Surgical instrument retraction control method, readable storage medium and surgical robot system

Abstract

This invention provides a surgical instrument retraction control method, a readable storage medium, and a surgical robot system. The surgical instrument retraction control method includes: discretizing key points based on the surgical instrument's shape before retraction, and reconstructing a spline based on the discretized key points; constructing a cost function based on the distance between each key point and the spline when the surgical instrument is in the retraction process; finding the command velocity of the elbow-wrist joint that satisfies the minimum value of the derivative of the cost function with respect to time; integrating the command velocity to obtain the command position of the elbow-wrist joint; and controlling the retraction of the surgical instrument based on the command velocity and the command position. With this configuration, the surgical instrument retracts approximately along a path formed based on its shape before retraction, effectively reducing the possibility of collisions during retraction, and eliminating the need for environmental perception and additional image support.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument retraction control method, a readable storage medium, and a surgical robot system. Background Technology

[0002] Currently, in single-arm, single-port surgery, multiple surgical instruments are inserted into the patient's body in parallel via trocars, and the single-port surgery is achieved by bending the elbow and wrist joints of the instruments. When the instrument withdrawal command is issued, the surgical instruments must first return to the zero position (i.e., the straightened state) before withdrawal. Applying traditional surgical robot withdrawal planning strategies may result in the surgical instruments injuring tissue or damaging the instruments during the return to the zero position. Furthermore, surgical instruments may collide with each other during the return process. Summary of the Invention

[0003] The purpose of this invention is to provide a surgical instrument retraction control method, a readable storage medium, and a surgical robot system to solve the problem that existing surgical instruments are prone to colliding with tissues or colliding with each other when retracting.

[0004] To solve the above-mentioned technical problems, the present invention provides a surgical instrument retraction control method, which includes: discretizing key points based on the shape of the surgical instrument before retraction, and reconstructing splines based on the discretized key points;

[0005] When the surgical instrument is in the retraction process, a cost function is constructed based on the distance between each key point and the spline.

[0006] Find the command speed of the elbow and wrist joint that satisfies the minimum value of the derivative of the cost function with respect to time;

[0007] The command speed is integrated to obtain the command position of the elbow and wrist joint, and the surgical instrument is controlled to retract based on the command speed and the command position.

[0008] Optionally, the cost function includes the weights of each key point, and the weights of each key point are set according to the mode type; the mode type is set based on the end-effector type of the surgical instrument.

[0009] Optionally, the mode types include end-to-end optimization mode and global optimization mode;

[0010] When the mode type is the end-optimization mode, the weight of the key point located at the far end is not less than the weight of the key point located at the near end.

[0011] When the mode type is global optimization mode, all the key points have the same weight.

[0012] Optionally, after obtaining the commanded position of the elbow-wrist joint, the surgical instrument retraction control method further includes:

[0013] Filter the command speed and the command position;

[0014] The filtered cost function is evaluated. If the cost function exceeds a preset threshold, an abnormal information is fed back, and the control of the surgical instrument retraction is stopped.

[0015] If the cost function is within the preset threshold, the surgical instrument is controlled to retract based on the filtered command speed and command position.

[0016] To address the aforementioned technical problems, the present invention also provides a readable storage medium having a program stored thereon, which, when executed, implements the steps of the surgical instrument retraction control method described above.

[0017] To address the aforementioned technical problems, the present invention also provides a surgical robot system, characterized in that it includes a drive module and an elbow-wrist joint optimization module; the elbow-wrist joint optimization module includes a cost optimization module.

[0018] The cost optimization module is configured to: discretize key points based on the shape of the surgical instrument before retraction, and reconstruct splines based on the discretized key points; when the surgical instrument is in the retraction process, construct a cost function based on the distance between each key point and the spline; find the command velocity of the elbow-wrist joint that satisfies the minimum value of the derivative of the cost function with respect to time; and integrate the command velocity to obtain the command position of the elbow-wrist joint.

[0019] The drive module controls the surgical instrument to retract based on the command speed and the command position.

[0020] Optionally, the elbow-wrist joint optimization module further includes a mode selection module, which is used to select a mode type and configure different weights for each key point in the cost function according to the selected mode type.

[0021] Optionally, the mode types include end-to-end optimization mode and global optimization mode;

[0022] When the mode type is the end-optimization mode, the weight of the key point located at the far end is not less than the weight of the key point located at the near end.

[0023] When the mode type is global optimization mode, all the key points have the same weight.

[0024] Optionally, the elbow-wrist joint optimization module further includes an optimization verification module, which is configured to filter the command velocity and the command position after the cost optimization module obtains the command position of the elbow-wrist joint; and evaluate the filtered cost function.

[0025] If the cost function exceeds a preset threshold, the optimization verification module reports an anomaly, and the drive module stops controlling the surgical instrument to retract; if the cost function is within the preset threshold, the drive module controls the surgical instrument to retract based on the command speed and command position filtered by the optimization verification module.

[0026] Optionally, the surgical robot system further includes an instrument withdrawal trigger module and a telescopic joint planning module;

[0027] The exit trigger module is used to trigger the elbow-wrist joint optimization module and the telescopic joint planning module;

[0028] The telescopic joint planning module is used to plan the joint trajectory based on the position and velocity of the telescopic joint.

[0029] In summary, the surgical instrument retraction control method, readable storage medium, and surgical robot system provided by this invention include: discretizing key points based on the surgical instrument's shape before retraction, and reconstructing splines based on the discretized key points; constructing a cost function based on the distance between each key point and the spline when the surgical instrument is in the retraction process; finding the command velocity of the elbow-wrist joint that satisfies the minimum value of the derivative of the cost function with respect to time; integrating the command velocity to obtain the command position of the elbow-wrist joint, and controlling the retraction of the surgical instrument based on the command velocity and the command position.

[0030] With this configuration, the surgical instruments retract along a path formed based on their shape before retraction, which effectively reduces the possibility of collisions during retraction and eliminates the need for environmental perception and additional image support. Attached Figure Description

[0031] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0032] Figure 1 This is a schematic diagram of the surgical robot according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the end-effector assembly according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the retraction collision of the end effector assembly according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the surgical instrument retraction according to an embodiment of the present invention;

[0036] Figures 5a-5c This is a schematic diagram of the elbow and wrist joint retraction optimization according to an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the surgical instrument retracting along an optimized trajectory according to an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram illustrating the construction principle of the cost function in an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram illustrating the method of obtaining the command position by integrating the command speed according to an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram of the path planning of the telescopic joint according to an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of the invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0042] The terms "proximal" and "distal" are defined herein with respect to a surgical instrument having one end for insertion into the human body and one end extending outside the body and connected to a robotic arm. The term "proximal" refers to the end closer to the extension of the surgical instrument outside the body, and the term "distal" refers to the end closer to the insertion of the surgical instrument into the human body. Optionally, in manual or hand-operated applications, the terms "proximal" and "distal" are defined herein with respect to the operator, such as a surgeon or clinician. The term "proximal" refers to the position closer to the operator, and the term "distal" refers to the position closer to the surgical instrument and therefore further away from the operator.

[0043] The purpose of this invention is to provide a surgical instrument retraction control method, a readable storage medium, and a surgical robot system to solve the problem that existing surgical instruments are prone to colliding with tissues or colliding with each other during retraction. The following description refers to the accompanying drawings.

[0044] Please refer to Figure 1This example demonstrates a surgical robot system comprising a surgeon's console 10 and a patient-end carriage 20, configured in a master-slave control relationship, with the surgeon's console 10 as the master and the patient-end carriage 20 as the slave. Operations on the surgeon's console 10 can be mapped to the patient-end carriage 20, thereby enabling master-slave teleoperation to perform surgery. Furthermore, the patient-end carriage 20 includes a robotic arm 21 and an end effector assembly 22 mounted and connected to the robotic arm 21.

[0045] like Figure 1 The surgical robot system shown is a single-port surgical robot system, where the end effector assembly 22 performs surgical procedures through only one puncture port opened in the patient's skin. For details, please refer to... Figure 2 The diagram shows an end effector assembly 22 mounted on a robotic arm 21. The end effector assembly 22 specifically includes a puncture card 23 and several surgical instruments 24. The puncture card 23 is used for puncture holes on the patient's body surface and has a through-hole. The distal ends of the surgical instruments 24 extend into the patient's body through the through-hole of the puncture card 23. The surgical instruments 24 include endoscopes and actuators (such as arc shears, grasping forceps, etc.).

[0046] Please refer to Figure 2 and Figure 3 The surgical instrument 24, after being inserted into the patient's body through the inner hole of the trocar 23, generally unfolds in a serpentine, curved posture. Optionally, the surgical instrument 24 includes an elbow-wrist joint 242 and a telescoping joint 241. During the operation, the telescoping joint 241 is used to adjust the overall forward and backward movement of the surgical instrument 24, and the elbow-wrist joint 242 is used to adjust the end position and posture of the surgical instrument 24.

[0047] Please refer to Figure 4 In some application scenarios, such as after tissue detachment, it is necessary to replace the passive instrument with an active instrument to perform electrocautery and electrocoagulation operations. In this case, the surgical instrument 24 needs to be retracted to the uppermost position near the trocar 23 to facilitate the removal of the surgical instrument 24. Figure 4 The dashed line indicates the shape of the surgical instrument 24 before retraction. Please continue to refer to [the documentation / reference]. Figure 3 Because the surgical instrument 24 is generally deployed in a serpentine, curved manner inside the patient's body, its retraction ( Figure 3 When moving in the direction of the arrow, it is easy to collide with other surgical instruments or the patient's internal tissues.

[0048] Based on this, embodiments of the present invention provide a surgical instrument retraction control method, comprising:

[0049] Step S1: Discretize key points 31 based on the shape of surgical instrument 24 before retraction, and reconstruct spline 32 based on the discretized key points 31. Please refer to... Figure 5a and Figure 5b Key points 31 are discretely arranged along the axial direction of the surgical instrument 24, and are fixed to the surgical instrument 24. The key points 31 move with the movement of the surgical instrument 24. When the surgical instrument 24 receives a retraction command, the coordinate values ​​of each key point 31 at the current moment are recorded, such as... Figure 5a As shown. Then, based on the coordinates of each key point 31 at that moment, spline 32 in space can be reconstructed through spatial spline interpolation, as shown. Figure 5b As shown. Understandably, if the surgical instrument 24 retracts along the spline 32, it can effectively reduce its collision with surrounding tissues or other surgical instruments 24.

[0050] Step S2: When the surgical instrument 24 is in the retraction phase, a cost function is constructed based on the distance between each key point and the spline. For example... Figure 5c As shown, to ensure that the shape of the surgical instrument 24 during the retraction process remains within the contour range of its shape before retraction, a cost function can be constructed to achieve a response evaluation index, thereby assessing the difference in contour range between the shape during the retraction process and the shape before retraction. The cost function can be constructed and calculated using the distances between each key point 31 and the spline 32 during the retraction process.

[0051] Step S3: Find the command speed of the elbow-wrist joint 242 that satisfies the minimum value of the derivative of the cost function with respect to time. After defining the cost function, in order to meet the requirements of real-time control while optimizing the cost function, this can be achieved by finding the command speed of the elbow-wrist joint 242.

[0052] Step S4: Integrate the command speed to obtain the command position of the elbow-wrist joint 242, and control the surgical instrument 24 to retract based on the command speed and the command position. In practice, the command position of the elbow-wrist joint 242 can be obtained by integrating the command speed of the elbow-wrist joint 242 found at each moment during the retraction process of the surgical instrument 24.

[0053] Please refer to Figure 6 Steps S1 to S4 optimize the retraction trajectory of the elbow-wrist joint 242. Each control step of the elbow-wrist joint 242 executes the movement according to the command speed and command position optimized by the aforementioned steps S1 to S4. This allows the surgical instrument 24 to retract approximately along the path formed by its shape before retraction, effectively reducing the possibility of collision when the surgical instrument 24 retracts. Furthermore, it does not require perception of the surrounding environment or additional image support.

[0054] The following, in conjunction with the accompanying drawings and an example, further explains the specific steps for constructing the cost function in step S2 and finding the command speed of the elbow-wrist joint 242 in step S3.

[0055] Please refer to Figure 7 Let the number of keypoints 31 be N, and let the keypoints 31 be arranged in ascending order from far end to near end. Then the cost function can be defined as:

[0056]

[0057] In the formula, dist(A, spline) b () indicates the distance from point A to the spline. b The shortest distance, such as Figure 7 As shown. q is the generalized coordinate vector of the joints of surgical instrument 24 (including telescopic joint 241 and elbow-wrist joint 242); spline is spline 32; P i This represents the coordinates of the i-th key point 31; w i Let 31 be the weight of the i-th key point 31 in the cost function (which is a fixed scalar).

[0058] It should be noted that the cost function shown here is merely an example and not a limitation on how cost functions can be constructed. Those skilled in the art can construct different cost functions based on existing technology and actual needs.

[0059] Find the command speed of elbow and wrist joint 242. This can be transformed into solving the following mathematical problem: Given the current position q1 and velocity of the telescopic joint 241 And the current position q of the elbow-wrist joint 242 ew， Search Make

[0060]

[0061]

[0062]

[0063] in, f is the derivative of the cost function with respect to time. constriant For the constraint vector of surgical instrument 24 (e.g., instrument joint angle limitation), The maximum speed allowed for the elbow and wrist joint 242.

[0064] It should be noted that this embodiment is for finding The specific method is not limited; for example, common algorithms in this field such as the "gradient method", "steepest descent method" or "genetic algorithm" can be used.

[0065] Furthermore, the command speed of the elbow and wrist joint 242 located at each moment during the retraction process of the surgical instrument 24. Integrating the data will give the commanded position of the elbow-wrist joint 242, as shown below. Figure 8 As shown.

[0066] Optionally, the cost function includes the weight w of each of the key points 31, and the weight w of each of the key points 31 is set according to the mode type; the mode type is set based on the end type of the surgical instrument 24.

[0067] Surgical instruments 24 include various types, and in particular, the distal ends (i.e., distal tips) of surgical instruments 24 exhibit different levels of noxiousness. Therefore, the focus of backtracking control optimization differs for surgical instruments 24 with varying levels of noxiousness. Optionally, the mode types include distal tip optimization mode and global optimization mode.

[0068] If the distal end of the surgical instrument 24 is noxious (such as an arc shear), potentially causing harm to the human body, then an end-effector optimization mode is adopted. In this case, the weight w of the key point 31 located distally is not less than the weight w of the key point 31 located proximally. Therefore, for i = 1, 2, ..., N-1, w must satisfy... i ≥w i+1 ,and For example, w1 can be set to 1, and the weights of the other key points 31 can be set to 0. In the end-effector optimization mode, the focus of the retreat control optimization is the trajectory of the distal end (i.e., the end) of the surgical instrument 24, so as to ensure that the retrieval trajectory of the harmful distal part does not exceed the contour range of the surgical instrument 24 before retreat.

[0069] If the distal end of the surgical instrument 24 is not harmful or has relatively low harmfulness (such as grasping forceps, endoscopes, etc.), then a global optimization mode is adopted, in which case all the key points 31 have the same weight w. i = 1 / N, i = 1, 2, ..., N. In global optimization mode, the focus of rollback control optimization is on the overall configuration of the instrument, so as to ensure that the overall configuration does not exceed the outline range of the surgical instrument 24 before rollback.

[0070] Optionally, after obtaining the commanded position of the elbow-wrist joint 242, the surgical instrument retraction control method further includes:

[0071] Step S5: Filter the command speed and the command position;

[0072] Step S6: Evaluate the filtered cost function. If the cost function exceeds a preset threshold, feedback is provided and control of the surgical instrument 24 to retract is stopped.

[0073] If the cost function is within the preset threshold, the surgical instrument 24 is controlled to retract based on the filtered command speed and command position.

[0074] Steps S5 and S6 filter and smooth the optimization results from steps S1 to S4, and verify the filtered and smoothed results. For each control step, command filtering is performed based on the command speed and command position, and the filtered cost function is re-evaluated. The preset threshold can be set according to requirements. If the filtered cost function exceeds the preset threshold, it indicates that the optimization has failed. At this time, the movement of the telescopic joint 241 and the elbow-wrist joint 242 can be stopped, and the retraction of the surgical instrument 24 can be stopped. Furthermore, the filter can be reset, and the operator can be notified of path optimization failure through images, force sensing, sound, etc., so that optimization can be re-performed or the retraction operation can be manually performed.

[0075] Based on the surgical instrument retraction control method described above, this embodiment of the invention also provides a surgical robot system, which includes a drive module and an elbow-wrist joint optimization module; the elbow-wrist joint optimization module includes a cost optimization module;

[0076] The cost optimization module is configured to: discretize key points 31 based on the shape of the surgical instrument 24 before retraction, and reconstruct spline 32 based on the discretized key points 31; when the surgical instrument 24 is in the retraction process, construct a cost function based on the distance between each key point 31 and the spline 32; find the command speed of the elbow-wrist joint 242 that satisfies the minimum value of the derivative of the cost function with respect to time; integrate the command speed to obtain the command position of the elbow-wrist joint 242; and control the retraction of the surgical instrument 24 based on the command speed and the command position.

[0077] Optionally, the elbow-wrist joint optimization module further includes a mode selection module. This module selects a mode type and assigns different weights to each key point 31 in the cost function based on the selected mode type. Further, the mode types include end-effector optimization mode and global optimization mode. When the mode type is end-effector optimization mode, the weight of the key point 31 located at the distal end is not less than the weight of the key point 31 located at the proximal end. When the mode type is global optimization mode, all key points 31 have the same weight.

[0078] Optionally, the elbow-wrist joint optimization module further includes an optimization verification module. The optimization verification module is configured to, after the cost optimization module obtains the command position of the elbow-wrist joint 242, filter the command speed and the command position; evaluate the filtered cost function; if the cost function exceeds a preset threshold, the optimization verification module feeds back abnormal information, and the drive module stops controlling the surgical instrument 24 to retract; if the cost function is within the preset threshold, the drive module controls the surgical instrument 24 to retract according to the command speed and command position filtered by the optimization verification module.

[0079] Optionally, the surgical robot system further includes an instrument exit trigger module and a telescopic joint planning module; the exit trigger module is used to trigger the elbow-wrist joint optimization module and the telescopic joint planning module; the telescopic joint planning module is used to plan the joint trajectory of the telescopic joint 241 based on its position and velocity.

[0080] The exit trigger module can issue instrument exit commands in various ways, including but not limited to single-click, double-click, long-press, and swipe operations on the doctor's console 10 or the patient's end cart 20 via the interactive screen or physical buttons. After receiving the instrument exit command, the elbow-wrist joint optimization module and the telescopic joint planning module begin to perform joint trajectory planning for the position and speed of the telescopic joint 241. The elbow-wrist joint optimization module then optimizes the retraction trajectory of the elbow-wrist joint 242 based on the position and speed of the telescopic joint 241, thereby driving the surgical instrument 24 to retract along the optimized trajectory.

[0081] Optionally, after receiving the device exit command, the telescopic joint planning module performs the following two steps:

[0082] Step SA1: Record the current command position of the telescopic joint 241; the command position of the telescopic joint 241 is the starting point of the path planner, and the ending point of the path planner is the predetermined retraction position. This predetermined retraction position is a position preset in the program, at which the surgical instrument 24 can be easily replaced. Specifically, if the predetermined retraction position is lower than the current command position, the current command position can be directly configured as the predetermined retraction position.

[0083] Step SA2: Perform path planning based on maximum acceleration and maximum speed limits. It is understood that the path planning of the telescopic joint 241 is limited by maximum speed and maximum acceleration. In some embodiments, the complete path planning is as follows: Figure 9As shown, the path includes three phases: an acceleration phase, a constant speed phase, and a deceleration phase. In the acceleration phase, the speed increases, and the acceleration amplitude must be less than or equal to the maximum acceleration. In the constant speed phase, the commanded speed remains at the maximum speed, while the commanded position increases linearly, and the commanded acceleration is zero. In the deceleration phase, the speed decreases, and the acceleration amplitude must be less than or equal to the maximum acceleration. Specifically, in some embodiments, when the path start and end points are close together, the maximum speed may not be reached; in this case, there is no constant speed phase, and only the acceleration and deceleration phases are retained.

[0084] This invention also provides a readable storage medium storing a program thereon, which, when executed, implements the steps of the surgical instrument retraction control method described above.

[0085] In summary, the surgical instrument retraction control method, readable storage medium, and surgical robot system provided by this invention include: discretizing key points based on the surgical instrument's shape before retraction, and reconstructing splines based on the discretized key points; constructing a cost function based on the distance between each key point and the spline when the surgical instrument is in its retraction state; finding the command velocity of the elbow-wrist joint that minimizes the derivative of the cost function with respect to time; integrating the command velocity to obtain the command position of the elbow-wrist joint; and controlling the retraction of the surgical instrument based on the command velocity and the command position. With this configuration, the surgical instrument retracts approximately along a path formed based on its shape before retraction, effectively reducing the possibility of collisions during retraction, and eliminating the need for environmental perception and additional image support.

[0086] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A readable storage medium having a program stored thereon, characterized in that, When the program is executed, it achieves the following: Key points are discretized based on the shape of the surgical instrument before retraction, and splines are reconstructed based on the discretized key points. When the surgical instrument is in the retraction process, a cost function is constructed based on the distance between each key point and the spline. Find the command speed of the elbow and wrist joint that satisfies the minimum value of the derivative of the cost function with respect to time; The command speed is integrated to obtain the command position of the elbow and wrist joint, and the surgical instrument is controlled to retract based on the command speed and the command position.

2. The readable storage medium according to claim 1, characterized in that, The cost function includes the weights of each key point, and the weights of each key point are set according to the mode type; the mode type is set based on the end effector type of the surgical instrument.

3. The readable storage medium according to claim 2, characterized in that, The mode types include end-point optimization mode and global optimization mode; When the mode type is the end-optimization mode, the weight of the key point located at the far end is not less than the weight of the key point located at the near end. When the mode type is global optimization mode, all the key points have the same weight.

4. The readable storage medium according to claim 1, characterized in that, After obtaining the commanded position of the elbow and wrist joint, the surgical instrument retraction control method further includes: Filter the command speed and the command position; The filtered cost function is evaluated. If the cost function exceeds a preset threshold, an abnormal information is fed back, and the control of the surgical instrument retraction is stopped. If the cost function is within the preset threshold, the surgical instrument is controlled to retract based on the filtered command speed and command position.

5. A surgical robot system, characterized in that, It includes a drive module and an elbow-wrist joint optimization module; the elbow-wrist joint optimization module includes a cost optimization module; The cost optimization module is configured to: discretize key points based on the shape of the surgical instrument before retraction, and reconstruct splines based on the discretized key points; when the surgical instrument is in the shape during the retraction process, construct a cost function based on the distance between each key point and the spline; and find the command speed of the elbow and wrist joint that satisfies the minimum value of the derivative of the cost function with respect to time. Integrate the command velocity to obtain the command position of the elbow and wrist joint; The drive module controls the surgical instrument to retract based on the command speed and the command position.

6. The surgical robot system according to claim 5, characterized in that, The elbow-wrist joint optimization module also includes a mode selection module, which is used to select a mode type and configure different weights for each key point in the cost function according to the selected mode type.

7. The surgical robot system according to claim 6, characterized in that, The mode types include end-point optimization mode and global optimization mode; When the mode type is the end-optimization mode, the weight of the key point located at the far end is not less than the weight of the key point located at the near end. When the mode type is global optimization mode, all the key points have the same weight.

8. The surgical robot system according to claim 5, characterized in that, The elbow-wrist joint optimization module further includes an optimization verification module, which is configured to filter the command speed and the command position after the cost optimization module obtains the command position of the elbow-wrist joint. The filtered cost function is evaluated; If the cost function exceeds a preset threshold, the optimization verification module will report an anomaly, and the drive module will stop controlling the surgical instrument to retract. If the cost function is within the preset threshold, the driving module controls the surgical instrument to retract based on the instruction speed and instruction position filtered by the optimization verification module.

9. The surgical robot system according to claim 5, characterized in that, The surgical robot system also includes an instrument withdrawal trigger module and a telescopic joint planning module; The exit trigger module is used to trigger the elbow-wrist joint optimization module and the telescopic joint planning module; The telescopic joint planning module is used to plan the joint trajectory based on the position and velocity of the telescopic joint.

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