Mechanical arm follow-up control method and equipment of interventional surgical robot and storage medium

Abstract

The invention belongs to the technical field of interventional robots, and provides a mechanical arm follow-up control method and device of an interventional surgical robot and a storage medium, and the method comprises the steps that a positioning system obtains initial positioning information of an interventional part and a movably-controlled mechanical arm and sends the initial positioning information to a controller; the positioning system obtains real-time positioning information of the intervention part and the movably-controlled mechanical arm and sends the real-time positioning information to the controller; the controller judges whether the real-time positioning information exceeds a safety threshold range or not by comparing the initial positioning information with the real-time positioning information; if yes, the controller controls the movably-controlled mechanical arm to adjust the space state, so that the positioning information of the intervention part and the movably-controlled mechanical arm returns to the safety threshold range state, and the initial positioning information is updated; the problem that blood vessels are damaged due to the fact that the interventional part of a patient moves relative to the mechanical arm is solved, and the safety of the interventional operation process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control systems, and in particular to a robot arm follow-up control method, device and storage medium for an interventional surgery robot. Background Art

[0002] In existing robotic interventional surgeries, the position of the robotic arm is fixed, or the position of the robotic arm relative to the bed is fixed, while the patient's interventional part, such as the leg, arm or neck, may move in some cases, which results in the relative position between the patient's interventional part and the robotic arm being unfixed. In actual surgery, the patient may adjust his body position due to discomfort under local anesthesia, or the interventional part may twitch due to spasms, which may cause a sudden change in the relative position between the interventional part and the patient. In manual interventional surgery, since the human hand is extremely flexible, the doctor can make timely adjustments according to the changes in the patient's body. In robotic interventional surgery, due to the high rigidity when fixed, some relatively hard and sharp interventional equipment, such as sheaths, may suddenly move relative to the blood vessels at the interventional part, resulting in safety risks such as blood vessel penetration or delamination.

[0003] Therefore, a follow-up control method is needed that enables the robotic arm to move with the intervention site to reduce the risk of blood vessel damage caused by the interventional equipment due to patient movement. Summary of the invention

[0004] The present invention provides a robot arm follow-up control method, device and storage medium, aiming to solve the technical problem of blood vessel damage caused by relative movement between the patient's interventional part and the robot arm.

[0005] In order to achieve the above-mentioned invention object, the first aspect of the present invention provides a robot arm follow-up control method for an interventional surgical robot, wherein the robot arm follow-up control method is applied to a robot control system, wherein the robot control system includes a positioning system, a controller, and a movable controllable robot arm, and the method includes:

[0006] The positioning system obtains initial positioning information of the intervention site and the movably controllable robotic arm, and sends the information to the controller;

[0007] The positioning system acquires real-time positioning information of the intervention site and the movable controllable mechanical arm, and sends the real-time positioning information to the controller;

[0008] The controller determines whether the real-time positioning information exceeds a safety threshold by comparing the initial positioning information with the real-time positioning information;

[0009] If yes, the controller controls the movably controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movably controllable mechanical arm returns to the safety threshold range state, and updates the initial positioning information;

[0010] If not, the positioning system continues to obtain the real-time positioning information of the intervention site and the movably controllable robotic arm, and sends the real-time positioning information to the controller.

[0011] Furthermore, the initial positioning information of the intervention part and the movably controllable robotic arm includes an initial relative position and an initial relative angle between the intervention part and the movably controllable robotic arm; the real-time positioning information of the intervention part and the movably controllable robotic arm includes a real-time relative position and a real-time relative angle between the intervention part and the movably controllable robotic arm.

[0012] Furthermore, the step of the positioning system acquiring initial positioning information of the intervention site and the movably controllable robotic arm and sending the information to the controller specifically includes:

[0013] The positioning system identifies the spatial position relationship between the intervention site and the marker installed on the movable controllable robot arm by using a positioning method, and establishes a coordinate system of the intervention site in the reference coordinate system OXYZ based on the spatial position relationship of the marker. p x p y p z p The coordinate system o of the movable controllable robot arm s x s y s z s , measuring the initial relative position of the intervention site and the movable controllable robotic arm and the initial relative angles (α, β, γ), the initial relative position obtained and the initial relative angle (α, β, γ) are sent to the controller;

[0014] The positioning method includes a binocular vision positioning method, an electromagnetic induction method, or a distance measurement positioning method, and the distance measurement positioning method includes a laser positioning method or an ultrasonic positioning method.

[0015] Furthermore, the step of the positioning system acquiring initial positioning information of the intervention site and the movably controllable robotic arm and sending the information to the controller specifically includes:

[0016] The image features of the intervention site are identified by using artificial intelligence and image recognition, and a coordinate system of the intervention site is established based on the image features. p x p yp z p , and establish the coordinate system of the movable controllable robotic arm s x s y s z s , measuring the initial relative position of the intervention site and the movable controllable robotic arm and the initial relative angles (α, β, γ), the initial relative position obtained and the initial relative angles (α, β, γ) are sent to the controller.

[0017] Furthermore, the step of the positioning system acquiring real-time positioning information of the intervention site and the movably controllable robotic arm, and sending the real-time positioning information to the controller specifically includes:

[0018] The positioning system measures the real-time relative position of the intervention site and the movable controllable robotic arm and real-time relative angles |α′|, |β′|, |γ′|, and sending the obtained real-time relative position and the real-time relative angle to the controller;

[0019] The coordinate system where the real-time positioning information is located is o p 'x p ′y p ′z p ′.

[0020] Furthermore, the controller compares the initial positioning information with the real-time positioning information to determine whether the real-time positioning information exceeds a safety threshold, specifically comprising:

[0021] The controller determines by comparison Is it more than d sa And whether any of |α′|, |β′|, |γ′| exceeds θ sa , to determine whether the real-time positioning information exceeds the safety threshold range;

[0022] Among them, d sa The maximum distance that the movable controllable robotic arm can move relative to the intervention site without endangering the patient's safety is θ sa The maximum angle to which the movably controllable robotic arm can move relative to the intervention site without endangering the patient's safety.

[0023] Furthermore, if yes, the controller controls the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable robotic arm returns to the safety threshold range state, and updates the initial positioning information, specifically including:

[0024] like The controller controls the movable controllable mechanical arm to adjust the spatial state to obtain the adjusted relative position. and relative angles (α″, β″, γ″);

[0025] The positioning system adjusts the relative position after the adjustment is completed. Measuring relative angles (α″, β″, γ″) and returning the measurement results to the controller;

[0026] When the controller determines that the relative position and the relative angle are both within the safe range The controller then locks each joint of the movably controllable robotic arm and updates the initial positioning information.

[0027] Furthermore, a motor is installed on the joint of the movable controllable mechanical arm;

[0028] The step of the controller controlling the movable controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable mechanical arm returns to the state within the safety threshold range includes:

[0029] The controller adjusts the spatial state by controlling the motors on the joints of the movably controllable robotic arm, so that the positioning information of the intervention site and the movably controllable robotic arm returns to a state within a safety threshold range.

[0030] Furthermore, the movable controllable mechanical arm is equipped with a deformable intelligent material, and the deformable intelligent material includes: piezoelectric material, bionic muscle material or memory material;

[0031] The step of the controller controlling the movable controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable mechanical arm returns to the state within the safety threshold range includes:

[0032] The controller controls the piezoelectric material, bionic muscle material or memory material on the movable controllable robotic arm so that the positioning information of the intervention site and the movable controllable robotic arm returns to a safety threshold range state.

[0033] Furthermore, the movable controllable mechanical arm is a flexible mechanical arm structure controlled by a pull wire;

[0034] The step of the controller controlling the movable controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable mechanical arm returns to the state within the safety threshold range includes:

[0035] The controller controls the flexible robotic arm by controlling the pull wire of the flexible robotic arm, so that the positioning information of the intervention site and the movably controllable robotic arm returns to a safety threshold range state.

[0036] The second aspect of the present application also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the robot arm follow-up control method of the interventional surgical robot described in any one of the above are implemented.

[0037] The third aspect of the present application further proposes a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the robot arm follow-up control method of the interventional surgical robot described in any one of the above are implemented.

[0038] Beneficial effects:

[0039] The present invention provides a method for following-up control of a robotic arm of an interventional surgical robot, wherein a positioning system obtains initial positioning information and real-time positioning information of an interventional site and a movably controllable robotic arm, and sends the information to a controller; the controller compares the initial positioning information with the real-time positioning information, and when it determines that the real-time positioning information exceeds a safety threshold range, controls the movably controllable robotic arm to adjust its spatial state, thereby solving the problem of blood vessel damage caused by relative movement between the patient's interventional site and the robotic arm, reducing the safety risk caused by the patient's interventional site moving during the intervention and the interventional robot failing to adjust in time, and improving the safety of the interventional surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the relative positions between the slave end of the robot arm of the robot control system and the coordinate system during the intervention process according to an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a method for controlling the mechanical arm of an interventional surgical robot according to an embodiment of the present invention;

[0042] Figure 3a , 3b 3c is a coordinate system of the leg intervention area provided in an embodiment of the present invention. p x p y p z p The coordinate system o of the slave end of the robot s x s y s z s Schematic diagram of angles;

[0043] Figure 4 A schematic diagram of the change of the coordinate system in the follow-up control according to an embodiment of the present invention;

[0044] Figure 5 A detailed schematic diagram of a method for controlling the mechanical arm of an interventional surgical robot provided by an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of specific parameters involved in an embodiment of the present invention;

[0046] Figure 7 A schematic diagram of the structure of a computer device provided in one embodiment of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "a", "an", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements, modules, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, modules, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0050] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0051] The embodiment of the present invention provides a robot arm follow-up control method for an interventional surgery robot. The robot arm follow-up control method is applied to a robot control system. The robot control system includes a positioning system, a controller, and a movable controllable robot arm. Figure 1 As shown (wherein the controller is a computer that can control the movement of the movable controllable robotic arm, not shown in the figure), in clinical practice, the intervention site may include the leg, arm or neck, etc. The embodiment of the present invention takes the patient's leg as an example for the intervention site. The patient lies on the bed, and the robot's robotic arm is located next to the bed. During the interventional surgery, the doctor operates the main end, and the guidewire catheter at the slave end of the robotic arm enters the human body through the patient's leg intervention area to perform the interventional surgery. Figure 2 As shown, the robot arm follow-up control method of the interventional surgery robot includes:

[0052] S11, the positioning system obtains initial positioning information of the intervention site and the movable controllable robotic arm, and sends the information to the controller;

[0053] The initial positioning information of the intervention site and the movably controllable robotic arm includes an initial relative position and an initial relative angle between the patient's leg and the movably controllable robotic arm.

[0054] Specifically, the positioning system identifies the spatial position relationship between the intervention site and the marker installed on the movable controllable robotic arm by using a positioning method, and establishes a coordinate system of the intervention site in the reference coordinate system OXYZ based on the spatial position relationship of the marker. p x p y p z p The coordinate system o of the movable controllable robot arm s x s y s z s , measuring the initial relative position of the intervention site and the movable controllable robotic arm and the initial relative angles (α, β, γ), the initial relative position obtained and the initial relative angle (α, β, γ) are sent to the controller; wherein the coordinate system o of the leg intervention area p x p y p z p The coordinate system o of the slave end of the robot s x s y s z s Angles are expressed as Figure 3a , 3b The positioning method mentioned above includes but is not limited to a binocular vision positioning method or an electromagnetic induction method, or a distance measurement positioning method, such as a laser positioning method or an ultrasonic positioning method.

[0055] Alternatively, instead of using markers, artificial intelligence and image recognition are used to identify the image features of the intervention site, and a coordinate system of the intervention site is established based on the image features. p x p y p z p , and establish the coordinate system of the movable controllable robotic arm s x s y s z s , measuring the initial relative position of the intervention site and the movable controllable robotic arm and the initial relative angles (α, β, γ), the initial relative position obtained and the initial relative angles (α, β, γ) are sent to the controller.

[0056] In one embodiment, the positioning method of the movable controllable robotic arm itself may be completely different from the positioning method of the intervention site. In addition to the aforementioned marker recognition, ranging, artificial intelligence, image recognition and other methods, it may also cover the method of adding a positioning device to the robotic arm itself, such as a gyroscope, GPS, etc. It may also include the robotic arm itself not containing a locator, and obtaining its position by calculating the movement of the robotic arm in space.

[0057] S12, the positioning system obtains real-time positioning information of the intervention site and the movably controllable robotic arm, and sends the real-time positioning information to the controller;

[0058] Specifically, the real-time positioning information of the intervention site and the movably controllable robotic arm includes the real-time relative position and the real-time relative angle between the patient's leg and the movably controllable robotic arm.

[0059] Specifically, the positioning system tracks the spatial state of the patient's legs in real time during the intervention process, that is, the coordinate system o p x p y p z p The spatial state in the reference coordinate system OXYZ, the spatial state including the real-time relative position of the intervention site and the movable controllable robotic arm and real-time relative angles |α′|, |β′|, |γ′|, and send the obtained real-time relative position and the real-time relative angle to the controller; when o p x p y p z p When the spatial state of the leg changes, including leg joint rotation, twisting or twitching, the positioning system will change the new coordinate o p 'x p 'yp 'z p 'Collect and send it to the controller of the interventional robot. Wherein, the coordinate system where the real-time positioning information is located is o p 'x p 'y p 'z p ', the change of coordinate system in follow-up control is as follows Figure 4 shown.

[0060] S13, the controller determines whether the real-time positioning information exceeds a safety threshold by comparing the initial positioning information with the real-time positioning information;

[0061] Specifically, after receiving the real-time relative position and real-time relative angle sent by the positioning system, the controller updates the real-time relative position and real-time relative angles |α′|, |β′|, |γ′|. If the spatial state of the patient's legs changes, that is, the real-time relative position or the real-time relative angle changes, the controller determines by comparison Is it more than d sa And whether any of |α′|, |β′|, |γ′| exceeds θ sa , to determine whether the real-time positioning information exceeds the safety threshold range. If the spatial state of the patient's legs has not changed, the positioning system continues to monitor the spatial state of the patient's legs.

[0062] Among them, d sa With θ sa They are respectively the maximum distance and maximum angle that the movable controllable robotic arm can move relative to the intervention site under the premise of not endangering the patient's safety. The two values ​​are measured through experimental research to confirm whether the robotic arm should follow the legs to adjust its spatial state.

[0063] S14, if yes, the controller controls the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention part and the movable controllable robotic arm returns to the safety threshold range state, and updates the initial positioning information.

[0064] Specifically, if That is, if the controller determines that the change in the leg space state will cause a safety risk, the controller calculates the position and rotation angle of the robot arm according to the space state of the patient's legs, and controls the movable controllable robot arm to adjust the space state from the end. The coordinate system of the movable controllable robot arm after adjustment is o s 'x s ′y s ′z s ′, get the adjusted relative position and relative angles (α″, β″, γ″);

[0065] The positioning system adjusts the relative position after the adjustment is completed. Measuring relative angles (α″, β″, γ″) and returning the measurement results to the controller;

[0066] Finally, when the controller determines that the relative position and the relative angle are both within the safe range That is, after determining that the state does not pose a safety risk to the patient, the controller locks each joint of the movable controllable mechanical arm, the follow-up control process ends, and the initial positioning information is updated; the detailed flow chart is as follows Figure 5 The schematic diagram of the specific parameters involved is shown in Figure 6 shown.

[0067] In one embodiment, motors are installed on the joints of the movably controllable robotic arm; the controller adjusts the spatial state by controlling the motors on the joints of the movably controllable robotic arm, so that the positioning information of the intervention site and the movably controllable robotic arm returns to a safety threshold range state.

[0068] In one embodiment, the movable controllable mechanical arm is equipped with a deformable intelligent material, and the deformable intelligent material includes but is not limited to: piezoelectric material, bionic muscle material or memory material; the controller controls the piezoelectric material, bionic muscle material or memory material on the movable controllable mechanical arm so that the positioning information of the intervention site and the movable controllable mechanical arm returns to the safe threshold range state. These deformable intelligent materials can be controlled in coordination with the motor, or they can completely replace the motor to drive the mechanical arm.

[0069] In one embodiment, the movable controllable robotic arm is a flexible robotic arm structure controlled by a pull wire; the controller controls the flexible robotic arm by controlling the pull wire of the flexible robotic arm, so that the positioning information of the intervention site and the movable controllable robotic arm returns to a safety threshold range state.

[0070] S15, if not, the positioning system continues to obtain the real-time positioning information of the intervention site and the movably controllable robotic arm, and sends the real-time positioning information to the controller.

[0071] Specifically, if no safety risk is generated, the positioning system monitors the spatial state of the patient's legs and sends the monitored spatial state to the controller in real time.

[0072] Compared with the existing fixed robotic arm, the embodiment of the present invention provides a follow-up control algorithm for adjusting the spatial state of the robotic arm from the end following the movement of the interventional part, changing the robotic arm to a follow-up control mode, and adding a positioning system and a joint motion system to the original mechanical structure. Through this algorithm, the interventional robot can adjust the spatial state by itself, significantly reducing the amount of manual adjustment of the robotic arm by the doctor, thereby greatly simplifying the operation, improving the level of automation of robotic interventional surgery, and reducing the safety risks caused by the patient's body movement during the intervention process and the failure of the interventional robot to adjust in time.

[0073] The ultimate goal of the present invention is to ensure that the relative position and relative angle between the patient's interventional part and the robot's arm remain unchanged. Any control method and structure that can achieve this function belongs to the expansion scope of this case, including but not limited to a mechanical structure or control method that keeps the spatial state of the robot's arm unchanged but adjusts the spatial state of the patient's interventional part, or a device that fixes the position and angle of the interventional part by means of buckles, ropes, belts or brackets so that it cannot move.

[0074] Reference Figure 7 The embodiment of the present invention further provides a computer device, the internal structure of which can be as follows Figure 7 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed for the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating device, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data packets, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. Furthermore, the above-mentioned computer device can also be provided with an input device and a display screen, etc. When the above-mentioned computer program is executed by the processor, a method for following up the motion of the robotic arm of an interventional surgical robot is implemented, comprising the following steps: the positioning system obtains initial positioning information of the intervention site and the movable controllable robotic arm, and sends the information to the controller; the positioning system obtains real-time positioning information of the intervention site and the movable controllable robotic arm, and sends the real-time positioning information to the controller; the controller determines whether the real-time positioning information exceeds a safety threshold range by comparing the initial positioning information with the real-time positioning information; if so, the controller controls the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable robotic arm returns to the safety threshold range state; if not, the positioning system continues to obtain real-time positioning information of the intervention site and the movable controllable robotic arm, and sends the real-time positioning information to the controller.

[0075] Those skilled in the art will understand that Figure 7 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0076] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, a method for following up the motion of a robotic arm of an interventional surgical robot is implemented, wherein a positioning system obtains initial positioning information of an interventional part and a movable controllable robotic arm, and sends the information to the controller; the positioning system obtains real-time positioning information of the interventional part and the movable controllable robotic arm, and sends the real-time positioning information to the controller; the controller determines whether the real-time positioning information exceeds a safety threshold range by comparing the initial positioning information with the real-time positioning information; if so, the controller controls the movable controllable robotic arm to adjust the spatial state so that the positioning information of the interventional part and the movable controllable robotic arm returns to the safety threshold range state; if not, the positioning system continues to obtain real-time positioning information of the interventional part and the movable controllable robotic arm, and sends the real-time positioning information to the controller.

[0077] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0078] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0079] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling the mechanical arm of an interventional surgery robot, characterized in that: The robot arm follow-up control method is applied to a robot control system, wherein the robot control system includes a positioning system, a controller and a movable controllable robot arm, and the method includes: The positioning system obtains initial positioning information of the intervention site and the movably controllable robotic arm, and sends the information to the controller; The positioning system acquires real-time positioning information of the intervention site and the movable controllable mechanical arm, and sends the real-time positioning information to the controller; The controller determines whether the real-time positioning information exceeds a safety threshold by comparing the initial positioning information with the real-time positioning information; If yes, the controller controls the movably controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movably controllable mechanical arm returns to the safety threshold range state, and updates the initial positioning information; If not, the positioning system continues to obtain the real-time positioning information of the intervention site and the movably controllable robotic arm, and sends the real-time positioning information to the controller.

2. The method for controlling the mechanical arm of an interventional surgery robot according to claim 1, wherein: The initial positioning information of the intervention part and the movably controllable robotic arm includes the initial relative position and initial relative angle of the intervention part and the movably controllable robotic arm; the real-time positioning information of the intervention part and the movably controllable robotic arm includes the real-time relative position and real-time relative angle of the intervention part and the movably controllable robotic arm.

3. The method for controlling the mechanical arm of an interventional surgery robot according to claim 2, wherein: The step of the positioning system acquiring initial positioning information of the intervention site and the movable controllable robotic arm and sending the information to the controller specifically includes: The positioning system identifies the spatial position relationship between the intervention site and the marker installed on the movable controllable robot arm by using a positioning method, and establishes a coordinate system of the intervention site in the reference coordinate system OXYZ based on the spatial position relationship of the marker. p x p y p z p The coordinate system o of the movable controllable robot arm s x s y s z s , measuring the initial relative position of the intervention site and the movable controllable robotic arm and the initial relative angles (α, β, γ), the initial relative position obtained and the initial relative angle (α, β, γ) are sent to the controller; The positioning method includes a binocular vision positioning method, an electromagnetic induction method, or a distance measurement positioning method, and the distance measurement positioning method includes a laser positioning method or an ultrasonic positioning method.

4. The method for controlling the mechanical arm of an interventional surgery robot according to claim 2, wherein: The step of the positioning system acquiring initial positioning information of the intervention site and the movable controllable robotic arm and sending the information to the controller specifically includes: The image features of the intervention site are identified by using artificial intelligence and image recognition, and a coordinate system of the intervention site is established based on the image features. p x p y p z p , and establish the coordinate system of the movable controllable robotic arm s x s y s z s , measuring the initial relative position of the intervention site and the movable controllable robotic arm and the initial relative angles (α, β, γ), the initial relative position obtained and the initial relative angles (α, β, γ) are sent to the controller.

5. The method for controlling the robot arm of an interventional surgery robot according to any one of claims 2 to 4, characterized in that: The step of the positioning system acquiring real-time positioning information of the intervention site and the movable controllable mechanical arm and sending the real-time positioning information to the controller specifically includes: The positioning system measures the real-time relative position of the intervention site and the movable controllable robotic arm and real-time relative angles |α′|, |β′|, |γ′|, and sending the obtained real-time relative position and the real-time relative angle to the controller; The coordinate system where the real-time positioning information is located is o p ' p 'y p ′z p ′.

6. The method for controlling the mechanical arm of an interventional surgery robot according to claim 5, characterized in that: The controller compares the initial positioning information with the real-time positioning information to determine whether the real-time positioning information exceeds a safety threshold range, specifically comprising: The controller determines by comparison Is it more than d sa And whether any of |α′|, |β′|, |γ′| exceeds θ sa , to determine whether the real-time positioning information exceeds the safety threshold range; Among them, d sa The maximum distance that the movable controllable robotic arm can move relative to the intervention site without endangering the patient's safety is θ sa The maximum angle to which the movably controllable robotic arm can move relative to the intervention site without endangering the patient's safety.

7. The method for controlling the mechanical arm of an interventional surgery robot according to claim 6, wherein: If yes, the controller controls the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable robotic arm returns to the safety threshold range state, and updates the initial positioning information, specifically including: like The controller controls the movable controllable mechanical arm to adjust the spatial state to obtain the adjusted relative position. and relative angles (α″, β″, γ″); The positioning system adjusts the relative position after the adjustment is completed. Measuring relative angles (α″, β″, γ″) and returning the measurement results to the controller; When the controller determines that the relative position and the relative angle are both within the safe range The controller then locks each joint of the movably controllable robotic arm and updates the initial positioning information.

8. The method for controlling the mechanical arm of an interventional surgery robot according to claim 1, wherein: A motor is installed on the joint of the movable controllable mechanical arm; The step of the controller controlling the movable controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable mechanical arm returns to the state within the safety threshold range includes: The controller adjusts the spatial state by controlling the motors on the joints of the movably controllable robotic arm, so that the positioning information of the intervention site and the movably controllable robotic arm returns to a state within a safety threshold range.

9. The method for controlling the mechanical arm of an interventional surgery robot according to claim 1, wherein: The movable controllable mechanical arm is equipped with a deformable intelligent material, and the deformable intelligent material includes: piezoelectric material, bionic muscle material or memory material; The step of the controller controlling the movable controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable mechanical arm returns to the state within the safety threshold range includes: The controller controls the piezoelectric material, bionic muscle material or memory material on the movable controllable robotic arm so that the positioning information of the intervention site and the movable controllable robotic arm returns to a safety threshold range state.

10. The method for controlling the robot arm of an interventional surgery robot according to claim 1, wherein: The movable controllable mechanical arm is a flexible mechanical arm structure controlled by a pull wire; The step of the controller controlling the movable controllable mechanical arm to adjust the spatial state so that the positioning information of the intervention site and the movable controllable mechanical arm returns to the state within the safety threshold range includes: The controller controls the flexible robotic arm by controlling the pull wire of the flexible robotic arm, so that the positioning information of the intervention site and the movably controllable robotic arm returns to a safety threshold range state.

11. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the robot arm follow-up control method of the interventional surgery robot are implemented as described in any one of claims 1 to 10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for following motion control of a robot arm of an interventional surgical robot according to any one of claims 1 to 10 are implemented.

Images