Surgical robot lens holding arm control method, device, equipment and medium

Abstract

The invention discloses a surgical robot lens holding arm control method, device and equipment and a medium, and the method comprises the steps that pose data of tail end points of double main mechanical arms are acquired, and the end point distance between the tail end points is determined; constructing a reference coordinate system of the virtual object according to the end point distance, and determining an impedance control relation of the tail end point of the double-main mechanical arm under preset motion constraint according to the structure parameters of the double-main mechanical arm and the pose parameters of the reference coordinate system relative to the base coordinate system; according to the structure parameters of the lens holding arm and the synchronous motion constraint relation between the lens holding arm and the double main mechanical arms, the motion mapping relation between the lens holding arm and the double main mechanical arms is determined; and when a motion control target of the lens holding arm is obtained, a motion control instruction for the double-main mechanical arm is determined according to the motion control target, the impedance control relation and the motion mapping relation, so that motion control over the lens holding arm is achieved. According to the technical scheme, the mirror holding arm can be controlled through the double main mechanical arms.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control technology, and in particular to a method, device, equipment and medium for controlling a surgical robot's scope holding arm. Background Art

[0002] The laparoscopic surgical robot system consists of a doctor's console, an imaging trolley, and a patient surgical platform. The working method is that the doctor operates two main robotic arms at the doctor's console and remotely controls the robotic arms of the patient surgical platform to complete the operation.

[0003] However, during surgery, the endoscope field of view is often insufficient, and the endoscope needs to be moved to obtain a better field of view for surgery. However, there is currently no method for controlling the endoscope holding arm in a surgical robot system with dual main operating arms. Summary of the invention

[0004] The present invention provides a method, device, equipment and medium for controlling a scope holding arm of a surgical robot, which can realize controlling the posture state of the scope holding arm through two main mechanical arms to adjust the field of view of an endoscope.

[0005] In a first aspect, the present invention provides a method for controlling a surgical robot mirror holding arm, the method comprising:

[0006] In the mirror holding arm control mode, obtaining the position and posture data of the end points of the first main robotic arm and the second main robotic arm, and determining the endpoint distance between the end points based on the position and posture data;

[0007] A reference coordinate system of the virtual object is constructed according to the endpoint distance, and an impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint is determined according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system;

[0008] The impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when performing rotational movement during the movement;

[0009] Determine a motion mapping relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm;

[0010] The synchronous motion constraint relationship indicates that the mirror holding arm and the virtual object move synchronously during the process in which the end points of the first main robot arm and the second main robot arm move under the preset motion constraint;

[0011] When the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is achieved based on the motion control instructions.

[0012] In a second aspect, the present invention further provides a surgical robot mirror holding arm control device, the device comprising:

[0013] An initial data acquisition module, used to acquire the position and posture data of the end points of the first main robotic arm and the second main robotic arm in the mirror holding arm control mode, and determine the endpoint distance between the end points based on the position and posture data;

[0014] An impedance control relationship determination module is used to construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system;

[0015] The impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when performing rotational movement during the movement;

[0016] A mirror holding arm motion parameter determination module, used to determine the motion mapping relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm;

[0017] The synchronous motion constraint relationship indicates that the mirror holding arm and the virtual object move synchronously during the process in which the end points of the first main robot arm and the second main robot arm move under the preset motion constraint;

[0018] The mirror holding arm control module is used to determine the motion control instructions for the first main robotic arm and the second main robotic arm according to the motion control target, impedance control relationship and motion mapping relationship when the motion control target of the mirror holding arm is acquired, and to realize the motion control of the mirror holding arm based on the motion control instructions.

[0019] In a third aspect, the present invention further provides a laparoscopic surgical robot system, characterized in that it comprises:

[0020] consoles, imaging carts, and surgical platforms;

[0021] Wherein, the console includes a first main mechanical arm and a second main mechanical arm; the surgical platform includes a scope holding arm;

[0022] The console can implement a surgical robot scope holding arm control method as provided in any embodiment of the present invention according to input control information, so as to control the scope holding arm to move.

[0023] In a fourth aspect, the present invention further provides a computer device, the computer device comprising:

[0024] one or more processors;

[0025] A memory for storing one or more programs;

[0026] When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot mirror-holding arm control method provided in any embodiment of the present invention.

[0027] In a fifth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for controlling a surgical robot's scope-holding arm as provided in any embodiment of the present invention.

[0028] In a sixth aspect, the embodiments of the present disclosure further provide a computer program product, including a computer program, which, when executed by a processor, implements any method for controlling a surgical robot's scope-holding arm as described in the present invention.

[0029] The present invention obtains the position and posture data of the end points of the first main robotic arm and the second main robotic arm in the mirror holding arm control mode, and determines the endpoint distance between the end points based on the position and posture data; constructs a reference coordinate system of a virtual object according to the endpoint distance, and determines the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint according to the structural parameters of the first main robotic arm and the second main robotic arm and the position and posture parameters of the reference coordinate system relative to the base coordinate system; wherein the impedance control relationship is used to make the end points of the first main robotic arm and the second main robotic arm maintain the endpoint distance during the motion process, and make the virtual object rotate only around the preset position in the base coordinate system during the motion process. Assume that the coordinate axis rotates; determine the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm; wherein the synchronous motion constraint relationship means that the mirror holding arm moves synchronously with the virtual object during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint; when the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is realized based on the motion control instructions. The technical solution of the present invention solves the problem that it is inconvenient for the surgical robot system to adjust the field of view of the mirror holding arm during surgery, and can realize the control of the posture state of the mirror holding arm by two main robotic arms to adjust the field of view of the endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a flow chart of a method for controlling a surgical robot mirror holding arm provided by the present invention;

[0031] Figure 2 is a flow chart of another method for controlling a surgical robot mirror holding arm provided by the present invention;

[0032] Figure 3 It is a structural schematic diagram of a main mechanical arm provided by the present invention;

[0033] Figure 4 It is a schematic diagram of a base coordinate system corresponding to a dual-main robotic arm provided by the present invention;

[0034] Figure 5 It is a structural schematic diagram of a mirror holding arm provided by the present invention;

[0035] Figure 6 It is a schematic diagram of a base coordinate system corresponding to a mirror holding arm provided by the present invention;

[0036] Figure 7 It is a structural schematic diagram of a surgical robot mirror holding arm control device provided by the present invention;

[0037] Figure 8 It is a structural schematic diagram of a laparoscopic surgical robot system provided by the present invention;

[0038] Fig. 9 A schematic diagram of the structure of a computer device provided by the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0040] Figure 1 This is a flow chart of a method for controlling a surgical robot holding arm provided by the present invention. This embodiment can be applied to the scenario of controlling the holding arm of a laparoscopic surgical robot, especially the scenario of controlling the holding arm of a surgical robot with dual main operating arms. The method can be executed by a surgical robot holding arm control device, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0041] like Figure 1 As shown, the surgical robot mirror holding arm control method of this embodiment includes the following steps:

[0042] S110. In the mirror holding arm control mode, obtain the position and posture data of the end points of the first main robotic arm and the second main robotic arm, and determine the endpoint distance between the end points based on the position and posture data.

[0043] The scope holding arm control mode may be a mode in which the scope holding arm is controlled by the main robotic arm to adjust the lens field of view. Usually, the doctor user operates the main robotic arm on the console of the surgical robot system, and only controls the robotic arm holding the surgical instrument on the surgical platform to perform the surgical operation, but cannot control the scope holding arm.

[0044] In this embodiment, a scope holding arm control mode is provided in the surgical robot system. After triggering the scope holding arm control mode, the doctor user can obtain the position and posture data of the end points of the first main robot arm and the second main robot arm.

[0045] The pose data of the end points of the first main robotic arm and the second main robotic arm may be the spatial position and angular orientation information of the end points of the first main robotic arm and the second main robotic arm in the corresponding base coordinate system. The pose data of the end points of the first main robotic arm and the second main robotic arm may be determined based on structural information such as the position of each joint and the length of each joint in the first main robotic arm and the second main robotic arm. Furthermore, the endpoint distance between the end points of the first main robotic arm and the second main robotic arm may be calculated based on the coordinate information in the pose data of the end points of the first main robotic arm and the second main robotic arm.

[0046] S120. Construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under preset motion constraints according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system.

[0047] The impedance control relationship is used to make the end points of the first main robotic arm and the second main robotic arm maintain the end point distance during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when performing rotational movement during the movement.

[0048] The virtual object may be an object held between the end points of the first main robotic arm and the second main robotic arm. The first main robotic arm and the second main robotic arm hold the virtual object to move, and the goal is to make the target manipulated object, that is, the mirror holding arm, keep synchronized movement with the virtual object.

[0049] Specifically, during the process of supporting the movement of the virtual object, it can be translated in any direction, but the virtual object is only allowed to rotate around the z-axis of the base coordinate system. It can be determined that the relative position between the end points of the first main robot arm and the second main robot arm is unchanged.

[0050] The reference coordinate system of the virtual object is constructed according to the endpoint distance, and the origin of the reference coordinate system can be set on the line connecting the end points of the first main robot arm and the second main robot arm. Thus, it can be determined that the sum of the lengths of the lines connecting the end points of the first main robot arm and the second main robot arm and the origin of the reference coordinate system is determined and is the above-mentioned endpoint distance.

[0051] During the motion tracking of the virtual object, the control result of the first main robotic arm and the second main robotic arm may be represented according to the spatial position change of any coordinate point on the virtual object.

[0052] Furthermore, the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint can be determined based on the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system. That is, the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint is required to maintain the relative position relationship between the end points of the first main robotic arm and the second main robotic arm and any specified coordinate point in the virtual object. For example, the relationship between the force, position, velocity or acceleration corresponding to the end points of the first main robotic arm and the second main robotic arm.

[0053] S130, determining a motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm according to structural parameters of the mirror holding arm and a synchronous motion constraint relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm.

[0054] The synchronous motion constraint relationship indicates that when the end points of the first main robotic arm and the second main robotic arm move under the preset motion constraint, the mirror holding arm and the virtual object move synchronously.

[0055] Determine the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm, that is, determine the position relationship between the mirror holding end of the mirror holding arm and the end points of the first main robotic arm and the second main robotic arm when the mirror holding arm keeps moving synchronously with the virtual object. A corresponding motion mapping relationship can be established based on the position expression of the mirror holding end of the mirror holding arm and the end points of the first main robotic arm and the second main robotic arm during the movement. Among them, what makes the mapping relationship valid is that the rotation angle of the virtual object is the same as the rotation angle of the mirror holding end of the mirror holding arm, and the spatial position change of the virtual object is the same as the spatial position change of the mirror holding end of the mirror holding arm.

[0056] S140. When the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is realized based on the motion control instructions.

[0057] The motion control target of the mirror holding arm may be a target rotation angle and / or a corresponding target spatial displacement. The target rotation angle and / or the corresponding target spatial displacement may be input into the impedance control relationship and the motion mapping relationship expression, and the motion targets of the first main mechanical arm and the second main mechanical arm may be obtained, thereby determining the corresponding motion control instructions, and realizing the motion control of the mirror holding arm based on the motion control instructions.

[0058] The technical solution of this embodiment is to obtain the posture data of the end points of the first main robotic arm and the second main robotic arm in the mirror holding arm control mode, and determine the endpoint distance between the end points based on the posture data; construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system; wherein the impedance control relationship is used to make the end points of the first main robotic arm and the second main robotic arm maintain the endpoint distance during the movement, and make the virtual object rotate only around the base coordinate system during the movement. The preset coordinate axis in the system is rotated; the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm is determined according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm; wherein the synchronous motion constraint relationship means that the mirror holding arm moves synchronously with the virtual object during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint; when the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is realized based on the motion control instructions. The technical solution of the present invention solves the problem that it is inconvenient for the surgical robot system to adjust the field of view of the mirror holding arm during surgery, and can realize the control of the posture state of the mirror holding arm by two main robotic arms to adjust the field of view of the endoscope.

[0059] Figure 2 A flowchart of a surgical robot mirror holding arm control method provided by the present invention. This embodiment and the surgical robot mirror holding arm control method in the above embodiment belong to the same inventive concept, and further describes a process of determining the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under preset motion constraints. The method can be executed by a surgical robot mirror holding arm control device, which can be implemented by software and / or hardware and integrated in a computer device with application development capabilities.

[0060] like Figure 2 As shown, the surgical robot mirror holding arm control method includes the following steps:

[0061] S210. In the mirror holding arm control mode, obtain the position and posture data of the end points of the first main robotic arm and the second main robotic arm, and determine the endpoint distance between the end points based on the position and posture data.

[0062] The first main robot arm and the second main robot arm are both RRR (Revolute joint) structures, such as Figure 3As shown, the main hand joints 1, 2 and 3 on the first main robot arm and the second main robot arm are all rotation joints, and Z1, Z2 and Z3 are the rotation axes of the main hand joints 1, 2 and 3 respectively.

[0063] The end points of the first main robot arm and the second main robot arm may correspond to Figure 4 The two end points corresponding to the left mechanical arm joint 3 and the right mechanical arm joint 3. The end point distance between the end points can be determined according to the position and posture data of the end points of the first main mechanical arm and the second main mechanical arm.

[0064] Assume that the base coordinate system O corresponding to the first main robot arm and the second main robot arm is as follows: Figure 4 Taking the first main robot arm as an example, the base coordinate system of the first main robot arm is established. , Joint 1 coordinate system , Joint 2 coordinate system , Joint 3 coordinate system , the second master robot arm is the same. Before the master-slave remote control operation, the ends of the first master robot arm and the second master robot arm can be at any position in the Cartesian space. When the master-slave remote control is performed, the time when the mirror holding arm control mode is entered is recorded as the initial time The end point distance between the end points is the distance between the first main robot arm and the second main robot arm. Moment, distance in Cartesian space .

[0065] S220, determine the midpoint of the endpoint distance, and use the midpoint as the center point of the virtual object; establish a reference coordinate system with the center point as the coordinate origin, and make the initial posture of the reference coordinate system the same as the posture of the base coordinate system, so as to obtain the reference coordinate system.

[0066] The midpoint of the endpoint distance is taken as the center point of the virtual object, and the reference coordinate system is established with the center point as the coordinate origin, corresponding to Figure 4 Coordinate system V in The initial posture at the moment is the same as the base coordinate system O.

[0067] S230. Determine the main robot arm end point pose matrix of the end points of the first main robot arm and the second main robot arm in the base coordinate system according to the structural parameters of the first main robot arm and the second main robot arm.

[0068] According to the established coordinate system and the structural parameters of the first main robot arm and the second main robot arm (joint position and arm length between joints, etc.), the pose matrix of the end of the first main robot arm relative to the base coordinate system O can be obtained as follows: , the pose matrix of the end of the second main manipulator relative to the base coordinate system O From the robot's forward kinematics, we know that , .

[0069] in, is a 3×3 matrix, It is a 3×1 matrix, 0 represents a 1×3 matrix with all elements being 0, and 1 represents 1.

[0070] S240. Determine the object pose matrix and its secondary transformation matrix of the virtual object in the base coordinate system according to the reference coordinate system.

[0071] Object coordinate system The pose matrix relative to the base coordinate system O is , around Axis rotation The homogeneous transformation matrix is .in, .

[0072] Among them, the position vector of object V in the base coordinate system O is It can be expressed as .

[0073] , which can be further expressed as .

[0074] In the above formulas, P represents position, and R corresponding to P in the formula represents rotation. L represents Left, and R corresponding to the position where L appears represents Right.

[0075] S250. Obtain an impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint based on the relative position relationship between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object under the preset motion constraint.

[0076] The impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and make the virtual object rotate only around the preset coordinate axis in the base coordinate system during the movement. It can be understood that under the preset motion constraint, the end points of the first main robot arm and the second main robot arm can translate in any direction when holding the virtual object, but are only allowed to rotate around the z-axis of the coordinate system, and the rotation angle is .

[0077] The pose matrix of the first main robot arm (the end of the left arm) relative to the object coordinate system (reference coordinate system) V is , the pose matrix of the second main manipulator (right arm end) relative to the object coordinate system V is .

[0078] , , , .

[0079] exist Moment, set for , for , for for , for . At any time t after time for , for , for , for , for .

[0080] Under the preset motion constraints, , is a known value (based on ),have to ;

[0081] ;

[0082] ;

[0083] ;

[0084] .

[0085] Similarly, .

[0086] The spring-damper-mass model is established to obtain the impedance control relationship:

[0087] .

[0088] in, It is a 3×1 matrix representing the position vector of the virtual object (the center point of the virtual object) in the Cartesian coordinate system. is the first-order differential of X with respect to time t, is the second-order differential of X with respect to time t. is the impedance control position command, is the impedance control speed command, is the impedance control acceleration command. M is the mass coefficient which is a 3×3 matrix, D is the damping coefficient which is a 3×3 matrix, and K is the spring coefficient which is a 3×3 matrix. Here is the virtual mass (reflecting the robot’s “inertial” response to changes in acceleration), It is virtual damping (it reflects the characteristics of hindering movement and consuming energy, similar to the resistance effect of movement in liquid). is the virtual stiffness (similar to the hardness of a spring, which determines the corresponding relationship between position change and force), Indicates that an external force is applied.

[0089] , which indicates the left hand end position instruction. is the actual position of the left hand end. When , it indicates the right hand end position instruction. is the actual position of the right hand end.

[0090] , . , .

[0091] S260. Based on the synchronous motion relationship, determine the pose matrix of the end point of the mirror holding arm relative to the base coordinate system according to the pose matrix of the virtual object relative to the coordinate system and the rotation angle relative to the preset coordinate axis.

[0092] The structure of the mirror holding arm can be Figure 5 The structure shown in . The mirror holding arm is a RRPR structure, joints 1, 2 and 4 are revolute joints, and joint 3 is a translation joint, where z1 is the rotation axis of joint 1, z2 is the rotation axis of joint 2, z3 is the translation direction axis of joint 3, and z4 is the rotation axis of joint 4. Each letter of the RRPR structure represents a type of kinematic pair, which are revolute joint (abbreviated as R), rotation joint (R), prismatic joint (abbreviated as P), and revolute joint (R). That is, it is a spatial or planar mechanism formed by connecting four different types of kinematic pairs in a specific order.

[0093] like Figure 6 As shown, the base coordinate system of the slave arm is assumed to be the same as the base coordinate system of the master arm. , Joint 1 coordinate system , Joint 2 coordinate system , Joint 3 coordinate system , Joint 4 coordinate system .

[0094] The synchronous motion relationship requires the rotation angle of joint 4 and The pose matrix of the end of the arm relative to the base coordinate system O is , .

[0095] Therefore, the mapping relationship between the first main robotic arm, the second main robotic arm and the mirror holding arm is:

[0096] , .

[0097] S270, determining the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm according to the mapping relationship between the end point pose matrix of the mirror holding slave arm and the joint velocity and the end point velocity based on the Jacobian matrix of the mirror holding arm.

[0098] According to the velocity mapping relationship between Cartesian space and joint space, we can get: ;in, is the velocity vector of the end of the mirror holding arm in Cartesian space, is the joint velocity vector of the robot’s mirror holding arm.

[0099] Assume that the terminal velocity of the mirror holding arm in Cartesian space is , the movement speed of the mirror holding arm joint is , the initial joint angle of the mirror holding arm is , Mirror arm joint command angle , the Jacobian matrix of the mirror arm is . , , .

[0100] S280. When the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is realized based on the motion control instructions.

[0101] The motion control target of the mirror holding arm can correspond to ,exist time It is also known. Therefore, the motion control instructions for the first main mechanical arm and the second main mechanical arm can be further determined according to the motion control target, the impedance control relationship and the motion mapping relationship. That is, the known parameters are input into the corresponding motion mapping relationship and the impedance control relationship expression, and the motion control instructions for the first main mechanical arm and the second main mechanical arm can be determined, that is, the control targets for the first main mechanical arm and the second main mechanical arm can be determined to realize the motion control of the mirror holding arm.

[0102] The technical solution of this embodiment is to obtain the posture data of the end points of the first main robotic arm and the second main robotic arm in the mirror holding arm control mode, and determine the endpoint distance between the end points based on the posture data; determine the midpoint of the endpoint distance, and use the midpoint as the center point of the virtual object; establish a reference coordinate system with the center point as the coordinate origin, and make the initial posture of the reference coordinate system the same as the posture of the base coordinate system to obtain the reference coordinate system; determine the main robotic arm end posture matrix of the end points of the first main robotic arm and the second main robotic arm in the base coordinate system according to the structural parameters of the first main robotic arm and the second main robotic arm; determine the object posture matrix and its secondary transformation matrix of the virtual object in the base coordinate system according to the reference coordinate system; obtain the impedance control matrix of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints according to the relative position relationship between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object under the preset motion constraints. Control relationship; wherein, the impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and during the movement, the virtual object rotates only around the preset coordinate axis in the base coordinate system when performing rotational movement; based on the synchronous motion relationship, according to the pose matrix of the virtual object relative to the coordinate system and the rotation angle relative to the preset coordinate axis, the pose matrix of the end point of the mirror holding arm relative to the end point of the mirror holding slave arm in the base coordinate system is determined; according to the mapping relationship between the pose matrix of the end point of the mirror holding slave arm and the joint speed and the end point speed based on the Jacobian matrix of the mirror holding arm, the motion mapping relationship between the mirror holding arm and the first main robot arm and the second main robot arm is determined; when the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robot arm and the second main robot arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is realized based on the motion control instructions. The technical solution of the present invention solves the problem that it is inconvenient for the surgical robot system to adjust the field of view of the mirror holding arm during surgery, and can realize the control of the posture state of the mirror holding arm by two main robot arms to adjust the field of view of the endoscope. Figure 7 This is a schematic diagram of the structure of a surgical robot mirror holding arm control device provided by the present invention. This embodiment can be applied to the scene of surgical robot mirror holding arm control, especially the control of the mirror holding arm in a dual-main-arm laparoscopic surgical robot system. The device can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0103] like Figure 7 As shown, the surgical robot mirror holding arm control device includes: an initial data acquisition module 310, an impedance control relationship determination module 320, a mirror holding arm motion parameter determination module 330 and a mirror holding arm control module 340.

[0104] Among them, the initial data acquisition module 310 is used to obtain the posture data of the end points of the first main robotic arm and the second main robotic arm in the mirror holding arm control mode, and determine the endpoint distance between the end points based on the posture data; the impedance control relationship determination module 320 is used to construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system; wherein the impedance control relationship is used to make the end points of the first main robotic arm and the second main robotic arm maintain the endpoint distance during the movement, and make the virtual object rotate only around the preset coordinate system in the base coordinate system during the movement. The standard axis rotates; a mirror holding arm motion parameter determination module 330 is used to determine the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm; wherein the synchronous motion constraint relationship means that the mirror holding arm moves synchronously with the virtual object during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint; a mirror holding arm control module 340 is used to determine the motion control instructions for the first main robotic arm and the second main robotic arm according to the motion control target, the impedance control relationship and the motion mapping relationship when the motion control target of the mirror holding arm is acquired, and to realize the motion control of the mirror holding arm based on the motion control instruction.

[0105] The technical solution of this embodiment is to obtain the posture data of the end points of the first main robotic arm and the second main robotic arm in the mirror holding arm control mode, and determine the endpoint distance between the end points based on the posture data; construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system; wherein the impedance control relationship is used to make the end points of the first main robotic arm and the second main robotic arm maintain the endpoint distance during the movement, and make the virtual object rotate only around the base coordinate system during the movement. The preset coordinate axis in the system is rotated; the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm is determined according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm; wherein the synchronous motion constraint relationship means that the mirror holding arm moves synchronously with the virtual object during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint; when the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is realized based on the motion control instructions. The technical solution of the present invention solves the problem that it is inconvenient for the surgical robot system to adjust the field of view of the mirror holding arm during surgery, and can realize the control of the posture state of the mirror holding arm by two main robotic arms to adjust the field of view of the endoscope.

[0106] In an optional implementation, the impedance control relationship determination module 320 may be used to:

[0107] Determine the midpoint of the endpoint distance and use the midpoint as the center point of the virtual object;

[0108] A reference coordinate system is established with the center point as the coordinate origin, and the initial posture of the reference coordinate system is made the same as the posture of the base coordinate system to obtain the reference coordinate system.

[0109] In an optional implementation, the impedance control relationship determination module 320 may be used to:

[0110] Determine the main manipulator end point pose matrix of the first main manipulator and the second main manipulator in the base coordinate system according to the structural parameters of the first main manipulator and the second main manipulator;

[0111] Determine the object pose matrix and its secondary transformation matrix of the virtual object in the base coordinate system according to the reference coordinate system;

[0112] According to the relative position relationship between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object under the preset motion constraint, the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint is obtained.

[0113] In an optional implementation, the impedance control relationship determination module 320 may be used to:

[0114] Determine the relative distances between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object before and after the movement according to the pose parameters of the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object at different times;

[0115] A calculation expression for the target control position of the center point of the virtual object according to the relative distance and the trigonometric function relationship based on the relative position relationship;

[0116] An impedance control relationship between the end points of the first main robot arm and the second main robot arm under a preset motion constraint is established based on a calculation expression.

[0117] In an optional implementation, the mirror holding arm motion parameter determination module 330 may be used to:

[0118] Based on the synchronous motion relationship, according to the pose matrix of the virtual object relative to the coordinate system and the rotation angle relative to the preset coordinate axis, the pose matrix of the end point of the mirror holding arm relative to the base coordinate system is determined;

[0119] According to the mapping relationship between the end point pose matrix of the mirror holding slave arm and the joint speed and the end point speed based on the Jacobian matrix of the mirror holding arm, the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm is determined.

[0120] The surgical robot mirror holding arm control device provided by the present invention can execute the surgical robot mirror holding arm control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0121] Figure 8 A laparoscopic surgical robot system provided by the present invention comprises:

[0122] Consoles, imaging carts and surgical tables.

[0123] The control console includes a first main robotic arm and a second main robotic arm; the surgical platform includes a scope holding arm;

[0124] During surgery, the endoscope's field of view is often insufficient, and the endoscope needs to be moved to obtain a better field of view for surgery. The console can implement a surgical robot's endoscope arm control method as provided in any embodiment based on input control information to control the endoscope arm to move.

[0125] Fig. 9 A schematic diagram of the structure of a computer device provided by the present invention. Fig. 9 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Fig. 9 The computer device 12 shown is only an example and should not bring any limitation to the function and scope of use of the present invention. The computer device 12 can be any terminal device with computing capability and can be configured in the laparoscopic surgical robot system.

[0126] like Fig. 9 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0127] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0128] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0129] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Fig. 9 not shown, usually called a "hard drive"). Although Fig. 9Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0130] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0131] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 22. In addition, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via a bus 18. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0132] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the surgical robot mirror holding arm control method provided in the embodiment of the present invention, the method comprising:

[0133] In the mirror holding arm control mode, obtaining the position and posture data of the end points of the first main robotic arm and the second main robotic arm, and determining the endpoint distance between the end points based on the position and posture data;

[0134] A reference coordinate system of the virtual object is constructed according to the endpoint distance, and an impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint is determined according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system;

[0135] The impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when performing rotational movement during the movement;

[0136] Determine a motion mapping relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm;

[0137] The synchronous motion constraint relationship indicates that the mirror holding arm and the virtual object move synchronously during the process in which the end points of the first main robot arm and the second main robot arm move under the preset motion constraint;

[0138] When the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is achieved based on the motion control instructions.

[0139] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, a method for controlling a surgical robot holding arm as provided in any embodiment of the present invention is implemented. The method includes:

[0140] In the mirror holding arm control mode, obtaining the position and posture data of the end points of the first main robotic arm and the second main robotic arm, and determining the endpoint distance between the end points based on the position and posture data;

[0141] A reference coordinate system of the virtual object is constructed according to the endpoint distance, and an impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint is determined according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system;

[0142] The impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when performing rotational movement during the movement;

[0143] Determine a motion mapping relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm;

[0144] The synchronous motion constraint relationship indicates that the mirror holding arm and the virtual object move synchronously during the process in which the end points of the first main robot arm and the second main robot arm move under the preset motion constraint;

[0145] When the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is achieved based on the motion control instructions.

[0146] The computer storage medium of the present invention can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0147] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry 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. Computer-readable signal media 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.

[0148] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0149] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate 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 may 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 may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0150] The embodiments of the present disclosure also provide a computer program product, including a computer program, which, when executed by a processor, implements a method for controlling a surgical robot's scope-holding arm as provided in any one of the embodiments of the present disclosure.

[0151] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code for the disclosed operation, including object-oriented programming languages, such as Java, Smalltalk, C++, and 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 completely 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 (e.g., using an Internet service provider to connect through the Internet).

[0152] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0153] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for controlling a surgical robot holding arm, characterized in that: include: In the mirror holding arm control mode, obtaining the position and posture data of the end points of the first main mechanical arm and the second main mechanical arm, and determining the endpoint distance between the end points based on the position and posture data; Constructing a reference coordinate system of the virtual object according to the endpoint distance, and determining an impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint according to structural parameters of the first main robotic arm and the second main robotic arm and posture parameters of the reference coordinate system relative to a base coordinate system; The impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when performing the rotational movement during the movement; Determine a motion mapping relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm; The synchronous motion constraint relationship indicates that, in the process in which the end points of the first main mechanical arm and the second main mechanical arm move under the preset motion constraint, the mirror holding arm and the virtual object move synchronously; When the motion control target of the mirror holding arm is obtained, the motion control instructions for the first main robotic arm and the second main robotic arm are determined according to the motion control target, the impedance control relationship and the motion mapping relationship, and the motion control of the mirror holding arm is achieved based on the motion control instructions.

2. The method according to claim 1, characterized in that The step of constructing a reference coordinate system of the virtual object according to the endpoint distance comprises: Determine the midpoint of the endpoint distance, and use the midpoint as the center point of the virtual object; The reference coordinate system is established with the center point as the coordinate origin, and the initial posture of the reference coordinate system is made the same as the posture of the base coordinate system to obtain the reference coordinate system.

3. The method according to claim 2, characterized in that The step of determining the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system comprises: Determine, according to the structural parameters of the first main robotic arm and the second main robotic arm, a main robotic arm end point pose matrix of the end points of the first main robotic arm and the second main robotic arm in the base coordinate system; Determine the object pose matrix and its secondary transformation matrix of the virtual object in the base coordinate system according to the reference coordinate system; According to the relative position relationship between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object under the preset motion constraint, the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under the preset motion constraint is obtained.

4. The method according to claim 3, characterized in that The step of obtaining the impedance control relationship between the end points of the first main mechanical arm and the second main mechanical arm under the preset motion constraint according to the relative position relationship between the end points of the first main mechanical arm and the second main mechanical arm and the center point of the virtual object under the preset motion constraint comprises: Determine the relative distances between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object before and after the movement according to the pose parameters of the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object at different times; A calculation expression for a center point target control position of the virtual object according to the relative distance and a trigonometric function relationship based on the relative position relationship; An impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint is established based on the calculation expression.

5. The method according to claim 1, characterized in that The determining the motion mapping relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm comprises: Based on the synchronous motion relationship, according to the pose matrix of the virtual object relative to the coordinate system and the rotation angle relative to the preset coordinate axis, determine the pose matrix of the end point of the mirror holding arm relative to the base coordinate system; According to the mapping relationship between the end point pose matrix of the mirror holding slave arm and the joint speed and end point speed based on the Jacobian matrix of the mirror holding arm, the motion mapping relationship between the mirror holding arm and the first main robotic arm and the second main robotic arm is determined.

6. A surgical robot holding arm control device, characterized in that: include: An initial data acquisition module, used to acquire the position and posture data of the end points of the first main mechanical arm and the second main mechanical arm in the mirror holding arm control mode, and determine the endpoint distance between the end points based on the position and posture data; an impedance control relationship determination module, configured to construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship between the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint according to the structural parameters of the first main robotic arm and the second main robotic arm and the posture parameters of the reference coordinate system relative to the base coordinate system; The impedance control relationship is used to make the end points of the first main robot arm and the second main robot arm maintain the end point distance during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when performing the rotational movement during the movement; a mirror holding arm motion parameter determination module, used to determine the motion mapping relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm according to the structural parameters of the mirror holding arm and the synchronous motion constraint relationship between the mirror holding arm and the first main mechanical arm and the second main mechanical arm; The synchronous motion constraint relationship indicates that, in the process in which the end points of the first main mechanical arm and the second main mechanical arm move under the preset motion constraint, the mirror holding arm and the virtual object move synchronously; The mirror holding arm control module is used to determine the motion control instructions for the first main robotic arm and the second main robotic arm according to the motion control target, the impedance control relationship and the motion mapping relationship when the motion control target of the mirror holding arm is acquired, and to realize the motion control of the mirror holding arm based on the motion control instructions.

7. A laparoscopic surgical robot system, characterized in that: include: consoles, imaging carts, and surgical platforms; Wherein, the console includes a first main mechanical arm and a second main mechanical arm; the surgical platform includes a scope holding arm; The console can implement the surgical robot mirror holding arm control method as described in any one of claims 1 to 5 according to the input control information to control the mirror holding arm to move.

8. A computer device, characterized in that: The computer device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot mirror holding arm control method as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the surgical robot mirror holding arm control method as described in any one of claims 1-5 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the surgical robot mirror holding arm control method as described in any one of claims 1 to 5.

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