Method, device and storage medium for servo control of a mechanical arm of an interventional surgical robot

Abstract

The application belongs to the technical field of interventional robots, and provides an interventional surgery robot mechanical arm follow-up control method, equipment and a storage medium, wherein the method comprises the following steps: an initial positioning information of an interventional site and an active control mechanical arm is acquired by a positioning system and is sent to a controller; real-time positioning information of the interventional site and the active control mechanical arm is acquired by the positioning system and is sent to the controller; 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; if yes, the controller controls the active control mechanical arm to adjust a spatial state, so that the positioning information of the interventional site and the active control mechanical arm returns to a safety threshold range state, and the initial positioning information is updated; the problem of damaging blood vessels caused by relative movement between the patient interventional site and the mechanical arm is solved, and the safety of the interventional surgery process is improved.

Description

Technical Field

[0001] This invention relates to the field of robot control system technology, and in particular to a method, device and storage medium for the follow-up control of the robotic arm of an interventional surgical robot. Background Technology

[0002] In current robotic interventional surgeries, the robotic arm's position is fixed, or its position relative to the bed is fixed. However, the patient's intervention site, such as the leg, arm, or neck, may move in some cases, resulting in a variable relative position between the patient's intervention site and the robotic arm. During actual surgery, under local anesthesia, the patient may adjust their body position due to discomfort, or experience spasms causing convulsions at the intervention site. These situations can lead to sudden changes in the relative position between the intervention site and the robotic arm. In manual interventional surgeries, the high flexibility of the human hand allows surgeons to make timely adjustments based on changes in the patient's body. However, in robotic interventional surgeries, the high rigidity under fixed conditions can cause some hard and sharp interventional instruments, such as sheaths, to suddenly move relative to the blood vessels at the intervention site, potentially leading to safety risks such as vascular perforation or delamination.

[0003] Therefore, a follow-up control method is needed that allows the robotic arm to move with the intervention site to reduce the risk of vascular damage caused by the movement of the interventional device due to the patient. Summary of the Invention

[0004] This invention provides a robotic 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 intervention site and the robotic arm.

[0005] To achieve the aforementioned objectives, the first aspect of this invention provides a method for controlling the servo motion of a robotic arm in an interventional surgical robot. This method is applied to a robot control system, which includes a positioning system, a controller, and a controllable robotic arm. The method comprises:

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

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

[0008] The controller compares the initial positioning information with the real-time positioning information to determine whether the real-time positioning information exceeds the safety threshold range;

[0009] If so, 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 safe threshold range, and updates the initial positioning information.

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

[0011] Furthermore, the initial positioning information of the intervention site and the movable controllable robotic arm includes the initial relative position and initial relative angle of the intervention site and the movable controllable robotic arm; the real-time positioning information of the intervention site and the movable controllable robotic arm includes the real-time relative position and real-time relative angle of the intervention site and the movable controllable robotic arm.

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

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

[0014] The positioning method includes a binocular vision positioning method, an electromagnetic induction method, or a ranging positioning method, wherein the ranging 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 movable controllable robotic arm, and sending it to the controller, specifically includes:

[0016] Artificial intelligence and image recognition methods are used to identify the image features of the intervention site, and a coordinate system for the intervention site is established based on these image features. p x p yp z p And establish the coordinate system o of the controllable robotic arm. s x s y s z s The initial relative position of the intervention site and the movable controllable robotic arm is measured. And the initial relative angle (α, β, γ), will be used to obtain the initial relative position. 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 movable 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 between the intervention site and the movable, controllable robotic arm. The real-time relative position and the real-time relative angles |α′|, |β′|, and |γ′| are obtained and sent to the controller.

[0019] Wherein, the coordinate system in which the real-time positioning information is located is o p ′x p 'y p ′z p ′.

[0020] Furthermore, the step of the controller determining whether the real-time positioning information exceeds a safety threshold range by comparing the initial positioning information with the real-time positioning information specifically includes:

[0021] The controller makes a judgment through comparison. Does it exceed d? sa And whether any one of |α′|, |β′|, |γ′| exceeds θ sa To determine whether the real-time location information exceeds the safety threshold range;

[0022] Where, d sa θ represents the maximum distance that the controllable robotic arm can move relative to the interventional site without endangering patient safety. sa The maximum angle at which the controllable robotic arm can move relative to the interventional site without endangering patient safety.

[0023] Further, if so, the step of the controller controlling 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 safe threshold range, and updating the initial positioning information, specifically includes:

[0024] like The controller then controls the movable robotic arm to adjust its spatial state, thereby obtaining the adjusted relative position. With relative angles (α″, β″, γ″);

[0025] The positioning system adjusts the relative position after the adjustment. The relative angles (α″, β″, γ″) are measured, and the measurement results are returned to the controller;

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

[0027] Furthermore, motors are installed on the joints of the movable controllable robotic arm;

[0028] The step of the controller controlling the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention point and the movable controllable robotic arm returns to the safe threshold range includes:

[0029] The controller adjusts the spatial state by controlling the motors on the joints of the movable controllable robotic arm, so that the positioning information of the intervention part and the movable controllable robotic arm returns to the safe threshold range.

[0030] Furthermore, the movable and controllable robotic arm is equipped with deformable smart materials, including piezoelectric materials, biomimetic muscle materials, or memory materials.

[0031] The step of the controller controlling the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention point and the movable controllable robotic arm returns to the safe threshold range includes:

[0032] The controller controls the piezoelectric material, biomimetic 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 safe threshold range.

[0033] Furthermore, the movable and controllable robotic arm has a structure of a flexible robotic arm controlled by a draw wire;

[0034] The step of the controller controlling the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention point and the movable controllable robotic arm returns to the safe 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 part and the movable controllable robotic arm returns to the safe threshold range.

[0036] A second aspect of this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the robotic arm follow-up control method of the interventional surgical robot described in any of the preceding claims.

[0037] A third aspect of this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the robotic arm follow-up control method of any of the preceding claims for an interventional surgical robot.

[0038] Beneficial effects:

[0039] This invention provides a method for controlling the robotic arm of an interventional surgical robot. The positioning system acquires initial and real-time positioning information of the interventional site and the movable, controllable robotic arm, and sends this information to a controller. The controller compares the initial positioning information with the real-time positioning information. If the real-time positioning information exceeds a safety threshold, the controller controls the movable, controllable robotic arm to adjust its spatial state. This solves the problem of blood vessel damage caused by relative movement between the patient's interventional site and the robotic arm, reduces the safety risk caused by the robot's failure to adjust in time due to patient movement during the intervention, and improves the safety of the interventional surgical procedure. Attached Figure Description

[0040] Figure 1 This is a schematic diagram showing the relative position of the robotic arm slave end and the coordinate system during the intervention process of a robot control system according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of a robotic arm follow-up control method for an interventional surgical robot provided in an embodiment of the present invention;

[0042] Figure 3a , 3b 3c represents the 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 robotic arm from the end s x s y s z s A diagram illustrating the angle;

[0043] Figure 4 This is a schematic diagram illustrating the change of the coordinate system in a servo control according to an embodiment of the present invention;

[0044] Figure 5 A detailed schematic diagram of the robotic arm follow-up control method of an interventional surgical robot provided in an embodiment of the present invention;

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

[0046] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention.

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

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any modules 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 used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

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

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

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

[0054] Specifically, the positioning system identifies the spatial relationship between the intervention site and the markers mounted on the movable and controllable robotic arm using a positioning method, and establishes a coordinate system o for the intervention site in the reference coordinate system OXYZ based on the spatial relationship of the markers. p x p y p z p The coordinate system o of the controllable robotic arm s x s y s z s Measure the initial relative position between the intervention site and the movable controllable robotic arm. And the initial relative angle (α, β, γ), will be used to obtain the initial relative position. The initial relative angles (α, β, γ) are sent to the controller; wherein the coordinate system of the leg intervention area is o. p x p y p z p The coordinate system o of the robotic arm from the end s x s y s z s Angles are represented as follows Figure 3a , 3b As shown in 3c. The positioning methods described above include, but are not limited to, binocular vision positioning methods or electromagnetic induction methods, or ranging positioning methods, such as laser positioning methods or ultrasonic positioning methods.

[0055] Alternatively, instead of using markers, artificial intelligence and image recognition methods can be used to identify the image features of the intervention site, and a coordinate system for the intervention site can be established based on these image features. p x p y p z p And establish the coordinate system o of the controllable robotic arm. s x s y s z s The initial relative position of the intervention site and the movable controllable robotic arm is measured. And the initial relative angle (α, β, γ), will be used to obtain the initial relative position. 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 can be completely different from the positioning method of the intervention part. In addition to the aforementioned marker recognition, ranging, artificial intelligence, image recognition and other methods, it can also cover the method of adding a positioning device to the robotic arm itself, such as a gyroscope, GPS and other methods. It can also include the robotic arm itself without a positioning device, and obtaining its orientation by calculating the movement of the robotic arm in space.

[0057] S12, the positioning system acquires real-time positioning information of the intervention site and the movable 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 movable controllable robotic arm includes the real-time relative position and real-time relative angle of the patient's leg and the movable controllable robotic arm.

[0059] Specifically, the positioning system tracks the spatial state of the patient's legs in real time during the intervention process, i.e., coordinate system o. p x p y p z p In the spatial state of the reference coordinate system OXYZ, the spatial state includes the real-time relative position of the intervention site and the movable and controllable robotic arm. The real-time relative position and the real-time relative angles |α′|, |β′|, |γ′| are obtained and sent to the controller; when o p x p y p z p When the spatial state changes, including leg joint rotation, twisting, or twitching, the positioning system will change the new coordinates o. p 'x p 'yp 'z p The data is collected and sent to the controller of the intervention robot. The coordinate system of the real-time positioning information is o. p 'x p 'y p 'z p The change of the coordinate system in servo control is as follows: Figure 4 As shown.

[0060] S13, the controller compares the initial positioning information with the real-time positioning information to determine whether the real-time positioning information exceeds the safety threshold range;

[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 the real-time relative angles |α′|, |β′|, |γ′|. If the spatial state of the patient's legs changes, that is, if the real-time relative position or the real-time relative angle changes, the controller determines this by comparison. Does it exceed d? sa And whether any one of |α′|, |β′|, |γ′| exceeds θ sa The system determines whether the real-time location information exceeds a safety threshold. If the spatial state of the patient's legs does not change, the positioning system continues to monitor the spatial state of the patient's legs.

[0062] Where, d sa With θ sa These are the maximum distance and maximum angle that the movable and controllable robotic arm can move relative to the intervention site, provided that patient safety is not compromised. These values ​​were obtained through experimental research to confirm whether the robotic arm needs to adjust its spatial state to follow the leg.

[0063] S14, if so, 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 safe threshold range, and updates the initial positioning information.

[0064] Specifically, if If the controller determines that a change in the patient's leg's spatial state poses a safety risk, it calculates the required position and rotation angle of the robotic arm based on the patient's leg's spatial state and controls the movable robotic arm to adjust its spatial state from the end. The adjusted coordinate system of the movable robotic arm is o. s ′x s 'y s ′z s ′, to obtain the adjusted relative position With relative angles (α″, β″, γ″);

[0065] The positioning system adjusts the relative position after the adjustment. The relative angles (α″, β″, γ″) are measured, and the measurement results are returned to the controller;

[0066] Finally, the controller determines that both the relative position and the relative angle are within a safe range. Once it is determined that the state will not pose a safety risk to the patient, the controller locks all joints of the controllable robotic arm, the follow-up control process ends, and the initial positioning information is updated; a detailed flowchart is shown below. Figure 5 As shown in the diagram, the specific parameters involved are illustrated below. Figure 6 As shown.

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

[0068] In one embodiment, the movable controllable robotic arm is equipped with deformable smart materials, including but not limited to piezoelectric materials, biomimetic muscle materials, or memory materials. The controller controls the piezoelectric materials, biomimetic muscle materials, or memory materials on the movable controllable robotic arm to bring the positioning information of the intervention site and the movable controllable robotic arm back to a safe threshold range. These deformable smart materials can be controlled in conjunction with motors or can completely replace motors to drive the robotic 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, so that the positioning information of the intervention part and the movable controllable robotic arm returns to the safe threshold range.

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

[0071] Specifically, if no safety risk arises, 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 to existing fixed robotic arms, this invention provides a follow-up control algorithm that adjusts the spatial state of the robotic arm by following the movement of the intervention site. By changing the robotic arm to a follow-up control mode, a positioning system and a joint motion system are added to the original mechanical structure. Through this algorithm, the interventional robot can adjust its spatial state automatically, significantly reducing the amount of manual adjustment required by the doctor, thereby greatly simplifying the operation, improving the automation level of robotic interventional surgery, and reducing the safety risks caused by the interventional robot failing to adjust in time due to patient movement during the intervention process.

[0073] The ultimate goal of this invention is to ensure that the relative position and angle between the patient's intervention site and the robotic arm's slave end remain unchanged. Any control method and structure that can achieve this function falls within the scope of this case, including but not limited to mechanical structures or control methods that keep the spatial state of the robotic arm's slave end unchanged but adjust the spatial state of the patient's intervention site, or devices that fix the position and angle of the intervention site by means of buckles, ropes, belts or brackets to prevent it from moving.

[0074] Reference Figure 7 The present invention also provides a computer device, the internal structure of which can be as follows: Figure 7 As shown, this computer device includes a processor, memory, network interface, and database connected via a system bus. The processor is designed to provide computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores operating devices, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data packets, etc. The network interface is used for communication with external terminals via a network connection. Furthermore, the computer device may also include input devices and a display screen, etc. When the aforementioned computer program is executed by a processor, it implements a method for controlling the servo motion of a robotic arm in an interventional surgical robot, comprising the following steps: a positioning system acquires initial positioning information of the interventional site and the movable controllable robotic arm, and sends it to the controller; the positioning system acquires real-time positioning information of the interventional site and the movable controllable robotic arm, and sends the real-time positioning information to the controller; 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; if so, the controller controls the movable controllable robotic arm to adjust its spatial state so that the positioning information of the interventional site and the movable controllable robotic arm returns to the safety threshold range; if not, the positioning system continues to acquire real-time positioning information of the interventional 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 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer equipment on which the present application is applied.

[0076] One embodiment of this application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements a method for controlling the servo motion of a robotic arm in an interventional surgical robot. The method involves a positioning system acquiring initial positioning information of the interventional site and the movable controllable robotic arm, and sending this information to a controller. The positioning system also acquires real-time positioning information of the interventional site and the movable controllable robotic arm, and sends this real-time positioning information to the controller. 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. If so, the controller controls the movable controllable robotic arm to adjust its spatial state, causing the positioning information of the interventional site and the movable controllable robotic arm to return to the safety threshold range. If not, the positioning system continues to acquire real-time positioning information of the interventional site and the movable controllable robotic arm, and sends this real-time positioning information to the controller.

[0077] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media provided in this application and 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), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0078] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0079] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for controlling the servo motion of a robotic arm in an interventional surgical robot, characterized in that, The robotic arm follow-up control method is applied to a robot control system, which includes a positioning system, a controller, and a controllable robotic arm. The method includes: The positioning system acquires the initial positioning information of the intervention site and the movable controllable robotic arm, and sends it to the controller; The positioning system acquires real-time positioning information of the intervention site and the movable and controllable robotic arm, and sends the real-time positioning information to the controller; The controller compares the initial positioning information with the real-time positioning information to determine whether the real-time positioning information exceeds the safety threshold range; If so, 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 safe threshold range, and updates the initial positioning information. If not, the positioning system continues to acquire real-time positioning information of the intervention site and the movable controllable robotic arm, and sends the real-time positioning information to the controller.

2. The robotic arm follow-up control method of the interventional surgical robot as described in claim 1, characterized in that, The initial positioning information of the intervention site and the movable controllable robotic arm includes the initial relative position and initial relative angle of the intervention site and the movable controllable robotic arm; the real-time positioning information of the intervention site and the movable controllable robotic arm includes the real-time relative position and real-time relative angle of the intervention site and the movable controllable robotic arm.

3. The robotic arm follow-up control method of the interventional surgical robot as described in claim 2, characterized in that, The step of the positioning system acquiring initial positioning information of the intervention site and the movable controllable robotic arm and sending it to the controller specifically includes: The positioning system identifies the spatial relationship between the intervention site and the markers installed on the movable and controllable robotic arm using a positioning method, and establishes a coordinate system o for the intervention site in the reference coordinate system OXYZ based on the spatial relationship of the markers. p x p y p z p The coordinate system o of the controllable robotic arm s x s y s z s Measure the initial relative position between the intervention site and the movable controllable robotic arm. And the initial relative angle (α, β, γ), will be used to obtain the initial relative position. The initial relative angles (α, β, γ) are sent to the controller; The positioning method includes a binocular vision positioning method, an electromagnetic induction method, or a ranging positioning method, wherein the ranging positioning method includes a laser positioning method or an ultrasonic positioning method.

4. The robotic arm follow-up control method of the interventional surgical robot as described in claim 2, characterized in that, The step of the positioning system acquiring initial positioning information of the intervention site and the movable controllable robotic arm and sending it to the controller specifically includes: Artificial intelligence and image recognition methods are used to identify the image features of the intervention site, and a coordinate system for the intervention site is established based on these image features. p x p y p z p And establish the coordinate system o of the controllable robotic arm. s x s y s z s The initial relative position of the intervention site and the movable controllable robotic arm is measured. And the initial relative angle (α, β, γ), will be used to obtain the initial relative position. The initial relative angles (α, β, γ) are sent to the controller.

5. The robotic arm follow-up control method for the interventional surgical robot as described in any one of claims 2-4, characterized in that, The step of the positioning system acquiring real-time positioning information of the intervention site and the movable controllable robotic arm, and sending the real-time positioning information to the controller, specifically includes: The positioning system measures the real-time relative position between the intervention site and the movable, controllable robotic arm. The real-time relative position and the real-time relative angles |α′|, |β′|, and |γ′| are obtained and sent to the controller. Wherein, the coordinate system in which the real-time positioning information is located is o p ' p 'y p ′z p ′.

6. The robotic arm follow-up control method of the interventional surgical robot as described in claim 5, characterized in that, The step of the controller determining whether the real-time location information exceeds a safety threshold range by comparing the initial location information with the real-time location information specifically includes: The controller makes a judgment through comparison. Does it exceed d? sa And whether any one of |α′|, |β′|, |γ′| exceeds θ sa To determine whether the real-time location information exceeds the safety threshold range; Where, d sa θ represents the maximum distance that the controllable robotic arm can move relative to the interventional site without endangering patient safety. sa The maximum angle at which the controllable robotic arm can move relative to the interventional site without endangering patient safety.

7. The robotic arm follow-up control method for the interventional surgical robot as described in claim 6, characterized in that, If so, the controller controls the movable controllable robotic arm to adjust its spatial state so that the positioning information of the intervention point and the movable controllable robotic arm returns to the safe threshold range, and the initial positioning information is updated. This step specifically includes: like The controller then controls the movable robotic arm to adjust its spatial state, thereby obtaining the adjusted relative position. With relative angles (α″, β″, γ″); The positioning system adjusts the relative position after the adjustment. The relative angles (α″, β″, γ″) are measured, and the measurement results are returned to the controller; When the controller determines that both the relative position and the relative angle are within a safe range The controller then locks each joint of the controllable robotic arm and updates the initial positioning information.

8. The robotic arm follow-up control method for the interventional surgical robot as described in claim 1, characterized in that, Motors are mounted on the joints of the controllable robotic arm; The step of the controller controlling the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention point and the movable controllable robotic arm returns to the safe threshold range includes: The controller adjusts the spatial state by controlling the motors on the joints of the movable controllable robotic arm, so that the positioning information of the intervention part and the movable controllable robotic arm returns to the safe threshold range.

9. The robotic arm follow-up control method of the interventional surgical robot as described in claim 1, characterized in that, The controllable robotic arm is equipped with deformable smart materials, including piezoelectric materials, biomimetic muscle materials, or memory materials. The step of the controller controlling the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention point and the movable controllable robotic arm returns to the safe threshold range includes: The controller controls the piezoelectric material, biomimetic 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 safe threshold range.

10. The robotic arm follow-up control method of the interventional surgical robot as described in claim 1, characterized in that, The movable and controllable robotic arm is a flexible robotic arm structure controlled by a pull wire; The step of the controller controlling the movable controllable robotic arm to adjust the spatial state so that the positioning information of the intervention point and the movable controllable robotic arm returns to the safe 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 part and the movable controllable robotic arm returns to the safe threshold range.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the robotic arm follow-up control method for the interventional surgical robot 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 the processor, it implements the steps of the robotic arm follow-up control method for the interventional surgical robot as described in any one of claims 1 to 10.

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