Surgical robot camera arm control method, device, equipment and medium

Abstract

The present invention discloses a method, device, equipment and medium for controlling a lens-holding arm of a surgical robot. The method includes: obtaining the pose data of the end points of the dual-master robotic arms and determining the end-point distance between the end points; constructing a reference coordinate system of a virtual object based on the end-point distance, and determining the impedance control relationship of the end points of the dual-master robotic arms under preset motion constraints according to the structural parameters of the dual-master robotic arms and the pose parameters of the reference coordinate system relative to the base coordinate system; determining the motion mapping relationship between the lens-holding arm and the dual-master robotic arms according to the structural parameters of the lens-holding arm and the synchronous motion constraint relationship between the lens-holding arm and the dual-master robotic arms; when obtaining the motion control target of the lens-holding arm, determining the motion control instructions for the dual-master robotic arms according to the motion control target, the impedance control relationship and the motion mapping relationship, so as to realize the motion control of the lens-holding arm. The technical solution of the present invention can realize the control of the lens-holding arm by the dual-master robotic arms.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical control, and particularly to a method, device, equipment and medium for controlling a lens-holding arm of a surgical robot. Background Art

[0002] The abdominal endoscopic surgical robot system consists of a doctor's console, an imaging trolley, and a patient surgical platform. The working mode is that the doctor operates two master manipulators at the doctor's console to remotely control the instrument-holding arms on the patient surgical platform to complete the surgery.

[0003] However, during the surgery, there are often situations where the endoscopic vision is insufficient and the endoscope needs to be moved to obtain a better vision for the surgery. At present, there is no method applicable to controlling the lens-holding arm in a surgical robot system equipped with double master operating arms. Summary of the Invention

[0004] The present invention provides a method, device, equipment and medium for controlling a lens-holding arm of a surgical robot, which can realize controlling the pose state of the lens-holding arm through two master manipulators to adjust the endoscopic vision.

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

[0006] In the lens-holding arm control mode, obtain the pose data of the end points of the first master manipulator and the second master manipulator, and determine the end point distance between the end points based on the pose data;

[0007] Construct a reference coordinate system of the virtual object according to the end point distance, and determine the impedance control relationship of the end points of the first master manipulator and the second master manipulator under the preset motion constraints according to the structural parameters of the first master manipulator and the second master manipulator and the pose parameters of the reference coordinate system relative to the base coordinate system;

[0008] Wherein, the impedance control relationship is used to keep the end point distance between the end points of the first master manipulator and the second master manipulator during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system when the virtual object rotates during the movement;

[0009] Determine the motion mapping relationship between the lens-holding arm and the first master manipulator and the second master manipulator according to the structural parameters of the lens-holding arm and the synchronous motion constraint relationship between the lens-holding arm and the first master manipulator and the second master manipulator;

[0010] Wherein, the synchronous motion constraint relationship means that during the movement of the end points of the first master manipulator and the second master manipulator under the preset motion constraints, the lens-holding arm moves synchronously with the virtual object;

[0011] When the motion control target of the lens-holding arm is obtained, the motion control commands 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 lens-holding arm is realized based on the motion control commands.

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

[0013] An initial data acquisition module, configured to acquire the pose data of the end points of the first main robotic arm and the second main robotic arm in the lens-holding arm control mode, and determine the end point distance between the end points based on the pose data;

[0014] An impedance control relationship determination module, configured to construct a reference coordinate system of a virtual object according to the end point distance, and determine the impedance control relationship of 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 pose parameters of the reference coordinate system relative to the base coordinate system;

[0015] The impedance control relationship is used to keep the end point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and when the virtual object rotates during the movement, it only rotates around a preset coordinate axis in the base coordinate system;

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

[0017] The synchronous motion constraint relationship means that during the movement of the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint, the lens-holding arm moves synchronously with the virtual object;

[0018] A lens-holding arm control module, configured to determine the motion control commands 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 lens-holding arm is obtained, and realize the motion control of the lens-holding arm based on the motion control commands.

[0019] In a third aspect, the present invention further provides a laparoscopic surgical robot system, characterized by comprising:

[0020] A console, an imaging cart, and a surgical platform;

[0021] Wherein, the console includes a first main robotic arm and a second main robotic arm; the surgical platform includes a lens-holding arm;

[0022] The console can implement the control method for the endoscope - holding arm of the surgical robot provided in any embodiment of the present invention according to the input control information to control the movement of the endoscope - holding arm.

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

[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 control method for the endoscope - holding arm of the surgical robot provided in any embodiment of the present invention.

[0027] In a fifth aspect, the present invention further provides a computer - readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the control method for the endoscope - holding arm of the surgical robot 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, and when the computer program is executed by a processor, it implements the control method for the endoscope - holding arm of the surgical robot as described in any one of the present invention.

[0029] In the present invention, in the holding arm control mode, pose data of the end points of the first main robotic arm and the second main robotic arm are acquired, and the end point distance between the end points is determined based on the pose data; a reference coordinate system of the virtual object is constructed according to the end point distance, and according to the structural parameters of the first main robotic arm and the second main robotic arm and the pose parameters of the reference coordinate system relative to the base coordinate system, an impedance control relationship of the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint is determined; wherein, the impedance control relationship is used to keep the end point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and when the virtual object rotates during the movement, it only rotates around a preset coordinate axis in the base coordinate system; according to the structural parameters of the holding arm and the synchronous motion constraint relationship between the holding arm and the first main robotic arm and the second main robotic arm, a motion mapping relationship between the holding arm and the first main robotic arm and the second main robotic arm is determined; wherein, the synchronous motion constraint relationship means that during the movement of the end points of the first main robotic arm and the second main robotic arm under a preset motion constraint, the holding arm moves synchronously with the virtual object; when a motion control target of the holding arm is acquired, 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 holding arm is realized based on the motion control instructions. The technical solution of the present invention solves the problem that it is inconvenient to adjust the field of view of the holding arm in the surgical robot system, and can realize controlling the pose state of the holding arm through two main robotic arms to adjust the endoscopic field of view. Description of the Drawings

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

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

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

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

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

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

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

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

[0038] Figure 9 It is a schematic structural diagram of a computer device provided by the present invention. Detailed implementation manners

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention rather than all the structures are shown in the accompanying drawings.

[0040] Figure 1 It is a flowchart of a method for controlling a lens - holding arm of a surgical robot provided by the present invention. This embodiment is applicable to the scenario of controlling the lens - holding arm of a laparoscopic surgical robot, especially in the scenario of controlling the lens - holding arm of a surgical robot with dual master operating arms. This method can be executed by a device for controlling the lens - holding arm of a surgical robot, and this device can be implemented in a software - and / or - hardware manner and integrated into a computer device with application development functions.

[0041] As Figure 1 shown, the method for controlling the lens - holding arm of a surgical robot in this embodiment includes the following steps:

[0042] S110. In the lens - holding arm control mode, obtain the pose data of the end points of the first master manipulator arm and the second master manipulator arm, and determine the end - point distance between the end points based on the pose data.

[0043] Among them, the lens - holding arm control mode can be a mode of controlling the lens - holding arm through the master manipulator arm to adjust the lens field of view. Usually, the doctor user operates the master manipulator arm at the console of the surgical robot system, and only manipulates the manipulator arm holding the surgical instrument on the surgical platform to perform surgical operations, and cannot control the lens - holding arm.

[0044] In this embodiment, in the surgical robot system, a lens - holding arm control mode is set. After the doctor user triggers the lens - holding arm control mode, the pose data of the end points of the first master manipulator arm and the second master manipulator arm can be obtained.

[0045] The pose data of the end points of the first main robotic arm and the second main robotic arm can 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 can be determined according to the structural information such as the positions of the joints and the lengths of the joints in the first main robotic arm and the second main robotic arm. Furthermore, the end point distance between the end points of the first main robotic arm and the second main robotic arm can 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 end point distance, and determine the impedance control relationship of 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 pose parameters of the reference coordinate system relative to the base coordinate system.

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

[0048] Among them, the virtual object can be an object assumed to be 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 and move, and the goal is to make the target manipulation object, that is, the lens holding arm, move synchronously with the virtual object.

[0049] Specifically, during the movement of holding the virtual object, it can be translated in any direction, but only the virtual object is 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 robotic arm and the second main robotic arm remains unchanged.

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

[0051] During the motion tracking of the virtual object, it can be that the control result of the first main robotic arm and the second main robotic arm is represented by the spatial position change of any coordinate point on the virtual object.

[0052] Furthermore, based on the structural parameters of the first main robotic arm and the second main robotic arm and the pose parameters of the reference coordinate system relative to the base coordinate system, the impedance control relationship of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints can be determined. That is, the impedance control relationship of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints 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 designated coordinate point in the virtual object. Such as 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. Determine the motion mapping relationship between the lens-holding arm and the first main robotic arm and the second main robotic arm according to the structural parameters of the lens-holding arm and the synchronous motion constraint relationship between the lens-holding arm and the first main robotic arm and the second main robotic arm.

[0054] Among them, the synchronous motion constraint relationship means that during the motion of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints, the lens-holding arm moves synchronously with the virtual object.

[0055] Determine the motion mapping relationship between the lens-holding arm and the first main robotic arm and the second main robotic arm, that is, determine the position relationship between the lens-holding end of the lens-holding arm and the end points of the first main robotic arm and the second main robotic arm when the lens-holding arm maintains synchronous motion with the virtual object. The corresponding motion mapping relationship can be established according to the position expressions of the lens-holding end of the lens-holding arm and the end points of the first main robotic arm and the second main robotic arm during the motion process. Among them, what makes the mapping relationship hold is that the rotation angle of the virtual object is the same as the rotation angle of the lens-holding end of the lens-holding arm, and the spatial position change amount of the virtual object is the same as the spatial position change amount of the lens-holding end of the lens-holding arm.

[0056] S140. When the motion control target of the lens-holding arm is obtained, 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, and realize the motion control of the lens-holding arm based on the motion control instructions.

[0057] The motion control target of the lens-holding arm can be the target rotation angle and / or the corresponding target spatial displacement amount. The target rotation angle and / or the corresponding target spatial displacement amount can be input into the impedance control relationship and the motion mapping relationship expressions, and then the motion targets of the first main robotic arm and the second main robotic arm can be obtained, so as to determine the corresponding motion control instructions to realize the motion control of the lens-holding arm based on the motion control instructions.

[0058] In the technical solution of this embodiment, in the holding mirror arm control mode, the pose data of the end points of the first main robotic arm and the second main robotic arm are obtained, and the end point distance between the end points is determined based on the pose data; a reference coordinate system of the virtual object is constructed according to the end point distance, and according to the structural parameters of the first main robotic arm and the second main robotic arm and the pose parameters of the reference coordinate system relative to the base coordinate system, the impedance control relationship of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints is determined; wherein, the impedance control relationship is used to keep the end point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and when the virtual object rotates during the movement, it only rotates around a preset coordinate axis in the base coordinate system; according to the structural parameters of the holding mirror arm and the synchronous motion constraint relationship between the holding mirror arm and the first main robotic arm and the second main robotic arm, the motion mapping relationship between the holding mirror arm and the first main robotic arm and the second main robotic arm is determined; wherein, the synchronous motion constraint relationship means that during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints, the holding mirror arm moves synchronously with the virtual object; when the motion control target of the holding mirror arm is obtained, the motion control commands 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 holding mirror arm is realized based on the motion control commands. The technical solution of the present invention solves the problem that it is inconvenient to adjust the field of view of the holding mirror arm in the surgical robot system, and can realize the pose state of the holding mirror arm being controlled by two main robotic arms to adjust the endoscopic field of view.

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

[0060] As Figure 2 shown, the method for controlling a holding mirror arm of a surgical robot includes the following steps:

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

[0062] Both the first main robotic arm and the second main robotic arm have an RRR (Revolute joint) structure, as Figure 3As shown, the master hand joints 1, 2, and 3 on the first master robotic arm and the second master robotic arm are all rotational joints, and Z1, Z2, and Z3 are the rotation axes of the master hand joints 1, 2, and 3 respectively.

[0063] The end points of the first master robotic arm and the second master robotic arm can be the two end points corresponding to joint 3 of the left robotic arm and joint 3 of the right robotic arm in Figure 4 . The end point distance between the end points can be determined according to the pose data of the end points of the first master robotic arm and the second master robotic arm.

[0064] Assume that the base coordinate system O corresponding to both the first master robotic arm and the second master robotic arm is at the position shown in Figure 4 . Taking the first master robotic arm as an example, the base coordinate system of the first master robotic arm is established respectively , the joint 1 coordinate system , the joint 2 coordinate system , the joint 3 coordinate system , and the same for the second master robotic arm. Before performing master-slave remote operation, the ends of the first master robotic arm and the second master robotic arm can be at any position in the Cartesian space. When performing master-slave remote operation, the time when entering the mirror-holding arm control mode is recorded as the initial moment , and the end point distance between the end points is the distance between the ends of the first master robotic arm and the second master robotic arm in the Cartesian space at moment .

[0065] S220. Determine the midpoint of the end point 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 attitude of the reference coordinate system the same as the attitude of the base coordinate system to obtain the reference coordinate system.

[0066] Use the midpoint of the end point distance as the center point of the virtual object and establish a reference coordinate system with the center point as the coordinate origin, corresponding to Figure 4 the coordinate system V in . The initial attitude of the coordinate system V at

[0067] S230. According to the structural parameters of the first master robotic arm and the second master robotic arm, determine the master robotic arm end pose matrix of the end points of the first master robotic arm and the second master robotic arm in the base coordinate system.

[0068] According to the established coordinate system and the structural parameters of the first master robotic arm and the second master robotic arm (joint positions and arm lengths between joints, etc.), the pose matrix of the end of the first master robotic arm relative to the base coordinate system O can be obtained as , and the pose matrix of the end of the second master robotic arm relative to the base coordinate system O . It can be known from the forward kinematics of the robot that , 。

[0069] Among them, is a 3×3 matrix, 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 of the object coordinate system relative to the base coordinate system O is , rotate around axis by The homogeneous transformation matrix is . Among them, .

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

[0073] , 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 the impedance control relationship 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.

[0076] Among them, the impedance control relationship is used to keep the end point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and to make the virtual object rotate only around the preset coordinate axis in the base coordinate system during the rotation movement. It can be understood that under the preset motion constraints, when the end points of the first main robotic arm and the second main robotic arm hold the virtual object and move, they can translate in any direction, but only allow it to rotate around the z-axis of the coordinate system, and the rotation angle is .

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

[0078] , , , .

[0079] At moment, let be , be , be be , be . At any t moment after the moment, let be be , be , be , be .

[0080] Under the preset motion constraints, , is a known value (which can be based on ), and we get ;

[0081] ;

[0082] ;

[0083] ;

[0084] .

[0085] Similarly, .

[0086] The impedance control relationship formula is obtained by establishing a spring - damper - mass model:

[0087] .

[0088] Among them, 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 velocity 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 "inertial" response of the robot to acceleration changes), is the virtual damping (reflecting the characteristic of hindering motion and consuming energy, similar to the resistance effect when moving in a liquid), is the virtual stiffness (similar to the softness or hardness of a spring, determining the correspondence between position change and force), represents the externally applied force.

[0089] When [condition], it represents the position command of the left hand end, is the actual position of the left hand end. When [condition], it represents the position command of the right hand end, is the actual position of the right hand end.

[0090] , . , .

[0091] S260. 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 lens-holding arm relative to the end point of the lens-holding slave arm in the base coordinate system.

[0092] The structure of the lens-holding arm can be Figure 5 the structure shown in [reference]. The lens-holding arm is of RRPR structure, where joints 1, 2, and 4 are rotational joints, and joint 3 is a translational joint. Among them, z1 is the rotation axis of joint 1, z2 is the rotation axis of joint 2, z3 is the translational direction axis of joint 3, and z4 is the rotation axis of joint 4. Each letter in the RRPR structure represents a type of kinematic pair, in sequence: revolute joint (Revolute joint, abbreviated as R), revolute joint (R), prismatic joint (Prismatic joint, abbreviated as P), revolute joint (R). That is, it is a spatial or planar mechanism form composed of four different types of kinematic pairs connected in a specific order.

[0093] As Figure 6 shown, assume that the base coordinate system of the slave arm is the same as that of the master arm. Establish the base coordinate system , the coordinate system of joint 1 , the coordinate system of joint 2 , the coordinate system of joint 3 , the coordinate system of joint 4 .

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

[0095] Therefore, the mapping relationship among the first main robotic arm, the second main robotic arm, and the lens - holding arm is

[0096] , .

[0097] S270. Determine the motion mapping relationship between the lens - holding arm and the first main robotic arm and the second main robotic arm according to the mapping relationship between the pose matrix of the end point of the lens - holding slave arm and the joint speed and the end - point speed based on the Jacobian matrix of the lens - holding arm.

[0098] According to the speed mapping relationship between the Cartesian space and the joint space, we can get: ; where is the velocity vector of the end of the lens - holding arm in the Cartesian space, is the joint velocity vector of the robotic lens - holding arm.

[0099] Let the end velocity of the lens - holding arm in the Cartesian space be , the joint motion velocity of the lens - holding arm be , the initial joint angle of the lens - holding arm be , the joint command angle of the lens - holding arm be , and the Jacobian matrix of the lens - holding arm be . We can get , , .

[0100] S280. When the motion control target of the lens - holding arm is obtained, determine the motion control commands 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, and realize the motion control of the lens - holding arm based on the motion control commands.

[0101] The motion control target of the lens - holding arm can correspond to , and at time is also known. Thus, the motion control commands for the first main robotic arm and the second main robotic arm can be further determined according to the motion control target, the impedance control relationship, and the motion mapping relationship. That is, by inputting the known parameters into the corresponding motion mapping relationship and impedance control relationship expressions, the motion control commands for the first main robotic arm and the second main robotic arm can be determined, that is, the control targets for the first main robotic arm and the second main robotic arm are determined to realize the motion control of the lens - holding arm.

[0102] In the technical solution of this embodiment, in the holding mirror arm control mode, the pose data of the end points of the first main robotic arm and the second main robotic arm are obtained, and the end point distance between the end points is determined based on the pose data; the midpoint of the end point distance is determined, and the center point of the virtual object is taken as the midpoint; a reference coordinate system is established with the center point as the coordinate origin, and the initial pose of the reference coordinate system is the same as the pose of the base coordinate system to obtain the reference coordinate system; according to the structural parameters of the first main robotic arm and the second main robotic arm, the main robotic arm end pose matrix of the end points of the first main robotic arm and the second main robotic arm in the base coordinate system is determined; according to the reference coordinate system, the object pose matrix of the virtual object in the base coordinate system and its secondary transformation matrix are determined; 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, the impedance control relationship of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints is obtained; wherein, the impedance control relationship is used to keep the end point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and when the virtual object rotates during the movement, it only rotates around the preset coordinate axis in the base coordinate system; 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 holding mirror arm relative to the base coordinate system, i.e., the pose matrix of the end of the holding mirror slave arm, is determined; according to the pose matrix of the end of the holding mirror slave arm and the mapping relationship between the joint speed and the end point speed based on the Jacobian matrix of the holding mirror arm, the motion mapping relationship between the holding mirror arm and the first main robotic arm and the second main robotic arm is determined; when the motion control target of the holding mirror 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 holding mirror arm is realized based on the motion control instructions. The technical solution of the present invention solves the problem that it is inconvenient to adjust the view of the holding mirror arm in the surgical robot system during the operation, and can realize the control of the pose state of the holding mirror arm by two main robotic arms to adjust the endoscopic view. Figure 7 FIG. is a schematic structural diagram of a holding mirror arm control device for a surgical robot provided by the present invention. This embodiment is applicable to the scenario of holding mirror arm control of a surgical robot, especially for the control of the holding mirror arm in a laparoscopic surgical robot system with two main arms. The device can be implemented in a software and / or hardware manner and integrated into a computer device with application development functions.

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

[0104] Among them, the initial data acquisition module 310 is used to obtain the pose data of the end points of the first main robotic arm and the second main robotic arm in the holding arm control mode, and determine the end point distance between the end points based on the pose data; the impedance control relationship determination module 320 is used to construct a reference coordinate system of the virtual object according to the end point distance, and determine the impedance control relationship of 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 pose parameters of the reference coordinate system relative to the base coordinate system; among them, the impedance control relationship is used to keep the end point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and when the virtual object rotates during the movement, it only rotates around the preset coordinate axis in the base coordinate system; the holding arm motion parameter determination module 330 is used to determine the motion mapping relationship between the holding arm and the first main robotic arm and the second main robotic arm according to the structural parameters of the holding arm and the synchronous motion constraint relationship between the holding arm and the first main robotic arm and the second main robotic arm; among them, the synchronous motion constraint relationship means that during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints, the holding arm moves synchronously with the virtual object; the 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 holding arm is obtained, and realize the motion control of the holding arm based on the motion control instructions.

[0105] The technical solution of this embodiment is as follows: in the holding arm control mode, the pose data of the end points of the first main robotic arm and the second main robotic arm are acquired, and the end point distance between the end points is determined based on the pose data; a reference coordinate system of the virtual object is constructed according to the end point distance, and according to the structural parameters of the first main robotic arm and the second main robotic arm and the pose parameters of the reference coordinate system relative to the base coordinate system, the impedance control relationship of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints is determined; wherein, the impedance control relationship is used to keep the end point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and when the virtual object rotates during the movement, it only rotates around the preset coordinate axis in the base coordinate system; according to the structural parameters of the holding arm and the synchronous motion constraint relationship between the holding arm and the first main robotic arm and the second main robotic arm, the motion mapping relationship between the holding arm and the first main robotic arm and the second main robotic arm is determined; wherein, the synchronous motion constraint relationship means that during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints, the holding arm moves synchronously with the virtual object; when the motion control target of the holding arm is acquired, 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 holding arm is realized based on the motion control instructions. The technical solution of the present invention solves the problem that it is inconvenient to adjust the field of view of the holding arm in the surgical robot system, and can realize the pose state control of the holding arm by two main robotic arms to adjust the endoscopic field of view.

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

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

[0108] Establish a reference coordinate system with the center point as the coordinate origin, and make the initial pose of the reference coordinate system the same as the pose of the base coordinate system to obtain the reference coordinate system.

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

[0110] According to the structural parameters of the first main robotic arm and the second main robotic arm, determine the main robotic arm end pose matrix of the end points of the first main robotic arm and the second main robotic arm in the base coordinate system;

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

[0112] According to the relative position relationship between the end points of the first master manipulator and the second master manipulator and the center point of the virtual object under the preset motion constraints, an impedance control relationship between the end points of the first master manipulator and the second master manipulator under the preset motion constraints is obtained.

[0113] In an alternative embodiment, the impedance control relationship determination module 320 can be used to:

[0114] According to the pose parameters of the end points of the first master manipulator and the second master manipulator and the center point of the virtual object at different times, determine the relative distance between the end points of the first master manipulator and the second master manipulator and the center point of the virtual object before and after the movement;

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

[0116] Based on the calculation expression, establish an impedance control relationship between the end points of the first master manipulator and the second master manipulator under the preset motion constraints.

[0117] In an alternative embodiment, the holding mirror arm motion parameter determination module 330 can 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, determine the pose matrix of the end point of the holding mirror arm relative to the base coordinate system of the holding mirror slave arm;

[0119] According to the pose matrix of the end point of the holding mirror slave arm and the mapping relationship between the joint velocity and the end point velocity based on the Jacobian matrix of the holding mirror arm, determine the motion mapping relationship between the holding mirror arm and the first master manipulator and the second master manipulator.

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

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

[0122] A console, an imaging trolley, and a surgical platform.

[0123] Wherein, the console includes a first master manipulator and a second master manipulator; the surgical platform includes a holding mirror arm;

[0124] During the surgery, there are often situations where the endoscopic view is insufficient and the endoscope needs to be moved to obtain a better view for the surgery; the console can implement the holding mirror arm control method of the surgical robot provided in any embodiment according to the input control information to control the movement of the holding mirror arm.

[0125] Figure 9 This is a schematic structural diagram of a computer device provided by the present invention. Figure 9 FIG. shows a block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present invention. Figure 9 The illustrated computer device 12 is merely an example and should not impose any limitation on the functions and usage scope of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be configured in a laparoscopic surgical robot system.

[0126] As Figure 9 shown, the computer device 12 is presented 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 connecting different system components (including the system memory 28 and the processing unit 16).

[0127] The bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and 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 accessible 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 a 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, a storage system 34 can be used to read and write non-removable, non-volatile magnetic media ( Figure 9 not shown, commonly referred to as a "hard disk drive"). Although Figure 9Not shown, a disk drive for reading and writing a removable non-volatile disk (such as a "floppy disk") and an optical disk drive for reading and writing a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to the bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (such as at least one) of program modules configured to perform the functions of the 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 the system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 42 generally perform the functions and / or methods in the embodiments described in the present invention.

[0131] The computer device 12 may also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and may also communicate with one or more devices that enable a user to interact with the computer device 12, and / or communicate with any device that enables the computer device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication may be carried out through an input / output (I / O) interface 22. Moreover, the computer device 12 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the computer device 12 through the bus 18. It should be understood that although Figure 9 not shown, other hardware and / or software modules may be used in conjunction with the 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, etc.

[0132] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28. For example, it implements the method for controlling the endoscope-holding arm of the surgical robot provided in the embodiments of the present invention. The method includes:

[0133] In the endoscope-holding arm control mode, obtain the pose data of the end points of the first master manipulator and the second master manipulator, and determine the end-point distance between the end points based on the pose data;

[0134] Construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship of the end points of the first master manipulator and the second master manipulator under the preset motion constraints according to the structural parameters of the first master manipulator and the second master manipulator and the pose parameters of the reference coordinate system relative to the base coordinate system;

[0135] Among them, the impedance control relationship is used to keep the end points of the first master manipulator and the second master manipulator at a certain endpoint distance during the movement, and when the virtual object rotates during the movement, it only rotates around the preset coordinate axis in the base coordinate system;

[0136] Determine the motion mapping relationship between the lens holder arm and the first master manipulator and the second master manipulator according to the structural parameters of the lens holder arm and the synchronous motion constraint relationship between the lens holder arm and the first master manipulator and the second master manipulator;

[0137] Among them, the synchronous motion constraint relationship means that during the movement of the end points of the first master manipulator and the second master manipulator under the preset motion constraints, the lens holder arm moves synchronously with the virtual object;

[0138] When the motion control target of the lens holder arm is obtained, determine the motion control instructions for the first master manipulator and the second master manipulator according to the motion control target, the impedance control relationship and the motion mapping relationship, and realize the motion control of the lens holder arm 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, it implements the method for controlling the lens holder arm of the surgical robot provided in any embodiment of the present invention. The method includes:

[0140] In the lens holder arm control mode, obtain the pose data of the end points of the first master manipulator and the second master manipulator, and determine the endpoint distance between the end points based on the pose data;

[0141] Construct a reference coordinate system of the virtual object according to the endpoint distance, and determine the impedance control relationship of the end points of the first master manipulator and the second master manipulator under the preset motion constraints according to the structural parameters of the first master manipulator and the second master manipulator and the pose parameters of the reference coordinate system relative to the base coordinate system;

[0142] Among them, the impedance control relationship is used to keep the end points of the first master manipulator and the second master manipulator at a certain endpoint distance during the movement, and when the virtual object rotates during the movement, it only rotates around the preset coordinate axis in the base coordinate system;

[0143] Determine the motion mapping relationship between the lens holder arm and the first master manipulator and the second master manipulator according to the structural parameters of the lens holder arm and the synchronous motion constraint relationship between the lens holder arm and the first master manipulator and the second master manipulator;

[0144] Among them, the synchronous motion constraint relationship means that during the process of the end points of the first master manipulator and the second master manipulator moving under preset motion constraints, the mirror holding arm moves synchronously with the virtual object;

[0145] When the motion control target of the mirror holding arm is obtained, the motion control instructions for the first master manipulator and the second master manipulator 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.

[0146] The computer storage medium of the present invention can adopt any combination of one or more computer-readable media. The computer-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: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0147] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0148] The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0149] The computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed 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 (e.g., connected through the Internet using an Internet service provider).

[0150] Embodiments of the present disclosure also provide a computer program product, including a computer program, which when executed by a processor, implements the method for controlling the endoscope holding arm of a surgical robot provided in any embodiment of the present disclosure.

[0151] In the process of implementing the computer program product, the computer program code for performing the operations of the present disclosure can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed 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 (e.g., connected through the Internet using an Internet service provider).

[0152] Those of ordinary skill in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing device. They can be centralized on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented with 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 separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module to be implemented. Thus, the present invention is not limited to any specific combination of hardware and software.

[0153] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope 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. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for the mirror - holding arm of a surgical robot, characterized in that, including: In the mirror - holding arm control mode, obtain the pose data of the end points of the first main robotic arm and the second main robotic arm, and determine the end - point distance between the end points based on the pose data; Determine the mid - point of the end - point distance, and use the mid - point 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 attitude of the reference coordinate system the same as the attitude of the base coordinate system to obtain the reference coordinate system. According to the structural parameters of the first main robotic arm and the second main robotic arm, determine the main - robotic - arm end - 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 of the virtual object in the base coordinate system and its secondary transformation matrix according to the reference coordinate system; Determine the relative distances before and after movement between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object 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; according to the relative distance and the trigonometric function relationship based on the relative position relationship, the calculation expression of the target control position of the center point of the virtual object; establish an impedance control relationship for the end points of the first main robotic arm and the second main robotic arm under preset motion constraints based on the calculation expression; wherein, the impedance control relationship is , where is a 3×1 matrix representing the position vector of 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 velocity command, is the impedance control acceleration command; M is the mass coefficient, a 3×3 matrix, D is the damping coefficient, a 3×3 matrix, K is the spring coefficient, a 3×3 matrix, is the virtual mass, is the virtual damping, is the virtual stiffness, represents the external force applied; Among them, the impedance control relationship is used to keep the end - point distance between the end points of the first main robotic arm and the second main robotic arm during the movement, and when the virtual object rotates during the movement, it rotates only around a preset coordinate axis in the base coordinate system; Determine the motion mapping relationship between the lens - holding arm and the first main robotic arm and the second main robotic arm according to the structural parameters of the lens - holding arm and the synchronous motion constraint relationship between the lens - holding arm and the first main robotic arm and the second main robotic arm; wherein, the motion mapping relationship is ; wherein, is the velocity vector of the end of the lens - holding arm in the Cartesian space, is the joint velocity vector of the lens - holding arm; assume that the end velocity of the lens - holding arm in the Cartesian space is , the joint motion velocity of the lens - holding arm is , the initial joint angle of the lens - holding arm is , the joint command angle of the lens - holding arm , the Jacobian matrix of the lens - holding arm is , correspondingly, , , ; Among them, the synchronous - motion constraint relationship means that during the movement of the end points of the first main robotic arm and the second main robotic arm under the preset motion constraints, the mirror - holding arm moves synchronously with the virtual object; When the motion control target of the mirror-holding arm is obtained, determine the motion control commands for the first master manipulator and the second master manipulator according to the motion control target, the impedance control relationship, and the motion mapping relationship, and based on the motion control commands, realize the motion control of the mirror-holding arm; wherein, the motion control target is expressed as .

2. The method according to claim 1, characterized in that The 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 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 includes: 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, i.e., the mirror - holding - sub - arm end - pose matrix, 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 motion mapping relationship between the mirror - holding arm and the first main robotic arm and the second main robotic arm according to the mirror - holding - sub - arm end - pose matrix and the mapping relationship between the joint velocity and the end - point velocity based on the Jacobian matrix of the mirror - holding arm.

3. A control device for a camera-holding arm of a surgical robot, characterized in that, including: An initial - data acquisition module, which is used to obtain the pose 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 end - point distance between the end points based on the pose data; An impedance - control - relationship determination module, which is used to determine the mid - point of the end - point distance and use the mid - point 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 attitude of the reference coordinate system the same as the attitude of the base coordinate system to obtain the reference coordinate system. According to the structural parameters of the first main robotic arm and the second main robotic arm, determine the main - robotic - arm end - 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 of the virtual object in the base coordinate system and its secondary transformation matrix according to the reference coordinate system; Determine the relative distances before and after movement between the end points of the first main robotic arm and the second main robotic arm and the center point of the virtual object 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; according to the relative distances and the trigonometric function relationships based on the relative position relationships, the calculation expression of the target control position of the center point of the virtual object; establish an impedance control relationship for the end points of the first main robotic arm and the second main robotic arm under preset motion constraints based on the calculation expression; wherein, the impedance control relationship is , where is a 3×1 matrix representing the position vector of 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 velocity 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, K is the spring coefficient which is a 3×3 matrix, is the virtual mass, is the virtual damping, is the virtual stiffness, represents the external force applied; Among them, the impedance control relationship is used to keep the end points of the first master manipulator and the second master manipulator at a certain end point distance during the movement, and when the virtual object rotates during the movement, it rotates only around a preset coordinate axis in the base coordinate system; A holding mirror arm motion parameter determination module, configured to determine a motion mapping relationship between the holding mirror arm and the first main robotic arm and the second main robotic arm according to the structural parameters of the holding mirror arm and the synchronous motion constraint relationship between the holding mirror arm and the first main robotic arm and the second main robotic arm; wherein, the motion mapping relationship is ; wherein is the velocity vector of the end of the holding mirror arm in the Cartesian space, is the joint velocity vector of the holding mirror arm; assume that the end velocity of the holding mirror arm in the Cartesian space is , the joint motion velocity of the holding mirror arm is , the initial joint angle of the holding mirror arm is , the joint command angle of the holding mirror arm , the Jacobian matrix of the holding mirror arm is , correspondingly , , ; Among them, the synchronous motion constraint relationship means that during the movement of the end points of the first master manipulator and the second master manipulator under the preset motion constraints, the mirror-holding arm moves synchronously with the virtual object; The mirror holding arm control module is configured to, when obtaining the motion control target of the mirror holding arm, determine the motion control commands 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, and implement the motion control of the mirror holding arm based on the motion control commands; wherein, the motion control target is represented as .

4. A laparoscopic surgical robot system, characterized in that, Including: A console, an imaging trolley and an operating platform; Among them, the console includes a first master manipulator and a second master manipulator; the operating platform includes a mirror-holding arm; The console can implement the method for controlling the mirror-holding arm of the surgical robot according to any one of claims 1-2 based on the input control information to control the movement of the mirror-holding arm.

5. A computer device, characterized in that, The computer device includes: 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 method for controlling the mirror-holding arm of the surgical robot according to any one of claims 1-2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for controlling the mirror-holding arm of the surgical robot according to any one of claims 1-2.

7. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for controlling the mirror-holding arm of the surgical robot according to any one of claims 1-2.

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