, which is the ratio f j / f i =1, then it falls into f i If j area; if f i =0.8, f j =0.4, which is the ratio f j / fi If the slope is less than the straight line L2, it falls into f i Pf j area.

[0153] In this way, different relative importance relationships correspond to different areas in the two-dimensional space. By setting relative importance relationships, the solution set that satisfies the relative importance relationships can be selected first in the multi-objective decision-making process. For example, if the user feels that f i than f j is important, then in the process of multi-objective decision-making, f i Pf j The individuals in the region are sorted earlier, so that the determined target configuration satisfies f i Pf j If the user feels that f i With f j are equally important, then in the process of multi-objective decision-making, f i If j The individuals in the region are sorted earlier, so that the determined target configuration satisfies f i If j Furthermore, after determining the relative importance relationship, the configuration that satisfies the relative importance relationship can be determined to obtain the target configuration.

[0154] In the above embodiment, since the relative importance relationship between the weights corresponding to the target spatial performance indicators can be determined, and the target configuration of the surgical mechanism can be determined based on the relative importance relationship, the initial configuration and the objective function, in some application scenarios, the user can only provide the relative importance relationship to determine the target configuration that meets the relative importance relationship, so that the final spatial performance of the surgical robot meets expectations.

[0155] Figure 16 A schematic diagram of a multi-objective decision-making, such as Figure 16 As shown, multi-objective decision making can be performed based on the initial configuration and the relative importance relationship to obtain the target configuration. Then, motion planning and execution based on the target configuration can control the autonomous movement of the surgical mechanism.

[0156] In an exemplary embodiment, the control module 201 is further used to determine a first candidate configuration of the surgical mechanism based on the initial configuration and the objective function; determine a second candidate configuration from the first candidate configuration in response to a selection operation for the first candidate configuration of the surgical mechanism; and determine a target configuration based on the second candidate configuration and the objective function.

[0157] In this embodiment, when determining a target configuration, the control module 201 first determines a first candidate configuration for the surgical mechanism based on the initial configuration and the objective function. Alternatively, the control module 201 may utilize a genetic algorithm to perform a multi-objective decision based on the initial configuration and the objective function to determine the first candidate configuration. The number of first candidate configurations may be multiple.

[0158] Furthermore, the user can select from the first candidate configurations of the surgical mechanism to initiate a selection operation. Optionally, the control module 201 can display each first candidate configuration in the interactive interface. For example, a model, image, or animation of the surgical mechanism in the first candidate configuration can be displayed in the interactive interface to visualize the first candidate configuration. In one embodiment, the control module 201 can also display the current spatial performance indicators of each first candidate configuration in the interactive interface.

[0159] The user can then perform a selection operation on the first candidate configuration of the surgical mechanism, thereby selecting a second candidate configuration from the first candidate configuration. In response to this selection operation, the control module 201 can determine the second candidate configuration from the first candidate configuration. The number of second candidate configurations can be one or more, and this embodiment does not impose any limitation.

[0160] Furthermore, the control module 201 can determine the target configuration based on the second candidate configuration and the objective function. Optionally, the control module 201 can use a genetic algorithm to perform multi-objective decision-making based on the second candidate configuration and the objective function to obtain the target configuration.

[0161] Optionally, the computer device may use the second candidate configuration as the initial configuration and return to the step of determining the first candidate configuration of the surgical mechanism based on the initial configuration and the objective function. If a stopping condition is satisfied, the computer device then determines the target configuration based on the first candidate configuration at the time the stopping condition is satisfied. The stopping condition may be when the number of iterations reaches a preset number, or other stopping conditions, and this embodiment is not limited thereto. In this way, the decision maker's preferences for candidate solutions can be incorporated into the iterative evolution process, allowing the evolutionary direction of the swarm to be altered based on the user's choices, ensuring that the final result meets the decision maker's expectations.

[0162] For example, the control module 201 determines a first candidate configuration for the surgical mechanism based on the current initial configuration of the surgical robot and the objective function. The first candidate configuration includes candidate configuration A, candidate configuration B, and candidate configuration C. Assuming that the user believes that candidate configuration B better meets their needs, the user initiates a selection operation and selects candidate configuration C from candidate configuration A, candidate configuration B, and candidate configuration C as the second candidate configuration.

[0163] Furthermore, the control module 201 can use candidate configuration C as the initial configuration and continue to return to the process of determining the first candidate configuration of the surgical mechanism based on the initial configuration and the objective function to update the first candidate configuration. In this case, the first candidate configuration determined by the control module 201 based on candidate configuration C and the objective function may include candidate configuration D, candidate configuration E, and candidate configuration F. Assuming that the user believes that candidate configuration D better meets the requirements, the user can continue to initiate a selection operation and select candidate configuration D from candidate configuration D, candidate configuration E, and candidate configuration F as the second candidate configuration.

[0164] Afterwards, the control module 201 may use candidate configuration D as the initial configuration and return to the process of determining the first candidate configuration of the surgical mechanism based on the initial configuration and the objective function to update the first candidate configuration. In this case, the first candidate configuration determined by the control module 201 based on candidate configuration D and the objective function may include candidate configuration G and candidate configuration H.

[0165] If the stopping condition is met at this time, the control module 201 can determine the target configuration based on the candidate configurations G and H when the stopping condition is met. Alternatively, the control module 201 can determine the target configuration from the first candidate configuration when the stopping condition is met in response to a user selection operation. For example, if the user selects candidate configuration G, candidate configuration E is selected as the target configuration. Alternatively, the control module 201 can also automatically determine the target configuration from the candidate configurations when the stopping condition is met. For example, the control module 201 can directly select candidate configuration H as the target configuration.

[0166] In the above embodiment, since the first candidate configuration of the surgical mechanism can be determined based on the initial configuration and the objective function, and the second candidate configuration can be determined from the first candidate configuration in response to the selection operation for the first candidate configuration of the surgical mechanism, the final target configuration is determined based on the second candidate configuration selected by the user and the objective function, so that the target configuration meets the user's expectations.

[0167] In an exemplary embodiment, the control module 201 is further configured to determine a plurality of intermediate configurations of the surgical mechanism according to the initial configuration of the surgical mechanism and the objective function; and determine a target configuration according to each intermediate configuration.

[0168] In this embodiment, when a target configuration is required, the control module 201 can determine multiple intermediate configurations of the surgical mechanism based on the initial configuration of the surgical mechanism and the objective function. An intermediate configuration is a configuration of the surgical mechanism that the control module 201 determines based on the initial configuration to satisfy or approximate the objective function. For example, the control module 201 can perform single-objective or multi-objective decision-making based on the initial configuration of the surgical mechanism and the objective function to obtain multiple intermediate configurations of the surgical mechanism.

[0169] Furthermore, the control module 201 can determine the target configuration based on the multiple intermediate configurations of the surgical mechanism. Optionally, the control module 201 can determine the target configuration from the intermediate configurations in response to a selection operation for each intermediate configuration. For example, the control module 201 can display the intermediate configurations in an interactive interface so that the user can initiate a selection operation. Optionally, the control module 201 can also determine the current spatial performance index corresponding to each intermediate configuration, and determine the target configuration from the intermediate configurations based on the current spatial performance index corresponding to each intermediate configuration. For example, the control module 201 can determine the target configuration from the intermediate configurations whose current spatial performance index meets a preset condition.

[0170] Optionally, the control module may determine a first candidate configuration of the surgical mechanism based on the initial configuration and the objective function, and in response to a selection operation on the first candidate configuration of the surgical mechanism, determine a second candidate configuration from the first candidate configuration, and then use the second candidate configuration as the initial configuration, and return to the step of determining the first candidate configuration of the surgical mechanism based on the initial configuration and the objective function, and when a stop condition is met, determine multiple intermediate configurations based on the first candidate configuration when the stop condition is met, and determine the target configuration based on the intermediate configurations.

[0171] For example, the control module 201 determines a first candidate configuration for the surgical mechanism based on the current initial configuration of the surgical robot and the objective function. The first candidate configuration includes candidate configuration A, candidate configuration B, and candidate configuration C. Assuming that the user believes that candidate configuration B better meets their needs, the user initiates a selection operation and selects candidate configuration C from candidate configuration A, candidate configuration B, and candidate configuration C as the second candidate configuration.

[0172] Furthermore, the control module 201 may use candidate configuration C as the initial configuration and continue to return to the process of determining the first candidate configuration of the surgical mechanism based on the initial configuration and the objective function to update the first candidate configuration. In this case, the first candidate configuration determined by the control module 201 based on candidate configuration C and the objective function may include candidate configuration D, candidate configuration E, and candidate configuration F. If the stopping condition is met at this time, the control module 201 may use candidate configuration D, candidate configuration E, and candidate configuration F when the stopping condition is met as intermediate configurations and determine the target configuration based on candidate configuration D, candidate configuration E, and candidate configuration F.

[0173] In the above embodiment, since a plurality of intermediate positions of the surgical mechanism are first determined based on the initial position of the surgical mechanism and the objective function, and then the target position is determined based on each intermediate position, the target position is obtained based on the intermediate positions, thereby further improving the reliability of the target position.

[0174] Figure 17FIG. 1 is an application environment diagram of a control method for a surgical robot in one embodiment. Figure 17 As shown, the surgical robot 100 is capable of communicating with a computer device 1702. The surgical robot 100 is used to perform surgery on a patient on an operating table 1701. The surgical robot 100 includes at least one robotic arm, and each robotic arm includes multiple joints. Taking abdominal surgery as an example, the robotic arm can be divided into a scope-holding arm and a tool-holding arm according to the actual operation purpose. The scope-holding arm is used to connect an endoscope, and the tool-holding arm is used to connect surgical instruments. In other words, in abdominal surgery, the surgical robot 100 can include at least one tool-holding arm and one scope-holding arm.

[0175] like Figure 17 As shown, the computer device 1702 can be independently installed outside the surgical robot 100, including but not limited to various personal computers, laptops, smart phones, tablet computers, and portable wearable devices. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. In some embodiments, the computer device 1702 can also be implemented as an independent server or a server cluster consisting of multiple servers.

[0176] In some embodiments, the computer device 1702 may also be disposed inside the surgical robot 100. For example, the computer device 1702 may also be a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA) or other programmable logic devices.

[0177] Please continue to refer to Figure 17 In some embodiments, the computer device 1702 may include a console 1702a and a visual system 1702b. Medical personnel may control the surgical robot 100 to perform surgery by operating the console 1702a. The visual system 1702b is used to provide feedback on images during the surgery.

[0178] Figure 18 FIG. 1 is a flow chart of a control method for a surgical robot in one embodiment. Figure 18 As shown, based on the same inventive concept, in an exemplary embodiment, a control method for a surgical robot is provided, in which the method is applied to Figure 17 The computer device in is used as an example for description, including the following S1801 to S1802.

[0179] S1801: Determine the target configuration of the surgical mechanism based on the initial configuration of the surgical mechanism and the objective function.

[0180] S1802, controlling the autonomous movement of the surgical mechanism according to the target configuration of the surgical mechanism to adjust the current spatial performance of the surgical robot; the objective function is determined based on the target spatial performance index of the surgical robot and the weight corresponding to the target spatial performance index; the surgical robot includes a surgical mechanism, and the surgical mechanism includes multiple robotic arms.

[0181] In the above-mentioned control method for a surgical robot, since the objective function is determined based on the surgical robot's target spatial performance index and the weights corresponding to the target spatial performance index, the target configuration of the surgical mechanism can be made to meet the expectations of the target spatial performance index based on the initial configuration of the surgical mechanism and the objective function, thereby determining a target configuration with better spatial performance index. Furthermore, the weights corresponding to the target spatial performance index can flexibly adjust the configuration requirements for the surgical mechanism, allowing the target configuration to adapt to different application scenarios. Furthermore, since the surgical mechanism includes multiple robotic arms, controlling the autonomous movement of the surgical mechanism based on its target configuration can more efficiently and accurately adjust the current spatial performance of the surgical robot, reducing problems such as robotic arm collisions and insufficient robotic arm travel that can degrade the surgical robot's spatial performance during surgery, thereby improving the spatial performance of the surgical robot.

[0182] Optionally, the above-mentioned control method of the surgical robot further includes the following steps:

[0183] Determine the weights corresponding to the target space performance indicators;

[0184] The objective function is determined according to the weight corresponding to the target space performance index and the target space performance index of the surgical robot.

[0185] Optionally, the above-mentioned “determining a weight corresponding to the target space performance indicator” may include at least one of the following:

[0186] Determine the weight corresponding to the target spatial performance index based on the current spatial performance index of the surgical robot and the fuzzy model;

[0187] Determine the weight corresponding to the target space performance indicator based on user input;

[0188] Based on the historical information of the surgical institution, the weights corresponding to the target space performance indicators are determined.

[0189] Optionally, the above S1801 may include the following steps:

[0190] Determine the relative importance of the weights corresponding to the target space performance indicators;

[0191] The target configuration of the surgical mechanism is determined based on the relative importance relationship, the initial configuration and the objective function.

[0192] Optionally, the above S1801 may include the following steps:

[0193] determining a first candidate configuration of the surgical mechanism according to the initial configuration and the objective function;

[0194] In response to a selection operation on a first candidate configuration of the surgical mechanism, determining a second candidate configuration from the first candidate configurations;

[0195] A target configuration is determined based on the second candidate configuration and the target function.

[0196] Optionally, the above S1801 may include the following steps:

[0197] determining a plurality of intermediate configurations of the surgical mechanism according to the initial configuration of the surgical mechanism and the objective function;

[0198] The target configuration is determined based on the intermediate configurations.

[0199] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0200] The solution to the problem provided by this method is similar to the solution described in the above-mentioned surgical robot system. Therefore, the specific limitations in the embodiment of the control method of the surgical robot can be found in the above-mentioned limitations on the surgical robot system and will not be repeated here.

[0201] In summary, this application proposes a spatial performance decision method for a high-spatial-performance robotic arm. By utilizing expert knowledge, user input, or historical information analysis, the movement of redundant robotic arms can be made more in line with expectations. Different weights can be assigned in different application scenarios and applied to the modeling and solution of optimization problems, thereby focusing on solving spatial performance problems and improving the clinical adaptability and intelligence of surgical systems.

[0202] Figure 19 This is an internal structure diagram of a computer device in an embodiment. In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 19 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for a surgical robot is implemented.

[0203] Those skilled in the art will understand that Figure 19 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0204] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0205] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0206] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0207] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a programmable logic unit (PLC), a data processing logic unit based on quantum computing, an artificial intelligence (AI) processor, and the like.

[0208] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0209] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A surgical robot system, characterized in that: include: A surgical mechanism, including multiple robotic arms; A control module is used to determine the target configuration of the surgical mechanism based on the initial configuration of the surgical mechanism and an objective function, and to control the autonomous movement of the surgical mechanism according to the target configuration of the surgical mechanism to adjust the current spatial performance of the surgical robot; the objective function is determined based on the target spatial performance index of the surgical robot and the weight corresponding to the target spatial performance index.

2. The system according to claim 1, characterized in that The control module comprises: A first determining unit, used to determine a weight corresponding to the target space performance indicator; The second determination unit is used to determine the objective function according to the weight corresponding to the target space performance indicator and the target space performance indicator of the surgical robot.

3. The system according to claim 2, characterized in that The first determining unit is configured to determine a weight corresponding to the target space performance indicator by at least one of the following: Determining a weight corresponding to the target spatial performance index according to the current spatial performance index of the surgical robot and the fuzzy model; Determine the weight corresponding to the target space performance indicator according to the user input; The weight corresponding to the target space performance indicator is determined according to the historical information of the surgical mechanism.

4. The system according to claim 1, characterized in that The control module comprises: A third determining unit, used to determine the relative importance relationship between the weights corresponding to the target space performance indicators; A fourth determining unit is used to determine a target configuration of the surgical mechanism according to the relative importance relationship, the initial configuration and the target function.

5. The system according to claim 1, characterized in that The control module is also used for: Determining a first candidate configuration of the surgical mechanism according to the initial configuration and the objective function; In response to a selection operation on a first candidate configuration of the surgical mechanism, determining a second candidate configuration from the first candidate configuration; The target configuration is determined according to the second candidate configuration and the target function.

6. The system according to any one of claims 1 to 5, characterized in that: The control module is also used for: Determining a plurality of intermediate configurations of the surgical mechanism according to the initial configuration of the surgical mechanism and the objective function; The target configuration is determined according to each of the intermediate configurations.

7. A method for controlling a surgical robot, characterized in that: The method comprises: Determining a target configuration of the surgical mechanism according to an initial configuration of the surgical mechanism and an objective function; The autonomous movement of the surgical mechanism is controlled according to the target configuration of the surgical mechanism to adjust the current spatial performance of the surgical robot; the objective function is determined according to the target spatial performance index of the surgical robot and the weight corresponding to the target spatial performance index; the surgical robot includes the surgical mechanism, and the surgical mechanism includes multiple robotic arms.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to claim 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 7 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to claim 7 are implemented.

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