Surgical robot operation teaching system and readable storage medium

Abstract

The present invention provides a surgical robot operation teaching system and a readable storage medium, the teaching system comprising a first information acquisition module, a second information acquisition module and a control module; the first information acquisition module is configured to acquire first operation information of a training doctor at a main control console and transmit it to the control module; the second information acquisition module is configured to acquire second operation information of a trainee doctor at a secondary control console and transmit it to the control module; the control module is configured to obtain constraint information according to the first operation information and the second operation information, and constrain the operation of the trainee doctor according to the constraint information. The present invention can realize "hands-on" teaching in clinical surgery, not only can trainee doctors be trained in real surgical scenes to effectively improve the training effect of trainee doctors, but also can effectively reduce the cost of doctor training.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a surgical robot operation teaching system and a readable storage medium. Background Art

[0002] The design concept of the surgical robot is to use minimally invasive methods to accurately perform complex surgical operations. The surgical robot breaks through the limitations of the human eye and can present the patient's internal organs more clearly to the operator by using stereoscopic imaging technology. In areas that were previously inaccessible, the surgical robot's mechanical arm can complete 360-degree rotation, movement, swing, clamping and other operations, and can avoid shaking. The surgical robot has the advantages of small incisions, less bleeding, and fast recovery, which greatly shortens the patient's postoperative hospitalization time, and significantly improves the postoperative survival rate and recovery rate.

[0003] The surgical scenarios faced by surgical robots are becoming more and more complex, and a variety of surgical instruments have emerged. The doctor's operation during the operation directly determines the quality of the operation, so doctors need to undergo corresponding surgical operation training to improve the accuracy of the operation.

[0004] In the prior art, training is mainly performed by the following methods:

[0005] 1. Doctors are trained based on simulators that simulate surgical scenes. This training method has the problem that the surgical scenes that can be simulated by the simulator are limited, and there are certain differences between the surgical scenes simulated by the simulator and the clinical surgical scenes.

[0006] 2. Using human tissue-mimicking silicone to train doctors in surgical operations, this training method has the problem that human tissue-mimicking silicone is difficult to simulate the actual abdominal cavity environment.

[0007] 3. Using surgical robot animal experiments to train doctors has the problem of high animal experiment costs.

[0008] It should be noted that the information disclosed in the background technology section of the invention is only intended to deepen the understanding of the general background technology of the invention, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0009] The purpose of the present invention is to provide a surgical robot operation teaching system and a readable storage medium, which can realize "hands-on" teaching during clinical surgery. It can not only enable trainees to be trained in real surgical scenarios to effectively improve the training effect of trainees, but also effectively reduce the cost of doctor training.

[0010] To achieve the above-mentioned objectives, the present invention provides a surgical robot operation teaching system, comprising a first information acquisition module, a second information acquisition module and a control module, wherein the first information acquisition module and the second information acquisition module are both communicatively connected to the control module; the first information acquisition module is configured to acquire first operation information of a training doctor at a main control console, and transmit it to the control module; the second information acquisition module is configured to acquire second operation information of a trainee doctor at a sub-control console, and transmit it to the control module; the control module is configured to obtain constraint information based on the first operation information and the second operation information, and constrain the operation of the trainee doctor based on the constraint information.

[0011] Optionally, the control module is configured to: obtain first Cartesian posture information of the main console according to the first operation information; obtain second Cartesian posture information of the sub-console according to the second operation information; and obtain the constraint force information according to the first Cartesian posture information and the second Cartesian posture information.

[0012] Optionally, the control module is configured to: obtain third Cartesian pose information of the slave end according to the first Cartesian pose information and a first master-slave mapping relationship between the master console and the slave end; obtain fourth Cartesian pose information according to the third Cartesian pose information and a second master-slave mapping relationship between the sub-console and the slave end; and obtain constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information.

[0013] Optionally, the control module is configured to: obtain actual position information of the sub-console according to the second Cartesian posture information; obtain command position information of the sub-console according to the fourth Cartesian posture information; obtain first constraint force information according to the actual position information and command position information of the sub-console and pre-acquired preset spring coefficient and preset damping coefficient; obtain first joint torque information of each position joint of the main control arm of the sub-console according to the first constraint force information; control each position joint of the main control arm of the sub-console to perform corresponding movement according to the first joint torque information, so as to constrain the instrument position operation of the trainee doctor.

[0014] Optionally, the control module is configured to: obtain actual posture information of the sub-console according to the second Cartesian posture information; obtain command posture information of the sub-console according to the fourth Cartesian posture information; obtain second constraint force information according to the actual posture information and command posture information of the sub-console and pre-acquired preset spring coefficient and preset damping coefficient; obtain second joint torque information of each posture joint of the main control arm of the sub-console according to the second constraint force information; control each posture joint of the main control arm of the sub-console to perform corresponding movements according to the second joint torque information, so as to constrain the instrument posture operation of the trainee doctor.

[0015] Optionally, the control module is configured to: obtain third constraint force information according to the second Cartesian posture information, the fourth Cartesian posture information, and a pre-acquired preset spring coefficient and a preset damping coefficient; obtain third joint torque information of each position joint and posture joint of the main control arm of the sub-console according to the third constraint force information; and control each position joint and posture joint of the main control arm of the sub-console to perform corresponding movements according to the third joint torque information so as to constrain the instrument posture operation of the trainee doctor.

[0016] Optionally, when the doctor in training is a surgical operator, the control module is further configured to:

[0017] Acquiring first virtual device posture information according to the second Cartesian posture information; and

[0018] A first virtual instrument image is generated according to the first virtual instrument posture information, and transmitted to the auxiliary console for display.

[0019] Optionally, when the doctor in training is a surgical operator, the control module is further configured to: obtain second virtual instrument posture information according to the first Cartesian posture information; and generate a second virtual instrument image according to the second virtual instrument posture information, and transmit it to the sub-console for display.

[0020] To achieve the above object, the present invention further provides a readable storage medium, wherein the readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0021] Acquire first operation information of the training doctor at the main console and second operation information of the trainee doctor at the secondary console;

[0022] According to the first operation information and the second operation information, constraint information is acquired, and the operation of the doctor under training is constrained according to the constraint information.

[0023] Optionally, acquiring constraint information according to the first operation information and the second operation information includes:

[0024] Acquire first Cartesian posture information of the main console according to the first operation information;

[0025] acquiring second Cartesian position information of the auxiliary console according to the second operation information;

[0026] The constraint force information is acquired according to the first Cartesian pose information and the second Cartesian pose information.

[0027] Optionally, acquiring the constraint force information according to the first Cartesian pose information and the second Cartesian pose information includes:

[0028] Acquire third Cartesian pose information of the slave end according to the first Cartesian pose information and a first master-slave mapping relationship between the master control console and the slave end;

[0029] Acquire fourth Cartesian posture information according to the third Cartesian posture information and the second master-slave mapping relationship between the sub-console and the slave end; and

[0030] Obtain constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information.

[0031] Optionally, acquiring constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information includes:

[0032] The actual position information of the sub-console is obtained according to the second Cartesian posture information, the command position information of the sub-console is obtained according to the fourth Cartesian posture information, and the first constraint force information is obtained according to the actual position information and the command position information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient.

[0033] Optionally, acquiring constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information includes:

[0034] The actual posture information of the sub-console is obtained according to the second Cartesian posture information, the command posture information of the sub-console is obtained according to the fourth Cartesian posture information, and the second constraint force information is obtained according to the actual posture information and the command posture information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient.

[0035] Optionally, acquiring constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information includes:

[0036] The third restraining force information is acquired according to the second Cartesian posture information, the fourth Cartesian posture information, and the pre-acquired preset spring coefficient and preset damping coefficient.

[0037] Compared with the prior art, the surgical robot operation teaching system and readable storage medium provided by the present invention have the following beneficial effects:

[0038] The surgical robot operation teaching system provided by the present invention collects the first operation information of the training doctor on the main console and the second operation information of the trainee doctor on the auxiliary console, and obtains the constraint information according to the first operation information and the second operation information, and then constrains the operation of the trainee doctor according to the constraint information, so as to realize "hand-in-hand" teaching in clinical surgery, which not only enables the trainee doctor to be trained in a real surgical scene to effectively improve the training effect of the trainee doctor, but also effectively reduces the doctor training cost. In addition, by adopting the surgical robot operation teaching system provided by the present invention, the main surgeon (training doctor) with rich robot operation experience can perform actual surgical operations on the main console, and the operation of the main surgeon (training doctor) can be reproduced on another doctor console (auxiliary console) and when the operation deviates from the reproduced operation, a certain constraint is generated to guide the training doctor to operate along the correct route, so that the trainee doctor can learn the surgical operation on the auxiliary console, thereby shortening the learning curve. In addition, by adopting the surgical robot operation teaching system provided by the present invention, it can also be realized that the trainee doctor performs the main operation, and the training doctor only intervenes, takes over or guides the operation of the trainee doctor at some key nodes or when necessary. At the same time, by adopting the surgical robot operation teaching system provided by the present invention, it is also possible for the trainee doctor to perform the main operation while the training doctor also performs the operation. However, the operation performed by the training doctor only generates a virtual instrument on the screen to guide the trainee doctor's next operation.

[0039] Since the readable storage medium provided by the present invention and the surgical robot operation teaching system provided by the present invention belong to the same inventive concept, the readable storage medium provided by the present invention at least has all the beneficial effects of the surgical robot operation teaching system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the surgical robot operation teaching system provided by the present invention in the above text. Therefore, the beneficial effects of the readable storage medium provided by the present invention will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of a surgical application scenario of a dual-console surgical robot;

[0041] Figure 2 This is a schematic diagram of the structure of the doctor's console;

[0042] Figure 3 is a structural schematic diagram of the main control arm;

[0043] Figure 4a It is a structural schematic diagram of a single-arm surgical platform;

[0044] Figure 4b It is a structural schematic diagram of a multi-arm surgical platform;

[0045] Figure 5 It is a schematic diagram of the structure of an operating table trolley loaded with an endoscope;

[0046] Figure 6 A structural block diagram of a surgical robot operation teaching system provided by one embodiment of the present invention;

[0047] Figure 7 A schematic diagram of the surgical operation position constraint provided by one embodiment of the present invention;

[0048] Figure 8 A schematic diagram of a spring damping system provided in one embodiment of the present invention;

[0049] Fig. 9 A schematic diagram of joint control provided by one embodiment of the present invention;

[0050] Fig.10 A flowchart of a surgical robot operation teaching system provided in one embodiment of the present invention;

[0051] Fig.11 A schematic diagram of a UI operation prompt screen provided by an embodiment of the present invention;

[0052] Fig.12 A schematic diagram of displaying a first virtual instrument image provided by one embodiment of the present invention;

[0053] Fig.13 A flowchart of a surgical robot operation teaching system in a position guidance mode provided by an embodiment of the present invention;

[0054] Fig.14 A schematic diagram of displaying a second virtual instrument image provided by one embodiment of the present invention;

[0055] Fig.15 A flowchart of a surgical robot operation teaching system in a position intervention mode provided by an embodiment of the present invention;

[0056] Fig.16 A flowchart of steps that can be implemented by a readable storage medium provided in one embodiment of the present invention.

[0057] The reference numerals are described as follows:

[0058] First doctor console-100A; second doctor console-100B; main control arm-110; first joint-111; second joint-112; third joint-113; fourth joint-114; fifth joint-115; sixth joint-116; terminal joint-117; display device-120;

[0059] Operating trolley-200; Robotic arm-210; Surgical instruments-220; Endoscope-230;

[0060] Image trolley-300;

[0061] Tool trolley-400;

[0062] Anesthesia machine - 500;

[0063] First information acquisition module-610; second information acquisition module-620; control module-630; storage module-640. DETAILED DESCRIPTION

[0064] The surgical robot operation teaching system and readable storage medium proposed in the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Any modification of the structure, change in the proportional relationship or adjustment of the size, under the condition that the effect that the present invention can produce and the purpose that can be achieved are the same or similar, should still fall within the scope of the technical content disclosed by the present invention.

[0065] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features.

[0066] In addition, in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction. .

[0067] The core idea of ​​the present invention is to provide a surgical robot operation teaching system and a readable storage medium, which can realize "hands-on" teaching in clinical surgery. It can not only effectively reduce the cost of doctor training, but also enable trainees to train in real surgical scenarios, thereby effectively improving the training effect of trainees.

[0068] It should be noted that, as can be understood by those skilled in the art, the surgical robot operation teaching system and readable storage medium provided by the present invention can be applied to a dual-console surgical robot or a surgical robot with more doctor consoles. When applied to a surgical robot with multiple doctor consoles, one of the doctor consoles can be used as the main console, and the remaining doctor consoles can be used as sub-consoles (that is, the number of sub-consoles is more than two), so that at least two trainees can be trained at the same time.

[0069] Taking the dual console surgical robot as an example, please refer to Figure 1 , which is a schematic diagram of the surgical application scenario of the dual-console surgical robot. Figure 1 As shown, the dual-console surgical robot includes a first doctor console 100A, a second doctor console 100B, an operating trolley 200 (slave end), an imaging trolley 300 and a tool trolley 400. The operating trolley 200 has at least one robotic arm 210, a surgical instrument 220 (see Figure 5 ) and endoscope 230 (see Figure 5 ) can be mounted on the robot arm 210 respectively, and the operator (for example, a surgeon) can realize minimally invasive surgical treatment for the patient on the bed by controlling the master control arm 110 on the first doctor console 100A or the second doctor console 100B. Among them, the master control arm 110 and the robot arm 210 and the surgical instrument 220 and the endoscope 230 form a master-slave control relationship. Specifically, the robot arm 210, the surgical instrument 220 and the endoscope 230 move according to the movement of the master control arm 110 during the operation, that is, according to the operation of the operator's hand. Furthermore, the master control arm 110 also receives the force information of the human tissue and organs on the surgical instrument 220 and feeds it back to the operator's hand, so that the operator can feel the surgical operation more intuitively. The first doctor console 100A and the second doctor console 100B both have a display device 120, which is connected to the endoscope 230 mounted on the mechanical arm 210 of the surgical trolley 200, and can receive and display the image collected by the endoscope 230. The operator operates the mechanical arm 210, the surgical instrument 220, and the endoscope 230 through the main control arm 110 according to the image displayed by the display device 120 on the first doctor console 100A or the second doctor console 100B. The endoscope 230 and the surgical instrument 220 enter the patient's position through the wound on the patient's body respectively. It should be noted that, as can be understood by those skilled in the art, one of the first doctor console 100A and the second doctor console 100B can be used as the main console, and the other of the first doctor console 100A and the second doctor console 100B can be used as the secondary console.

[0070] Please continue to refer to Figure 1 In some surgical scenarios, the surgical robot also includes auxiliary components such as a ventilator and an anesthesia machine 500 for use in the surgery. Those skilled in the art can select and configure these auxiliary components according to the prior art, which will not be described in detail here.

[0071] Please continue to refer to Figure 2 , which is a schematic diagram of the structure of the doctor's console. Figure 2 As shown, the doctor console (the first doctor console 100A, the second doctor console 100B) includes two movable main control arms 110. The main control arms 110 have multiple degrees of freedom and can be used as surgical operation input devices.

[0072] Please continue to refer to Figure 3 , which is a schematic diagram of the structure of the main control arm 110. Figure 3 As shown, the master control arm 110 includes a first joint 111, a second joint 112, a third joint 113, a fourth joint 114, a fifth joint 115, a sixth joint 116 and a terminal joint 117 which are connected in sequence, wherein the first joint 111, the second joint 112 and the third joint 113 are position joints, the fourth joint 114 is a redundant follow-up joint, and the fifth joint 115, the sixth joint 116 and the terminal joint 117 are attitude joints. The first joint 111, the second joint 112 and the third joint 113 and other position joints reflect the position change of the terminal of the master control arm 110, and the axes of the fifth joint 115, the sixth joint 116 and the terminal joint 117 intersect at one point, which is the position Cartesian end point. The movement of the fifth joint 115, the sixth joint 116 and the terminal joint 117 will not affect the change of the terminal position of the master control arm 110 (i.e., the position Cartesian end point), but will only affect the change of the terminal attitude of the master control arm 110. The first joint 111, the second joint 112, the third joint 113, the fourth joint 114, the fifth joint 115, the sixth joint 116 and the terminal joint 117 are all equipped with a driving device (motor), a position sensor, a speed sensor, etc. to drive each joint to move.

[0073] Please continue to refer to Figure 4a and Figure 4b ,in, Figure 4a It is a structural schematic diagram of a single-arm surgical platform; Figure 4b FIG. 2 is a schematic diagram of the structure of a multi-arm surgical platform. The surgical trolley 200 of the present invention may be composed of multiple Figure 4a The single-arm surgical platform shown in FIG. Figure 4b The multi-arm surgical platform shown in the figure integrates a plurality of robotic arms 210. Each robotic arm 210 of the surgical trolley 200 can carry different types of surgical instruments 220 or endoscopes 230 to respond to operation signals from the main console.

[0074] Please continue to refer to Figure 5 , which is a schematic diagram of the structure of the surgical trolley 200 loaded with an endoscope 230. Figure 5 As shown, the endoscope 230 can be loaded on one of the mechanical arms 210 on the surgical trolley 200, and the mechanical arm 210 has multiple degrees of freedom for controlling the movement of the endoscope 230. The endoscope 230 is mainly used to collect surgical images (scene images in the patient's body, including human tissues and organs, surgical instruments 220, etc.) and transmit them to the display device 120 in the doctor's console for display. In addition, the surgical trolley 200 also has other mechanical arms 210 for controlling the movement of the surgical instruments 220.

[0075] Please continue to refer to Figure 6 , which is a structural block diagram of a surgical robot operation teaching system provided by an embodiment of the present invention. Figure 6 As shown, the surgical robot operation teaching system provided by the present invention includes a first information acquisition module 610, a second information acquisition module 620 and a control module 630, and the first information acquisition module 610 and the second information acquisition module 620 are both communicatively connected to the control module 630; the first information acquisition module 610 is configured to acquire first operation information of the training doctor at the main console, and transmit it to the control module 630; the second information acquisition module 620 is configured to acquire second operation information of the trainee doctor at the sub-console, and transmit it to the control module 630; the control module 630 is configured to obtain constraint information according to the first operation information and the second operation information, and constrain the operation of the trainee doctor according to the constraint information.

[0076] The surgical robot operation teaching system provided by the present invention collects the first operation information of the training doctor on the main console and the second operation information of the trainee doctor on the auxiliary console, and obtains the constraint information according to the first operation information and the second operation information, and then constrains the operation of the trainee doctor according to the constraint information, so as to realize "hand-in-hand" teaching in clinical surgery, which not only enables the trainee doctor to be trained in a real surgical scene to effectively improve the training effect of the trainee doctor, but also effectively reduces the doctor training cost. In addition, by adopting the surgical robot operation teaching system provided by the present invention, the main surgeon (training doctor) with rich robot operation experience can perform actual surgical operations on the main console, and the operation of the main surgeon (training doctor) can be reproduced on another doctor console (auxiliary console) and when the operation deviates from the reproduced operation, a certain constraint is generated to guide the training doctor to operate along the correct route, so that the trainee doctor can learn the surgical operation on the auxiliary console, thereby shortening the learning curve. In addition, by adopting the surgical robot operation teaching system provided by the present invention, it can also be realized that the trainee doctor performs the main operation, and the training doctor only intervenes, takes over or guides the operation of the trainee doctor at some key nodes or when necessary. At the same time, by adopting the surgical robot operation teaching system provided by the present invention, it is also possible for the trainee doctor to perform the main operation while the training doctor also performs the operation. However, the operation performed by the training doctor only generates a virtual instrument on the screen to guide the trainee doctor's next operation.

[0077] Specifically, the first operation information includes the position information and / or speed information of each joint of the master control arm 110 of the main console. The first information acquisition module 610 may include a position sensor and / or a speed sensor deployed on each joint of the master control arm 110 of the main console. The second operation information includes the position information and / or speed information of each joint of the master control arm 110 of the auxiliary console. The second information acquisition module 620 may include a position sensor and / or a speed sensor deployed on each joint of the master control arm 110 of the auxiliary console. It should be noted that, as can be understood by those skilled in the art, the configurations of the master control arms 110 of the main console and the auxiliary console may be the same or different.

[0078] In some exemplary embodiments, the control module 630 is configured to:

[0079] Acquire first Cartesian posture information of the main console according to the first operation information;

[0080] According to the second operation information, second Cartesian posture information of the sub-console is obtained; and according to the first Cartesian posture information and the second Cartesian posture information, the restraint force information is obtained.

[0081] Therefore, by obtaining the first Cartesian posture information of the main console according to the first operation information, obtaining the second Cartesian posture information of the sub-console according to the second operation information, and obtaining the constraint force information according to the first Cartesian posture information and the second Cartesian posture information, the movement of the main control arm 110 of the sub-console can be constrained according to the constraint force of the Cartesian space, which is more helpful to achieve the effect of "hands-on" teaching in clinical surgery.

[0082] Specifically, the first Cartesian posture information of the main console can be obtained according to the following formula (1):

[0083]

[0084] Among them, X McartFir is the Cartesian pose (first Cartesian pose) of the end of the master control arm 110 of the master control console, is the transformation function of the master control arm 110 of the main control console, which is determined by the parameters such as the rod length of the master control arm 110 of the main control console, θ jointFir The actual angles (actual positions) of the joints of the master control arm 110 of the master console.

[0085] Similarly, the second Cartesian posture information of the secondary console can be obtained according to the following formula (2):

[0086]

[0087] Among them, X McartSec is the Cartesian pose (second Cartesian pose) of the end of the master control arm 110 of the secondary control console, is the transformation function of the main control arm 110 of the auxiliary console, which is determined by the parameters such as the rod length of the main control arm 110 of the auxiliary console, θ jointSec is the actual angle (actual position) of each joint of the master control arm 110 of the sub-console.

[0088] In some exemplary embodiments, the control module 630 is configured to:

[0089] Acquire third Cartesian pose information of the slave end according to the first Cartesian pose information and a first master-slave mapping relationship between the master control console and the slave end;

[0090] Acquire fourth Cartesian posture information according to the third Cartesian posture information and the second master-slave mapping relationship between the sub-console and the slave end; and

[0091] Obtain constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information.

[0092] Therefore, by first acquiring the third Cartesian posture information of the slave end according to the first Cartesian posture information and the first master-slave mapping relationship between the main console and the slave end, and then acquiring the fourth Cartesian posture information according to the third Cartesian posture information and the second master-slave mapping relationship between the sub-console and the slave end, and finally acquiring the constraint force information according to the second Cartesian posture information and the fourth Cartesian posture information, the master control arm 110 of the sub-console can move along the operation trajectory (target operation trajectory) of the master control arm 110 of the main console based on the constraint force, thereby effectively achieving the effect of "hands-on" teaching in clinical surgery.

[0093] Specifically, the third Cartesian pose information of the slave terminal can be obtained according to the following formula (3):

[0094] X Scart =k1·X McartFir (3)

[0095] Among them, X Scart is the Cartesian pose of the end of the robot arm 210 at the slave end (ie, the third Cartesian pose), and k1 is the mapping ratio between the master control console and the slave end (operating trolley 200).

[0096] Furthermore, the fourth Cartesian pose information can be obtained according to the following formula (4):

[0097] X' McartSec =1 / k2·X Scart (4)

[0098] Among them, X' McartSec is the fourth Cartesian pose (the command pose of the end of the master control arm 110 of the slave console), and k2 is the mapping ratio between the slave console and the slave end (the surgical trolley 200).

[0099] In some exemplary embodiments, the control module 630 is configured to: obtain actual position information of the sub-console according to the second Cartesian posture information, obtain command position information of the sub-console according to the fourth Cartesian posture information, and obtain first constraint force information based on the actual position information and command position information of the sub-console and pre-acquired preset spring coefficient and preset damping coefficient.

[0100] Therefore, by acquiring the actual position information of the sub-console according to the second Cartesian posture information, acquiring the command position information of the sub-console according to the fourth Cartesian posture information, and acquiring the first constraint force information according to the actual position information and the command position information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient, the purpose of instrument position control for the trained doctor's training operation can be achieved based on the first constraint force, thereby helping the trained doctor to improve his proficiency in instrument position control.

[0101] Specifically, the expression of Cartesian posture is shown in the following formula (5):

[0102]

[0103] Among them, T represents the Cartesian pose, R represents the attitude representation in Cartesian space, and X represents the position representation in Cartesian space.

[0104] Therefore, according to the above formula (5), the command position of the sub-console can be separated from the fourth Cartesian posture, and the actual position of the sub-console can be separated from the second Cartesian posture.

[0105] Please continue to refer to Figure 7 , which is a schematic diagram of the surgical operation position constraint principle provided by one embodiment of the present invention. Figure 7 As shown, the Cartesian space command position X of the sub-console is calculated based on the first Cartesian pose of the main console. t After that, by commanding position X t Differentiation can be used to calculate the command speed in Cartesian space of the sub-console Based on the second Cartesian pose of the sub-console, the actual position X in the Cartesian space of the sub-console is separated s Then, by using the actual position X s Differentiation can be used to calculate the actual velocity of the sub-console in Cartesian space According to the command position X t With the actual position X s The difference between the command speed V t With actual speed V s The difference between the two simulates the spring-damper system (such as Figure 8 As shown, which is a schematic diagram of a spring damping system provided in one embodiment of the present invention, a force F1 (first restraining force) is generated, which can restrain the main control arm 110 of the auxiliary console from moving along the operating trajectory (expected operating trajectory) of the main control arm 110 of the main console.

[0106] Furthermore, the first restraining force F1 can be calculated according to the following formula (6):

[0107]

[0108] Among them, k t is the preset spring coefficient, k d is the preset damping coefficient.

[0109] It should be noted that, as those skilled in the art can understand, the present invention does not limit the specific values ​​of the preset spring coefficient and the preset damping coefficient. The specific values ​​of the preset spring coefficient and the preset damping coefficient can be calibrated according to actual training needs.

[0110] In some exemplary embodiments, the control module 630 is configured to obtain first joint torque information of each position joint of the main control arm 110 of the sub-console according to the first constraint force information, and control each position joint of the main control arm 110 of the sub-console to perform corresponding movements according to the first joint torque information to constrain the instrument position operation of the trainee doctor.

[0111] Therefore, by acquiring the first joint torque information of each position joint of the main control arm 110 of the sub-console according to the first constraint force information, the constraint force in the Cartesian space can be converted into the torque in the joint space, so that it is more convenient to control the various position joints of the main control arm 110 of the sub-console to perform corresponding movements, so that the main control arm 110 of the sub-console can move along the position trajectory of the main control arm 110 of the main console, thereby realizing the training of the position operation of the instrument for the trainee doctor.

[0112] It should be noted that, as can be understood by those skilled in the art, the control module 630 can send corresponding control signals to the driving devices (such as motors) on the various position joints of the main control arm 110 of the sub-master console based on the first joint torque information, so as to control the various position joints of the main control arm 110 of the sub-master console to perform corresponding movements.

[0113] Specifically, the first joint moment ι can be calculated according to the following formula (7): 1joint :

[0114] ι 1joint =J T F1 (7)

[0115] Among them, J T is the transpose of the Jacobian matrix of the master control arm 110 of the slave console.

[0116] Please continue to refer to Fig. 9 , which is a schematic diagram of joint control provided by one embodiment of the present invention. Fig. 9As shown, a PID controller can be used to control the joint position. Specifically, the command position (refPos) is subtracted from the feedback position (FdbPos) and then given to each module of the PID controller (proportional Kp, integral Ki, differential Kd) to generate a control signal for driving the joint motor, thereby driving the joint to reach the command position.

[0117] In some exemplary embodiments, the control module 630 is configured to: obtain actual posture information of the sub-console according to the second Cartesian posture information, obtain command posture information of the sub-console according to the fourth Cartesian posture information, and obtain second constraint force information based on the actual posture information and command posture information of the sub-console and pre-acquired preset spring coefficient and preset damping coefficient.

[0118] Therefore, by obtaining the actual posture information of the sub-console according to the second Cartesian posture information, obtaining the command posture information of the sub-console according to the fourth Cartesian posture information, and obtaining the second constraint force information according to the actual posture information and the command posture information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient, the purpose of instrument posture control for the trained doctor to operate can be achieved based on the second constraint force, thereby helping the trained doctor to improve his proficiency in instrument posture control.

[0119] Specifically, the command posture R of the sub-console can be separated from the fourth Cartesian posture according to the above formula (5): t , separate the actual posture R of the sub-console from the second Cartesian posture s .

[0120] Furthermore, the second restraining force F2 can be calculated according to the following formula (8):

[0121]

[0122] In some exemplary embodiments, the control module 630 is configured to obtain second joint torque information of each posture joint of the main control arm 110 of the sub-console according to the second constraint force information, and control each posture joint of the main control arm 110 of the sub-console to perform corresponding movements according to the second joint torque information to constrain the instrument posture operation of the trainee doctor.

[0123] Therefore, by acquiring the second joint torque information of each posture joint of the main control arm 110 of the sub-console according to the second constraint force information, the constraint force in the Cartesian space can be converted into the torque in the joint space, so that it is more convenient to control the various posture joints (including position joints and posture joints) of the main control arm 110 of the sub-console to perform corresponding movements, so that the main control arm 110 of the sub-console can move along the posture trajectory of the main control arm 110 of the main console, thereby realizing the training of instrument posture operation for the trainee doctor.

[0124] It should be noted that, as can be understood by those skilled in the art, the control module 630 can send corresponding control signals to the driving devices (such as motors) on the various posture joints of the main control arm 110 of the sub-master console based on the second joint torque information, so as to control the various posture joints of the main control arm 110 of the sub-master console to perform corresponding movements.

[0125] Specifically, the second joint moment ι can be calculated according to the following formula (9): 2joint :

[0126] ι 2joint =J T F2 (9)

[0127] Among them, J T is the transpose of the Jacobian matrix of the master control arm 110 of the slave console.

[0128] In some exemplary embodiments, the control module 630 is configured to obtain third restraint force information according to the second Cartesian posture information, the fourth Cartesian posture information, and a pre-acquired preset spring coefficient and a preset damping coefficient.

[0129] Therefore, by obtaining the third constraint force information based on the second Cartesian posture information, the fourth Cartesian posture information and the pre-acquired preset spring coefficient and preset damping coefficient, the trainee doctor can be trained to control the instrument posture (position + posture) based on the third constraint force, thereby helping the trainee doctor to improve his proficiency in instrument posture control (that is, controlling the entire main control arm 110).

[0130] Specifically, the third restraining force F3 can be calculated according to the following formula (10):

[0131]

[0132] In some exemplary embodiments, the control module 630 is configured to obtain third joint torque information of each position joint and posture joint of the main control arm 110 of the sub-console according to the third constraint force information, and control each position joint and posture joint of the main control arm 110 of the sub-console to perform corresponding movements according to the third joint torque information to constrain the instrument posture operation of the trainee doctor.

[0133] Therefore, by acquiring the third joint torque information of each position joint and posture joint of the main control arm 110 of the sub-console according to the third constraint force information, the constraint force in the Cartesian space can be converted into the torque in the joint space, so that it is more convenient to control the various joints (including position joints and posture joints) of the main control arm 110 of the sub-console to perform corresponding movements, so that the main control arm 110 of the sub-console can move along the posture trajectory of the main control arm 110 of the main console, thereby realizing the training of instrument posture operation for the trainee doctor.

[0134] It should be noted that, as can be understood by those skilled in the art, the control module 630 can send corresponding control signals to the driving devices (such as motors) on the various joints (including position joints and posture joints) of the main control arm 110 of the sub-master console based on the third joint torque information, so as to control the various joints (including position joints and posture joints) of the main control arm 110 of the sub-master console to perform corresponding movements.

[0135] Further, the third joint moment ι can be calculated according to the following formula (11): 3joint :

[0136] ι 3joint =J T F3 (11)

[0137] Among them, J T is the transpose of the Jacobian matrix of the master control arm 110 of the slave console.

[0138] Please continue to refer to Fig.10 , which is a workflow diagram of a surgical robot operation teaching system provided by one embodiment of the present invention. Fig.10As shown, the surgical robot operation teaching system provided by the present invention includes two teaching modes: a guiding mode and an interventional mode. In the guiding mode, in clinical surgery, the operator who performs the actual operation (i.e., the surgical operator) is a training doctor, that is, the main control console is a control end having a master-slave control relationship with the slave end (surgical trolley 200), that is, the robotic arm 210 (including the terminal instrument) of the slave end (surgical trolley 200) can move following the movement of the main control arm 110 of the main control console; in the interventional mode, in clinical surgery, the operator who performs the actual operation (i.e., the surgical operator) is a trainee doctor, that is, the sub-console is a control end having a master-slave control relationship with the slave end (surgical trolley 200), that is, the robotic arm 210 (including the terminal instrument) of the slave end (surgical trolley 200) can move following the movement of the main control arm 110 of the sub-console.

[0139] In some exemplary embodiments, the control module 630 is further configured to provide prompt information of the current teaching mode. Fig.11 , which is a schematic diagram of a UI operation prompt screen provided by an embodiment of the present invention. Fig.11 As shown, the prompt information of the currently executed teaching mode can be displayed on the UI interactive interface, for example, Fig.11 The figure shows the boot mode.

[0140] Please continue to refer to Fig.10 ,like Fig.10 As shown, in the guidance mode, since the robot arm 210 of the slave end (surgical trolley 200) moves following the movement of the control arm of the master console, the third Cartesian pose X of the slave end calculated based on the first Cartesian pose of the master console can be calculated according to the correlation function of the robot arm 210 of the slave end (surgical trolley 200). Scart (That is, in the guidance mode, the third Cartesian pose X of the slave end is calculated based on the first Cartesian pose of the master console Scart The kinematic inverse solution is calculated to obtain the joint command angle information of the robot arm 210 of the slave end (the operating table 200). Specifically, the joint command angle information of the robot arm 210 of the slave end (the operating table 200) can be obtained according to the following formula (12):

[0141] θ Scmdjoint =invKine(X Scart ) (12)

[0142] Among them, θ Scmdjointis the command angle (command position) of each joint of the robot arm 210 of the slave end (surgical trolley 200), and invKine is the inverse kinematic solution function of the slave end (surgical trolley 200), which is determined by the configuration, rod length and other parameters of the robot arm 210 of the slave end (surgical trolley 200).

[0143] It should be noted that, as can be understood by those skilled in the art, the control module 630 can send corresponding control signals to the driving devices (such as motors) on the various joints of the robotic arm 210 of the slave end (surgical trolley 200) according to the joint command angle information, so as to control the various joints of the robotic arm 210 of the slave end (surgical trolley 200) to perform corresponding movements.

[0144] In some exemplary embodiments, when the doctor-in-training is a surgical operator, the control module 630 is further configured to:

[0145] Acquiring first virtual device posture information according to the second Cartesian posture information;

[0146] A first virtual instrument image is generated according to the first virtual instrument posture information, and transmitted to the auxiliary console for display.

[0147] Thus, in the guidance mode (i.e., when the doctor is trained as a surgical operator), the first virtual instrument posture information is obtained according to the second Cartesian posture information; and the first virtual instrument image is generated according to the first virtual instrument posture information, and transmitted to the sub-console for display (such as Fig.12 As shown in FIG. 1 , which is a schematic diagram of displaying a first virtual instrument image provided by an embodiment of the present invention, the trained doctor can intuitively observe the deviation between the instrument posture (virtual instrument posture) operated by the trained doctor and the instrument posture (actual instrument posture) operated by the trained doctor. Fig.12 As shown, the first virtual instrument image is displayed synchronously with the surgical image (actual instrument posture) collected from the end (surgical trolley 200).

[0148] Please continue to refer to Fig.10 ,like Fig.10 As shown, the guidance modes of the surgical robot operation teaching system provided by the present invention include whole arm guidance (position guidance), position guidance and posture guidance. Therefore, the corresponding guidance mode can be selected for training according to the actual operation experience of the trainee doctor, which can help to further shorten the learning curve of the trainee doctor.

[0149] Please continue to refer to Fig.13 , which is a workflow diagram of a surgical robot operation teaching system in position guidance mode provided by one embodiment of the present invention. Fig.13As shown, in the position guidance mode, the main control console (training doctor) will first collect information, including the position, speed and other information of the main control arm 110. This information is used to calculate the Cartesian posture (i.e., the first Cartesian posture) of the main control console. The specific calculation formula is shown in formula (1) above. After obtaining the Cartesian posture (i.e., the first Cartesian posture) of the main control console, after a certain mapping process (e.g., the command scaling process shown in formula (3)), the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200) can be obtained. After obtaining the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200), after a certain mapping process (e.g., the command scaling process shown in formula (4)), the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the secondary control console (training doctor) can be obtained. After obtaining the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (doctor in training), it is necessary to perform position instruction separation on the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (doctor in training) to obtain the command position of the main control arm 110 of the sub-console (doctor in training). At the same time, it is also necessary to collect information such as the position and speed of the sub-console (doctor in training) to calculate the Cartesian posture (i.e., the second Cartesian posture) of the main control arm 110 of the sub-console, and perform position separation to obtain the actual position of the main control arm 110 of the sub-console (doctor in training). Then, the first constraint force (first guiding force) is calculated according to the command position and actual position of the main control arm 110 of the sub-console.

[0150] Similarly, in the posture guidance mode, the main control console (training doctor) will first be collected for information, including the position, speed and other information of the main control arm 110, and this information is used to calculate the Cartesian posture of the main control console (i.e., the first Cartesian posture). After obtaining the Cartesian posture of the main control console (i.e., the first Cartesian posture), after a certain mapping process, the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200) can be obtained. After obtaining the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200), after a certain mapping process, the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-control console (training doctor) can be obtained. After obtaining the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (doctor in training), it is necessary to perform posture instruction separation on the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (doctor in training) to obtain the instruction posture of the main control arm 110 of the sub-console (doctor in training). At the same time, it is also necessary to collect information such as the position and speed of the sub-console (doctor in training) to calculate the Cartesian posture (i.e., the second Cartesian posture) of the main control arm 110 of the sub-console, and perform posture separation to obtain the actual posture of the main control arm 110 of the sub-console (doctor in training). Then, the second constraint force (second guiding force) is calculated according to the instruction posture and actual posture of the main control arm 110 of the sub-console.

[0151] In the whole arm guidance mode, the main control console (training doctor) will first be collected for information, including the position, speed and other information of the main control arm 110, which is used to calculate the Cartesian posture (i.e., the first Cartesian posture) of the main control console. After obtaining the Cartesian posture (i.e., the first Cartesian posture) of the main control console, after a certain mapping process, the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200) can be obtained. After obtaining the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200), after a certain mapping process, the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-control console (trained doctor) can be obtained. At the same time, it is also necessary to collect the position, speed and other information of the sub-control console (trained doctor) for calculating the Cartesian posture (i.e., the second Cartesian posture) of the main control arm 110 of the sub-control console. Then, the third restraining force (third guiding force) is calculated according to the command posture (the fourth Cartesian posture) and the actual posture (ie, the second Cartesian posture) of the main control arm 110 of the auxiliary control console.

[0152] Please continue to refer to Fig.10 ,like Fig.10As shown, in the intervention mode, since the robot arm 210 of the slave end (surgical trolley 200) moves following the movement of the master control arm 110 of the sub-console, the command Cartesian pose of the robot arm 210 of the slave end (surgical trolley 200) needs to be calculated based on the second Cartesian pose of the master control arm 110 of the sub-console. Specifically, the command Cartesian pose X' of the robot arm 210 of the slave end (surgical trolley 200) can be calculated according to the following formula (13): Scart :

[0153] X' Scart =k2·X McartSec (13)

[0154] Among them, X McartSec is the second Cartesian position of the master control arm 110 of the slave console, and k2 is the mapping ratio between the slave console and the slave end (the surgical trolley 200).

[0155] Further, the command Cartesian pose X′ of the slave end calculated based on the second Cartesian pose of the sub-console can be calculated according to the correlation function of the robot arm 210 of the slave end (operating trolley 200). Scart Perform kinematic inverse calculation to obtain the joint command angle information of the robot arm 210 of the slave end (surgical trolley 200). Specifically, the joint command angle information of the robot arm 210 of the slave end (surgical trolley 200) can be obtained according to the following formula (14):

[0156] θ' Scmdjoint =invKine(X' Scart ) (14)

[0157] Among them, θ' Scmdjoint is the command angle (command position) of each joint of the robot arm 210 of the slave end (surgical trolley 200), and invKine is the inverse kinematic solution function of the slave end (surgical trolley 200), which is determined by the configuration, rod length and other parameters of the robot arm 210 of the slave end (surgical trolley 200).

[0158] In some exemplary embodiments, when the trained doctor is a surgical operator, the control module 630 is further configured to:

[0159] Acquire second virtual device posture information according to the first Cartesian posture information;

[0160] A second virtual instrument image is generated according to the second virtual instrument posture information and transmitted to the secondary console for display.

[0161] Thus, in the intervention mode (i.e., when the trained doctor is the surgical operator), the second virtual instrument posture information is obtained according to the first Cartesian posture information; and the second virtual instrument image is generated according to the second virtual instrument posture information, and transmitted to the sub-console for display (such as Fig.14 As shown in FIG. 1 , which is a schematic diagram of displaying a second virtual instrument image provided by an embodiment of the present invention, the trained doctor can intuitively observe the deviation between the instrument posture operated by the trained doctor (the actual instrument posture) and the instrument posture operated by the trained doctor (the virtual instrument posture). Fig.14 As shown, the second virtual instrument image will be displayed synchronously with the surgical image (actual instrument posture) collected from the end (surgical trolley 200).

[0162] Please continue to refer to Fig.10 ,like Fig.10 As shown, the intervention modes of the surgical robot operation teaching system provided by the present invention include whole-arm intervention (position intervention), position intervention and posture intervention. Therefore, the corresponding intervention content can be selected for training according to the actual operation experience of the trainee doctors, which can help to further shorten the learning curve of the trainee doctors.

[0163] Please continue to refer to Fig.15 , which is a workflow diagram of a surgical robot operation teaching system in position intervention mode provided by one embodiment of the present invention. Fig.15As shown, in the position intervention mode, the main control console (training doctor) will first collect information, including the position, speed and other information of the main control arm 110. This information is used to calculate the Cartesian posture (i.e., the first Cartesian posture) of the main control console. The specific calculation formula is shown in formula (1) above. After obtaining the Cartesian posture (i.e., the first Cartesian posture) of the main control console, after a certain mapping process (e.g., the command scaling process shown in formula (3)), the third Cartesian posture of the mechanical arm 210 of the slave end (surgical trolley 200) can be obtained. After obtaining the Cartesian posture (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (surgical trolley 200), after a certain mapping process (e.g., the scaling process shown in formula (4)), the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the secondary control console (training doctor) can be obtained. After obtaining the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (trainee), it is necessary to perform position instruction separation on the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (trainee) to obtain the command position of the main control arm 110 of the sub-console (trainee). At the same time, it is also necessary to collect information such as the position and speed of the sub-console (trainee) to calculate the Cartesian posture (i.e., the second Cartesian posture) of the main control arm 110 of the sub-console, and perform position separation to obtain the actual position of the main control arm 110 of the sub-console (trainee). Then, the first constraint force (first intervention force) is calculated according to the command position and actual position of the main control arm 110 of the sub-console. After obtaining the Cartesian pose (i.e., the second Cartesian pose) of the master control arm 110 of the slave console, it is necessary to undergo a certain mapping process (e.g., the command scaling process shown in formula (13)) to obtain the command Cartesian pose of the robot arm 210 of the slave end (surgical trolley 200), and further calculate the command Cartesian pose X' of the slave end based on the second Cartesian pose of the slave console according to the correlation function of the robot arm 210 of the slave end (surgical trolley 200). Scart The kinematic inverse solution calculation is performed to obtain the joint command angle of the robot arm 210 at the slave end (surgical trolley 200).

[0164] Similarly, in the posture intervention mode, the main control console (training doctor) will first be collected for information, including the position, speed and other information of the main control arm 110, which is used to calculate the Cartesian posture of the main control console (i.e., the first Cartesian posture). After obtaining the Cartesian posture of the main control console (i.e., the first Cartesian posture), after a certain mapping process, the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200) can be obtained. After obtaining the Cartesian posture (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (operating trolley 200), after a certain mapping process, the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-control console (training doctor) can be obtained. After obtaining the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (doctor in training), it is necessary to perform posture instruction separation on the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-console (doctor in training) to obtain the instruction posture of the main control arm 110 of the sub-console (doctor in training). At the same time, it is also necessary to collect information such as the position and speed of the sub-console (doctor in training) to calculate the Cartesian posture (i.e., the second Cartesian posture) of the main control arm 110 of the sub-console, and perform posture separation to obtain the actual posture of the main control arm 110 of the sub-console (doctor in training). Then, the second constraint force (second intervention force) is calculated according to the instruction posture and actual posture of the main control arm 110 of the sub-console. After obtaining the Cartesian pose (i.e., the second Cartesian pose) of the master control arm 110 of the slave console, it is necessary to undergo a certain mapping process (e.g., the command scaling process shown in formula (13)) to obtain the command Cartesian pose of the robot arm 210 of the slave end (surgical trolley 200), and further calculate the command Cartesian pose X' of the slave end based on the second Cartesian pose of the slave console according to the correlation function of the robot arm 210 of the slave end (surgical trolley 200). Scart The kinematic inverse solution calculation is performed to obtain the joint command angle of the robot arm 210 at the slave end (surgical trolley 200).

[0165] In the whole-arm intervention mode, the main control console (training doctor) will first be collected for information, including the position, speed and other information of the main control arm 110, which is used to calculate the Cartesian posture (i.e., the first Cartesian posture) of the main control console. After obtaining the Cartesian posture (i.e., the first Cartesian posture) of the main control console, after a certain mapping process, the Cartesian posture (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (surgical trolley 200) can be obtained. After obtaining the Cartesian posture instruction (i.e., the third Cartesian posture) of the mechanical arm 210 of the slave end (surgical trolley 200), after a certain mapping process, the Cartesian posture instruction (i.e., the fourth Cartesian posture) of the main control arm 110 of the sub-control console (trained doctor) can be obtained. At the same time, it is also necessary to collect the position, speed and other information of the sub-control console (trained doctor) to calculate the Cartesian posture (i.e., the second Cartesian posture) of the main control arm 110 of the sub-control console. Then, the third constraint force (third intervention force) is calculated according to the command posture (fourth Cartesian posture) and actual posture (i.e., second Cartesian posture) of the master control arm 110 of the slave console. After obtaining the Cartesian posture (i.e., second Cartesian posture) of the master control arm 110 of the slave console, it is necessary to undergo certain mapping processing (e.g., command scaling processing as shown in formula (13)) to obtain the command Cartesian posture of the robot arm 210 of the slave end (operating trolley 200), and further calculate the command Cartesian posture X' of the slave end based on the second Cartesian posture of the slave console according to the correlation function of the robot arm 210 of the slave end (operating trolley 200). Scart The kinematic inverse solution calculation is performed to obtain the joint command angle of the robot arm 210 at the slave end (surgical trolley 200).

[0166] Please continue to refer to Figure 6 ,like Figure 6 As shown, in some exemplary embodiments, the surgical robot operation teaching system provided by the present invention further includes a storage module 640, and the storage module 640 is configured to store the first operation information, the second operation information, and the constraint force information. Further, the storage module 640 is also configured to store at least one of the first Cartesian posture information, the second Cartesian posture information, the third Cartesian posture information, the fourth Cartesian posture information, the first master-slave mapping relationship, the second master-slave mapping relationship, the preset spring coefficient, the preset damping coefficient, the first virtual instrument posture information, and the second virtual instrument posture information.

[0167] To realize the above idea, the present invention also provides a readable storage medium, wherein the readable storage medium stores a computer program, please continue to refer to Fig.16 , which is a flow chart of the steps that can be implemented by a readable storage medium provided by an embodiment of the present invention. Fig.16As shown, when the computer program is executed by a processor, the following steps can be implemented:

[0168] Step S100: obtaining first operation information of the training doctor at the main console and second operation information of the trainee doctor at the auxiliary console.

[0169] Step S200: Obtain constraint information according to the first operation information and the second operation information, and constrain the operation of the doctor under training according to the constraint information.

[0170] Thus, the readable storage medium provided by the present invention obtains the first operation information of the training doctor of the main console and the second operation information of the trainee doctor of the sub-console, and obtains the constraint information according to the first operation information and the second operation information, and then constrains the operation of the trainee doctor according to the constraint information, so as to realize "hand-in-hand" teaching in clinical surgery, which not only enables the trainee doctor to be trained in the real surgical scene to effectively improve the training effect of the trainee doctor, but also effectively reduces the doctor training cost. In addition, by adopting the readable storage medium provided by the present invention, the main surgeon (training doctor) with rich experience in robot operation can perform actual surgical operation on the main console, and the operation of the main surgeon (training doctor) can be reproduced on another doctor console (sub-console) and when its operation deviates from the reproduced operation, a certain constraint is generated to guide the training doctor to operate along the correct route, so that the trainee doctor can learn the surgical operation on the sub-console, thereby shortening the learning curve. In addition, by adopting the readable storage medium provided by the present invention, it is also possible to realize that the trainee doctor performs the main operation, and the training doctor only intervenes, takes over or guides the operation of the trainee doctor at some key nodes or when necessary. At the same time, by adopting the readable storage medium provided by the present invention, it is also possible to realize that the trainee doctor performs the main operations while the training doctor also performs the operations. However, the operations performed by the training doctor only generate virtual instruments on the screen to guide the trainee doctor's next operations.

[0171] In some exemplary implementations, acquiring constraint information according to the first operation information and the second operation information includes:

[0172] Acquire first Cartesian posture information of the main console according to the first operation information;

[0173] acquiring second Cartesian posture information of the sub-console according to the second operation information; and

[0174] Obtain constraint force information according to the first Cartesian pose information and the second Cartesian pose information.

[0175] In some exemplary embodiments, acquiring constraint force information according to the first Cartesian pose information and the second Cartesian pose information includes:

[0176] Acquire third Cartesian pose information of the slave end according to the first Cartesian pose information and a first master-slave mapping relationship between the master control console and the slave end;

[0177] Acquire fourth Cartesian posture information according to the third Cartesian posture information and the second master-slave mapping relationship between the sub-console and the slave end; and

[0178] Obtain constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information.

[0179] In some exemplary embodiments, acquiring the constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information includes:

[0180] The actual position information of the sub-console is obtained according to the second Cartesian posture information, the command position information of the sub-console is obtained according to the fourth Cartesian posture information, and the first constraint force information is obtained according to the actual position information and the command position information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient.

[0181] In some exemplary embodiments, constraining the operation of the trained doctor according to the constraint information includes:

[0182] According to the first constraint force information, the first joint torque information of each position joint of the main control arm 110 of the sub-console is obtained, and according to the first joint torque information, the various position joints of the main control arm 110 of the sub-console are controlled to perform corresponding movements to constrain the instrument position operation of the trainee doctor.

[0183] In some exemplary embodiments, acquiring the constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information includes:

[0184] The actual posture information of the sub-console is obtained according to the second Cartesian posture information, the command posture information of the sub-console is obtained according to the fourth Cartesian posture information, and the second constraint force information is obtained according to the actual posture information and the command posture information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient.

[0185] In some exemplary embodiments, constraining the operation of the trained doctor according to the constraint information includes:

[0186] According to the second constraint force information, the second joint torque information of each posture joint of the main control arm 110 of the sub-console is obtained, and according to the second joint torque information, the various posture joints of the main control arm 110 of the sub-console are controlled to perform corresponding movements to constrain the instrument posture operation of the trainee doctor.

[0187] In some exemplary embodiments, acquiring the constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information includes:

[0188] The third restraining force information is acquired according to the second Cartesian posture information, the fourth Cartesian posture information, and the pre-acquired preset spring coefficient and preset damping coefficient.

[0189] In some exemplary embodiments, constraining the operation of the trained doctor according to the constraint information includes:

[0190] According to the third constraint force information, the third joint torque information of each position joint and posture joint of the main control arm 110 of the sub-console is obtained, and according to the third joint torque information, the various position joints and posture joints of the main control arm 110 of the sub-console are controlled to perform corresponding movements to constrain the instrument posture operation of the trainee doctor.

[0191] In some exemplary embodiments, when the doctor-in-training is a surgical operator, the computer program further implements the following steps when executed by the processor:

[0192] Acquiring first virtual device posture information according to the second Cartesian posture information;

[0193] A first virtual instrument image is generated according to the first virtual instrument posture information, and transmitted to the auxiliary console for display.

[0194] In some exemplary embodiments, when the doctor-in-training is a surgical operator, the computer program further implements the following steps when executed by the processor:

[0195] Acquire second virtual device posture information according to the first Cartesian posture information;

[0196] A second virtual instrument image is generated according to the second virtual instrument posture information and transmitted to the secondary console for display.

[0197] Further, the readable storage medium provided by the present invention can adopt any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared or semiconductor, or any combination of the above. More specific examples (non-exhaustive enumeration) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this article, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0198] It should be noted that a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical cable, etc., or any suitable combination of the above.

[0199] In summary, compared with the prior art, the surgical robot operation teaching system and readable storage medium provided by the present invention have the following beneficial effects:

[0200] (1) The present invention collects first operation information of the training doctor at the main console and second operation information of the trainee doctor at the sub-console, obtains constraint information based on the first operation information and the second operation information, and then constrains the operation of the trainee doctor based on the constraint information, thereby realizing "hands-on" teaching in clinical surgery. Not only can the trainee doctors be trained in real surgical scenarios to effectively improve the training effect of the trainee doctors, but also the training cost of doctors can be effectively reduced.

[0201] (2) By adopting the surgical robot operation teaching system or readable storage medium provided by the present invention, a surgeon (training doctor) with rich experience in robot operation can perform actual surgical operations on the main console. The operations of the surgeon (training doctor) can be reproduced on another doctor's console (sub-console) and when the operation deviates from the reproduced operation, a certain constraint force is generated to guide the training doctor to operate along the correct route, so that the trainee doctor can learn surgical operations on the sub-console, thereby shortening the learning curve.

[0202] (3) By adopting the surgical robot operation teaching system or readable storage medium provided by the present invention, it is also possible for the trainee doctor to perform the main operation, and the training doctor only intervenes, takes over or guides the trainee doctor's operation at some key nodes or when necessary.

[0203] (4) By adopting the surgical robot operation teaching system or readable storage medium provided by the present invention, it is also possible to realize that the trainee doctor performs the main operation while the training doctor also performs the operation. However, the operation performed by the training doctor only generates a virtual instrument on the screen to guide the trainee doctor's next operation.

[0204] It should be noted that the computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages-such as Java, Smalltalk, C++, and also conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network-including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0205] It should be noted that the devices and methods disclosed in the embodiments of this article can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of this article. In this regard, each box in the flowchart or block diagram can represent a module, a part of a program or a code, and the module, a part of a program segment or a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented by a dedicated hardware-based system for performing a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0206] It should also be noted that the above description is only a description of the preferred embodiment of the present invention, and is not any limitation on the scope of the present invention. Any changes and modifications made by a person skilled in the art in the field of the present invention based on the above disclosure are within the scope of protection of the present invention. Obviously, a person skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A surgical robot operation teaching system, characterized in that: It includes a first information acquisition module, a second information acquisition module and a control module, wherein the first information acquisition module and the second information acquisition module are both in communication connection with the control module; The first information acquisition module is configured to acquire first operation information of the training doctor at the main console and transmit it to the control module; The second information acquisition module is configured to acquire second operation information of the trained doctor at the secondary console and transmit it to the control module; The control module is configured to obtain constraint information according to the first operation information and the second operation information, and constrain the operation of the trained doctor according to the constraint information.

2. The surgical robot operation teaching system according to claim 1, characterized in that: The control module is configured as follows: Acquire first Cartesian posture information of the main console according to the first operation information; acquiring second Cartesian position information of the auxiliary console according to the second operation information; as well as The constraint force information is acquired according to the first Cartesian pose information and the second Cartesian pose information.

3. The surgical robot operation teaching system according to claim 2, characterized in that: The control module is configured as follows: Acquire third Cartesian pose information of the slave end according to the first Cartesian pose information and a first master-slave mapping relationship between the master control console and the slave end; Acquire fourth Cartesian posture information according to the third Cartesian posture information and the second master-slave mapping relationship between the sub-console and the slave end; as well as Obtain constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information.

4. The surgical robot operation teaching system according to claim 3, characterized in that: The control module is configured as follows: Acquire actual position information of the sub-console according to the second Cartesian posture information; Acquire command position information of the sub-console according to the fourth Cartesian posture information; Acquire first restraining force information according to the actual position information and the command position information of the auxiliary console and the pre-acquired preset spring coefficient and preset damping coefficient; Acquire first joint torque information of joints at various positions of the main control arm of the auxiliary console according to the first constraint force information; According to the first joint torque information, each position joint of the main control arm of the auxiliary console is controlled to perform corresponding movement, so as to constrain the position operation of the instrument by the trainee doctor.

5. The surgical robot operation teaching system according to claim 3, characterized in that: The control module is configured as follows: Acquire actual posture information of the sub-console according to the second Cartesian posture information; Acquire command posture information of the sub-console according to the fourth Cartesian posture information; Acquire second restraining force information according to the actual posture information and the command posture information of the auxiliary console and the pre-acquired preset spring coefficient and preset damping coefficient; acquiring second joint torque information of each posture joint of the main control arm of the auxiliary console according to the second constraint force information; According to the second joint torque information, each posture joint of the main control arm of the auxiliary console is controlled to perform corresponding movement, so as to constrain the instrument posture operation of the trainee doctor.

6. The surgical robot operation teaching system according to claim 3, characterized in that: The control module is configured as follows: Acquire third restraining force information according to the second Cartesian posture information, the fourth Cartesian posture information, and a pre-acquired preset spring coefficient and a preset damping coefficient; According to the third constraint force information, third joint torque information of each position joint and posture joint of the main control arm of the auxiliary console is obtained; According to the third joint torque information, each position joint and posture joint of the main control arm of the auxiliary console is controlled to perform corresponding movements, so as to constrain the instrument posture operation of the trainee doctor.

7. The surgical robot operation teaching system according to claim 2, characterized in that: When the doctor-in-training is a surgical operator, the control module is further configured to: Acquiring first virtual device posture information according to the second Cartesian posture information; and A first virtual instrument image is generated according to the first virtual instrument posture information, and transmitted to the auxiliary console for display.

8. The surgical robot operation teaching system according to claim 2, characterized in that: When the doctor-in-training is a surgical operator, the control module is further configured to: Acquire second virtual device posture information according to the first Cartesian posture information; and A second virtual instrument image is generated according to the second virtual instrument posture information and transmitted to the secondary console for display.

9. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by the processor, the following steps are implemented: Acquire first operation information of the training doctor at the main console and second operation information of the trainee doctor at the secondary console; According to the first operation information and the second operation information, constraint information is acquired, and the operation of the doctor under training is constrained according to the constraint information.

10. The readable storage medium according to claim 9, characterized in that: The acquiring the constraint information according to the first operation information and the second operation information includes: Acquire first Cartesian posture information of the main console according to the first operation information; acquiring second Cartesian position information of the auxiliary console according to the second operation information; The constraint force information is acquired according to the first Cartesian pose information and the second Cartesian pose information.

11. The readable storage medium according to claim 10, characterized in that: The obtaining the constraint force information according to the first Cartesian pose information and the second Cartesian pose information includes: Acquire third Cartesian pose information of the slave end according to the first Cartesian pose information and a first master-slave mapping relationship between the master control console and the slave end; Acquire fourth Cartesian posture information according to the third Cartesian posture information and the second master-slave mapping relationship between the sub-console and the slave end; and Obtain constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information.

12. The readable storage medium according to claim 11, characterized in that: The acquiring the constraint force information according to the second Cartesian pose information and the fourth Cartesian pose information includes: Acquire the actual position information of the sub-console according to the second Cartesian posture information, acquire the command position information of the sub-console according to the fourth Cartesian posture information, and acquire the first restraining force information according to the actual position information and the command position information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient; or Acquire actual posture information of the sub-console according to the second Cartesian posture information, acquire command posture information of the sub-console according to the fourth Cartesian posture information, and acquire second restraining force information according to the actual posture information and command posture information of the sub-console and the pre-acquired preset spring coefficient and preset damping coefficient; or The third restraining force information is acquired according to the second Cartesian posture information, the fourth Cartesian posture information, and the pre-acquired preset spring coefficient and preset damping coefficient.

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