Surgical robot control method, system and equipment and storage medium

Abstract

The embodiment of the invention discloses a surgical robot control method, system and equipment and a storage medium, and the method comprises the following steps: when the surgical robot control system is in a master-slave control mode and detects that a lens holding arm deviates, controlling the lens holding arm to operate; determining a target pose matrix of the main manipulator relative to a display of the robot control end; determining an offset pose matrix according to the target pose matrix; wherein the offset pose matrix represents an offset pose matrix between the robot control end and the robot end after offset; and according to the target pose matrix and the offset pose matrix, pose correction is carried out on a robot control end and a robot end. According to the technical scheme, the problem that master-slave control consistency is reduced due to master-slave pose deviation when the mechanical arm of the endoscopic surgery robot works in the prior art is solved, the offset pose matrix after offset can be determined, pose correction is conducted on the robot control end and the robot end on the basis of the offset pose matrix, and the accuracy of the master-slave control consistency is improved. The master-slave pose deviation is eliminated, and the master-slave control consistency is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of medical device control technology, and in particular, to a surgical robot control method, system, device and storage medium. Background Art

[0002] In modern medical technology, the application of laparoscopic surgical robots has gradually become an important means to improve surgical accuracy and reduce surgical risks. However, since the master-slave posture deviation may occur due to collision when the laparoscopic surgical robot arm is working, resulting in reduced consistency of master-slave control, there is currently no strategy to deal with this situation. Summary of the invention

[0003] Embodiments of the present invention provide a surgical robot control method, system, device and storage medium, which can eliminate the posture deviation between the robot control end and the robot end and improve the consistency of master-slave control.

[0004] In a first aspect, an embodiment of the present invention provides a surgical robot control method, the method comprising:

[0005] When the surgical robot control system is in master-slave control mode and it is detected that the scope holding arm is offset, the target posture matrix of the master operator relative to the display of the robot control end is determined; the offset posture matrix is ​​determined according to the target posture matrix; wherein the offset posture matrix represents the offset posture matrix between the robot control end and the robot end after the offset occurs; and the posture of the robot control end and the robot end are corrected respectively according to the target posture matrix and the offset posture matrix.

[0006] In a second aspect, an embodiment of the present invention provides a surgical robot control system, the system comprising:

[0007] A target posture matrix determination module is used to determine the target posture matrix of the master operator relative to the display of the robot control end when the surgical robot control system is in the master-slave control mode and the mirror holding arm is detected to be offset; an offset posture matrix determination module is used to determine the offset posture matrix according to the target posture matrix; wherein the offset posture matrix represents the offset posture matrix between the robot control end and the robot end after the offset occurs; a posture correction module is used to perform posture correction on the robot control end and the robot end respectively according to the target posture matrix and the offset posture matrix.

[0008] In a third aspect, an embodiment of the present invention provides a computer device, the computer device comprising:

[0009] one or more processors;

[0010] A memory for storing one or more programs;

[0011] When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot control method described in any embodiment.

[0012] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the surgical robot control method described in any embodiment.

[0013] The technical solution provided by the embodiment of the present invention determines the target pose matrix of the master operator relative to the display of the robot control end when the surgical robot control system is in the master-slave control mode and detects that the mirror holding arm is offset; determines the offset pose matrix according to the target pose matrix; wherein the offset pose matrix represents the offset pose matrix between the robot control end and the robot end after the offset; and performs pose correction on the robot control end and the robot end respectively according to the target pose matrix and the offset pose matrix. The technical solution of the embodiment of the present invention solves the problem in the prior art that the master-slave pose deviation occurs when the mechanical arm of the laparoscopic surgical robot is working, resulting in reduced consistency of master-slave control. The offset pose matrix after the offset can be determined, and the pose correction can be performed on the robot control end and the robot end based on the offset pose matrix to eliminate the master-slave pose deviation and improve the consistency of master-slave control. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a flow chart of a surgical robot control method provided by an embodiment of the present invention;

[0015] Figure 2 is a flow chart of another surgical robot control method provided by an embodiment of the present invention;

[0016] Figure 3 is a structural schematic diagram of a surgical robot control system provided by an embodiment of the present invention;

[0017] Figure 4 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Figure 1 This is a flow chart of a surgical robot control method provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of performing posture correction on the surgical robot control system. The method can be executed by the surgical robot control system. The system includes: a robot control end and a robot end, wherein the robot control end includes a display and a main operator; the robot end includes an instrument arm and a mirror holding arm; the instrument arm holds a surgical instrument; the mirror holding arm holds an endoscope. The system can be implemented by software and / or hardware.

[0020] like Figure 1 As shown, the surgical robot control method includes the following steps:

[0021] S110. When the surgical robot control system is in a master-slave control mode and a deviation of the scope holding arm is detected, determine a target posture matrix of the master operator relative to a display of the robot control end.

[0022] Among them, the master-slave control mode can be a control mode of the surgical robot control system. In the master-slave control mode, the posture of the mirror holding arm on the robot side needs to remain stationary. If the mirror holding arm is offset in the subsequent process, it is necessary to re-correct the control correspondence between the robot control end and the robot end to ensure the normal operation of the entire surgical robot control system. Furthermore, a corresponding posture detection device can be set, which can detect the real-time posture matrix of the mirror holding arm. When the surgical robot control system is in the master-slave control mode, if it is detected that the posture matrix of the mirror holding arm has changed, it can be determined that the mirror holding arm has shifted.

[0023] Furthermore, the target pose matrix may be a pose matrix of the main operator relative to the display of the robot control end after the endoscope arm is offset. Exemplarily, the pose matrices of the main operator and the endoscope may be detected based on corresponding detection equipment, and then the pose matrices of the main operator and the endoscope may be substituted into the formula for obtaining the target pose matrix, thereby determining the target pose matrix.

[0024] S120. Determine a master-end offset pose matrix according to the target pose matrix.

[0025] The offset pose matrix may be a matrix representing the pose offset state between the robot control end and the robot end. Specifically, the target pose matrix may be substituted into a preset formula for obtaining the pose offset matrix to obtain the pose offset matrix.

[0026] S130. According to the target pose matrix and the offset pose matrix, pose correction is performed on the robot control end and the robot end respectively.

[0027] Among them, for the robot control end, the first torque corresponding to the robot control end can be determined according to the target posture matrix and the offset posture matrix, and then the posture of the robot control end is corrected based on the first torque. Correspondingly, the second torque corresponding to the robot end can be determined according to the target posture matrix and the offset posture matrix, and then the posture of the robot control end is corrected based on the second torque.

[0028] The technical solution provided by the embodiment of the present invention determines the target pose matrix of the master operator relative to the display of the robot control end when the surgical robot control system is in the master-slave control mode and detects that the mirror holding arm is offset; determines the offset pose matrix according to the target pose matrix; wherein the offset pose matrix represents the offset pose matrix between the robot control end and the robot end after the offset; and performs pose correction on the robot control end and the robot end respectively according to the target pose matrix and the offset pose matrix. The technical solution of the embodiment of the present invention solves the problem in the prior art that the master-slave pose deviation occurs when the mechanical arm of the laparoscopic surgical robot is working, resulting in reduced consistency of master-slave control. The offset pose matrix after the offset can be determined, and the pose correction can be performed on the robot control end and the robot end based on the offset pose matrix to eliminate the master-slave pose deviation and improve the consistency of master-slave control.

[0029] Figure 2 It is another flow chart of a surgical robot control method provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of performing posture correction on the surgical robot control system. Based on the above embodiment, this embodiment further explains how to determine the target posture matrix of the main operator relative to the display of the robot control end; how to determine the offset posture matrix according to the target posture matrix; and how to perform posture correction on the robot control end and the robot end respectively according to the target posture matrix and the offset posture matrix. The system comprises: a robot control end and a robot end, wherein the robot control end comprises a display and a main operator; the robot end comprises an instrument arm and a mirror holding arm; the instrument arm holds a surgical instrument; the mirror holding arm holds an endoscope. The system can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0030] In order to facilitate the understanding of the specific embodiments, the specific structure of the surgical robot control system is first introduced below. The surgical robot control system includes: a doctor's console (also known as the robot control end), a patient surgical platform (also known as the robot end) and accessories (surgical instruments, 3D endoscope).

[0031] The doctor's console includes a 3D display and a master operator. The 3D display is used to display images collected by the 3D endoscope. The doctor operates the master operator to generate posture movement instructions. The patient's surgical platform includes an instrument arm and a mirror holding arm. The instrument arm is used to install surgical instruments, and the mirror holding arm is used to install the endoscope. The position and posture of the master operator under the 3D display are the same as the position and posture of the surgical instrument under the 3D endoscope (the same posture matrix). When the laparoscopic surgical robot system is in master-slave control mode, the master operator controls the movement of the surgical instrument.

[0032] like Figure 2 As shown, the surgical robot control method includes the following steps:

[0033] S210. When the surgical robot control system is in master-slave control mode and a deviation of the scope holding arm is detected, a first posture matrix of the instrument relative to the endoscope after the deviation of the scope holding arm is determined, and a target posture matrix is ​​determined based on the first posture matrix.

[0034] Among them, the master-slave control mode can be a control mode of the surgical robot control system. In the master-slave control mode, the posture of the mirror holding arm on the robot side needs to remain stationary. If the mirror holding arm is offset in the subsequent process, it is necessary to re-correct the control correspondence between the robot control end and the robot end to ensure the normal operation of the entire surgical robot control system. Furthermore, a corresponding posture detection device can be set, which can detect the real-time posture matrix of the mirror holding arm. When the surgical robot control system is in the master-slave control mode, if it is detected that the posture matrix of the mirror holding arm has changed, it can be determined that the mirror holding arm has shifted.

[0035] Furthermore, the first pose matrix can be the pose matrix of the instrument relative to the endoscope after the scope arm is offset. The target pose matrix can be the pose matrix of the main operator relative to the display of the robot control end after the scope arm is offset. Specifically, the first pose matrix can be obtained based on the detection of a preset pose detection device, and then the first pose matrix can be substituted into the formula for obtaining the target pose matrix to determine the target pose matrix.

[0036] S220, determining a second posture matrix of the main operator relative to the display and a third posture matrix of the instrument relative to the endoscope before the endoscope holding arm deviates.

[0037] The second posture matrix may be a posture matrix of the main operator relative to the display before the endoscope holding arm is offset. The third posture matrix may be a posture matrix of the instrument relative to the endoscope before the endoscope holding arm is offset. Specifically, the second posture matrix and the third posture matrix may be detected and determined by corresponding posture detection equipment.

[0038] S230. Determine the offset pose matrix according to the target pose matrix, the second pose matrix and the third pose matrix.

[0039] The offset pose matrix may be a matrix representing the pose offset state between the robot control end and the robot end. Specifically, the target pose matrix, the second pose matrix, and the third pose matrix may be substituted into a preset formula for obtaining the pose offset matrix to obtain the pose offset matrix.

[0040] Exemplarily, the formula for obtaining the target pose matrix is: The matrix form is shown below:

[0041]

[0042] The formula for determining the offset pose matrix is: The matrix form is shown below:

[0043]

[0044] in, represents the first pose matrix; represents the second pose matrix; Represents the third pose matrix; P is a 3×1 position column array, R is a 3×1 attitude column array, which can be represented by but not limited to: Euler angles, RPY angles, Euler parameters, axis angles, etc.

[0045] S240. Determine a first correction torque corresponding to the robot control end based on the target posture matrix and the offset posture matrix, and perform posture correction on a main operator of the robot control end based on the first correction torque.

[0046] The first correction torque may be a torque for correcting the posture of the robot control end. Specifically, the target posture matrix and the offset posture matrix may be substituted into the formula for obtaining the first correction torque to obtain the first correction torque. Furthermore, the main operator may be controlled to change posture based on the torque and torque of the first correction torque, thereby achieving posture correction of the robot control end.

[0047] Exemplarily, the first correction torque is obtained The formula is:

[0048] Among them, M m , B m , K m are respectively the positive virtual mass, damping, and stiffness matrices simulated by the doctor’s main operator, which can be obtained through empirical debugging or dynamic modeling. m , are the target position, velocity, and acceleration of the end of the master manipulator in Cartesian space, respectively:

[0049]

[0050] Optionally, based on the target pose matrix and the offset pose matrix, a first correction torque corresponding to the robot control end is determined, and based on the first correction torque, the pose of the main manipulator of the robot control end is corrected, including: based on the target pose matrix and the offset pose matrix, determining the first force vector corresponding to the main manipulator of the robot control end; for each joint in the main manipulator, determining the joint correction torque corresponding to the joint according to the first force vector and the force Jacobian matrix corresponding to the joint, and correcting the pose of the joint based on the joint correction torque.

[0051] Among them, the first force vector may be a force vector used to correct the posture of the main manipulator. Specifically, the target posture matrix and the offset posture matrix may be substituted into the formula for obtaining the first force vector, thereby obtaining the first force vector corresponding to the main manipulator. Among them, the first force vector may be a six-dimensional vector. Exemplarily, the first force vector may include forces in three directions and torques in three directions. Further, the joint correction torque may be a torque for correcting the posture of the joint. The corresponding force Jacobian matrix may be preset for each joint of the main manipulator. After determining the first force vector, for each joint of the main manipulator, the first force vector and the force Jacobian matrix corresponding to the joint may be substituted into the formula for obtaining the correction torque of the joint, thereby obtaining the joint correction torque. Further, the joints of the main manipulator may be controlled to change posture based on the torque and torque of the joint correction torque, thereby realizing the posture correction of the robot control end.

[0052] Exemplarily, the joint correction torque τ is obtained m The formula is: Among them, J m (Θ m ) is the force Jacobian matrix corresponding to the joint.

[0053] S250. Determine a second correction torque corresponding to the robot end based on the target posture matrix and the offset posture matrix, and perform posture correction on the mirror holding arm of the robot end based on the second correction torque.

[0054] The second correction torque may be a torque for correcting the posture of the robot end. Specifically, the target posture matrix and the offset posture matrix may be substituted into the formula for obtaining the second correction torque, thereby obtaining the second correction torque. Furthermore, the mirror holding arm of the robot end may be controlled to change its posture based on the torque and torque of the second correction torque, thereby achieving posture correction of the robot end.

[0055] Optionally, based on the target pose matrix and the offset pose matrix, a second corrective torque corresponding to the robot end is determined, including: based on the target pose matrix and the offset pose matrix, a second force vector corresponding to the robot end is determined, and a second corrective torque is determined according to the second force vector.

[0056] Among them, the second force vector can be a force vector used to correct the posture of the mirror holding arm on the robot end. Specifically, the target posture matrix and the offset posture matrix can be substituted into the formula for obtaining the second force vector, and then the second force vector corresponding to the main operator can be obtained. Among them, the second force vector can be a six-dimensional vector. Exemplarily, the second force vector can include forces in three directions and moments in three directions. Furthermore, the corresponding force Jacobian matrix can be preset for the mirror holding arm on the robot end. After determining the second force vector, the force Jacobian matrix corresponding to the second force vector and the mirror holding arm can be substituted into the formula for obtaining the second correction torque, and then the second correction torque can be obtained.

[0057] For example, the target pose matrix and the offset matrix can be expressed as Determine the second force vector The formula is:

[0058] Among them, M s , B s , K s are respectively the positive virtual mass, damping, and stiffness matrices of the mirror holding arm simulation, which can be obtained through empirical debugging or dynamic modeling. s , are the target position, velocity, and acceleration of the end of the mirror holding arm in Cartesian space, respectively:

[0059]

[0060] Further, determine the second corrective torque τ s The formula is: Among them, J s (Θ s ) is the force Jacobian matrix corresponding to the mirror holding arm.

[0061] Optionally, when it is detected that the mirror holding arm is offset, the current motion state of the mirror holding arm can be displayed on the display; when the current motion state is abnormal, abnormal motion prompt information can be displayed on the display.

[0062] Among them, the current motion state can be the state information of the real-time motion of the mirror holding arm. Exemplarily, the real-time picture and real-time posture and other information of the mirror holding arm can be displayed on the display. Furthermore, the abnormal motion prompt information can be information indicating that the motion state of the mirror holding arm is abnormal. Specifically, if the mirror holding arm is detected to be offset in the master-slave control mode, it can be determined that the current motion state is an abnormal state, and the operator can be informed of the current motion status of the mirror holding arm through audio-visual feedback, and the feedback form includes but is not limited to graphics, icons, animations, colors, voices, etc.

[0063] The technical solution provided by the embodiment of the present invention is, when the surgical robot control system is in the master-slave control mode and the scope holding arm is detected to be offset, determining the first posture matrix of the instrument relative to the endoscope after the scope holding arm is offset, and determining the target posture matrix according to the first posture matrix; determining the second posture matrix of the master operator relative to the display and the third posture matrix of the instrument relative to the endoscope before the scope holding arm is offset; determining the offset posture matrix according to the target posture matrix, the second posture matrix and the third posture matrix; determining the first correction torque corresponding to the robot control end based on the target posture matrix and the offset posture matrix, and performing posture correction on the master operator of the robot control end based on the first correction torque; determining the second correction torque corresponding to the robot end based on the target posture matrix and the offset posture matrix, and performing posture correction on the scope holding arm of the robot end based on the second correction torque. The technical solution of the embodiment of the present invention solves the problem in the prior art that the master-slave posture deviation occurs when the mechanical arm of the laparoscopic surgical robot is working, resulting in a decrease in the consistency of master-slave control. The offset posture matrix after offset can be determined, and the posture of the robot control end and the robot end can be corrected based on the offset posture matrix to eliminate the master-slave posture deviation and improve the consistency of master-slave control.

[0064] like Figure 3 As shown, the surgical robot control system includes: a target posture matrix determination module 310, an offset posture matrix determination module 320 and a posture correction module 330.

[0065] Among them, the target posture matrix determination module is used to determine the target posture matrix of the master operator relative to the display of the robot control end when the surgical robot control system is in the master-slave control mode and the mirror holding arm is detected to be offset; the offset posture matrix determination module is used to determine the offset posture matrix according to the target posture matrix; wherein the offset posture matrix represents the offset posture matrix between the robot control end and the robot end after the offset occurs; the posture correction module is used to perform posture correction on the robot control end and the robot end respectively according to the target posture matrix and the offset posture matrix.

[0066] The technical solution provided by the embodiment of the present invention determines the target pose matrix of the master operator relative to the display of the robot control end when the surgical robot control system is in the master-slave control mode and detects that the mirror holding arm is offset; determines the offset pose matrix according to the target pose matrix; wherein the offset pose matrix represents the offset pose matrix between the robot control end and the robot end after the offset; and performs pose correction on the robot control end and the robot end respectively according to the target pose matrix and the offset pose matrix. The technical solution of the embodiment of the present invention solves the problem in the prior art that the master-slave pose deviation occurs when the mechanical arm of the laparoscopic surgical robot is working, resulting in reduced consistency of master-slave control. The offset pose matrix after the offset can be determined, and the pose correction can be performed on the robot control end and the robot end based on the offset pose matrix to eliminate the master-slave pose deviation and improve the consistency of master-slave control.

[0067] In an optional embodiment, the target posture matrix determination module 310 is specifically used to determine a first posture matrix of the instrument relative to the endoscope after the endoscope holding arm is offset, and determine the target posture matrix based on the first posture matrix.

[0068] In an optional embodiment, the offset posture matrix determination module 320 is specifically used to: determine the second posture matrix of the main operator relative to the display and the third posture matrix of the instrument relative to the endoscope before the scope holding arm is offset; determine the offset posture matrix according to the target posture matrix, the second posture matrix and the third posture matrix.

[0069] In an optional embodiment, the posture correction module 330 is specifically used to: determine the first correction torque corresponding to the robot control end based on the target posture matrix and the offset posture matrix, and perform posture correction on the main operator of the robot control end based on the first correction torque; determine the second correction torque corresponding to the robot end based on the target posture matrix and the offset posture matrix, and perform posture correction on the mirror holding arm of the robot end based on the second correction torque.

[0070] In an optional embodiment, the posture correction module 330 includes: a first posture correction unit, used to: determine the first force vector corresponding to the main manipulator of the robot control end based on the target posture matrix and the offset posture matrix; for each joint in the main manipulator, determine the joint correction torque corresponding to the joint according to the first force vector and the force Jacobian matrix corresponding to the joint, and perform posture correction on the joint based on the joint correction torque.

[0071] In an optional embodiment, the posture correction module 330 also includes: a second correction torque determination unit, which is used to: determine the second force vector corresponding to the robot end based on the target posture matrix and the offset posture matrix, and determine the second correction torque according to the second force vector.

[0072] In an optional embodiment, the surgical robot control system further includes: a motion abnormality prompt module, which is used to: display the current motion state of the mirror holding arm on the display when a deviation of the mirror holding arm is detected; and display motion abnormality prompt information on the display when the current motion state is an abnormal state.

[0073] The surgical robot control system provided in the embodiment of the present invention can execute the surgical robot control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0074] Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 4 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 4 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capability and can be configured in the surgical robot control device.

[0075] like Figure 4As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0076] The bus 18 may be one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0077] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0078] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0079] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0080] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Figure 4 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0081] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the surgical robot control method provided in the embodiment of the present invention, which includes:

[0082] When the surgical robot control system is in master-slave control mode and it is detected that the scope holding arm is offset, the target posture matrix of the master operator relative to the display of the robot control end is determined; the offset posture matrix is ​​determined according to the target posture matrix; wherein the offset posture matrix represents the offset posture matrix between the robot control end and the robot end after the offset occurs; and the posture of the robot control end and the robot end are corrected respectively according to the target posture matrix and the offset posture matrix.

[0083] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, a surgical robot control method provided in any embodiment of the present invention is implemented, including:

[0084] When the surgical robot control system is in master-slave control mode and it is detected that the scope holding arm is offset, the target posture matrix of the master operator relative to the display of the robot control end is determined; the offset posture matrix is ​​determined according to the target posture matrix; wherein the offset posture matrix represents the offset posture matrix between the robot control end and the robot end after the offset occurs; and the posture of the robot control end and the robot end are corrected respectively according to the target posture matrix and the offset posture matrix.

[0085] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, system or device or used in combination with it.

[0086] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, system, or device.

[0087] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0088] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0089] It should be understood by those skilled in the art that the above modules or steps of the present invention can be implemented by a general-purpose computing system, they can be concentrated on a single computing system, or distributed on a network composed of multiple computing systems, optionally, they can be implemented by a program code executable by a computer system, so that they can be stored in a storage system and executed by the computing system, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0090] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot control method, using a surgical robot control system, the system comprising: A robot control end and a robot end, wherein the robot control end includes a display and a main operator; the robot end includes an instrument arm and a mirror holding arm; the instrument arm holds a surgical instrument; the mirror holding arm holds an endoscope, characterized in that the method includes: When the surgical robot control system is in a master-slave control mode and the scope holding arm is detected to be offset, determining a target pose matrix of the master operator relative to a display of the robot control end; Determine an offset pose matrix according to the target pose matrix; wherein the offset pose matrix represents an offset pose matrix between the robot control end and the robot end after the offset occurs; According to the target pose matrix and the offset pose matrix, pose correction is performed on the robot control end and the robot end respectively.

2. The method according to claim 1, characterized in that Determining a target pose matrix of the main manipulator relative to a display of the robot control end includes: A first pose matrix of the instrument relative to the endoscope is determined after the endoscope holding arm is deviated, and the target pose matrix is ​​determined based on the first pose matrix.

3. The method according to claim 2, characterized in that Determining an offset pose matrix according to the target pose matrix includes: Determine a second posture matrix of the main operator relative to the display and a third posture matrix of the instrument relative to the endoscope before the endoscope holding arm deviates; The offset pose matrix is ​​determined according to the target pose matrix, the second pose matrix and the third pose matrix.

4. The method according to claim 1, characterized in that: The step of respectively correcting the posture of the robot control end and the robot end according to the target posture matrix and the offset posture matrix comprises: Determine a first correction torque corresponding to the robot control end based on the target posture matrix and the offset posture matrix, and perform posture correction on a main operator of the robot control end based on the first correction torque; Based on the target posture matrix and the offset posture matrix, a second correction torque corresponding to the robot end is determined, and the posture of the mirror holding arm on the robot end is corrected based on the second correction torque.

5. The method according to claim 4, characterized in that The method of determining a first correction torque corresponding to the robot control end based on the target posture matrix and the offset posture matrix, and performing posture correction on a main operator of the robot control end based on the first correction torque, comprises: Determine a first force vector corresponding to a main manipulator of the robot control end based on the target pose matrix and the offset pose matrix; For each joint in the master manipulator, a joint correction torque corresponding to the joint is determined according to the first force vector and a force Jacobian matrix corresponding to the joint, and the joint is corrected in position based on the joint correction torque.

6. The method according to claim 4, characterized in that The step of determining a second correction torque corresponding to the robot end based on the target pose matrix and the offset pose matrix includes: Based on the target pose matrix and the offset pose matrix, a second force vector corresponding to the robot end is determined, and the second correction torque is determined according to the second force vector.

7. The method according to claim 1, characterized in that The method further comprises: When it is detected that the mirror holding arm is offset, displaying the current movement state of the mirror holding arm on the display; When the current motion state is an abnormal state, motion abnormality prompt information is displayed on the display.

8. A surgical robot control system, characterized in that: The system comprises: A target posture matrix determination module is used to determine the target posture matrix of the master operator relative to the display of the robot control end when the surgical robot control system is in master-slave control mode and the scope holding arm is detected to be offset; An offset pose matrix determination module is used to determine an offset pose matrix according to the target pose matrix; wherein the offset pose matrix represents an offset pose matrix between the robot control end and the robot end after the offset occurs; The posture correction module is used to correct the posture of the robot control end and the robot end respectively according to the target posture matrix and the offset posture matrix.

9. A computer device, characterized in that: The computer device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot control method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the surgical robot control method as described in any one of claims 1-7 is implemented.

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