Surgical robot control method, device and system

Abstract

The invention provides a surgical robot control method, device and system, and relates to the technical field of medical instruments, the method is applied to a control system, the control system is in communication connection with a driver capable of driving a display device to move, and the display device is configured to provide viewable images for an operator and is supported by a supporting structure; the method comprises the steps that if a sensing circuit is triggered, force input information FA and torque input information M input by the hand of an operator are obtained at a first preset part, and meanwhile, angle information alpha which responds to the torque input information M input by the hand of the operator and enables a display device to rotate around a pivot shaft is obtained at a second preset part; and based on the angle information alpha, converting the force input information FA into an acting force F0 under the base coordinate system of the display device, and mapping the acting force F0 to the output speed of the corresponding driver to control the motion of the driver.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical robot control method, device and system. Background Art

[0002] In a surgical system, a user operates a control input device using the surgical system to manipulate surgical instruments and other devices to perform surgical operations at a surgical site. The control input device typically includes a hand input device, such as a gripper handle, a joystick, an exoskeleton glove, etc. In some examples of surgery or other medical tasks, the hand input device can control various surgical instruments, such as a needle driver, an electrosurgical cauterization probe, an endoscope, etc., which perform functions such as holding or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue.

[0003] In some practical applications, the display device is used in conjunction with the control input device.The display device can display an image captured by a camera at the work site that depicts a view of the remote work site or a portion thereof.

[0004] Since each operator has a different height or prefers a different posture when using the display screen of the viewing system, the operator may want to adjust the display device from time to time. Summary of the invention

[0005] The purpose of the present application is to provide a surgical robot control method, device and system, which can control the movement of the driver by detecting the operator's hand input, thereby adjusting the display device so that the display device is adjusted to a sitting position that matches the operator.

[0006] In a first aspect, an embodiment of the present application provides a surgical robot control method, the method being applied to a control system, the control system being communicatively connected to a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprising:

[0007] Acquire a hand input of an operator at a first preset position, and determine whether to trigger a sensing circuit according to the hand input;

[0008] If the sensing circuit is triggered, the force input information F of the operator's hand input is obtained at the first preset position. A and torque input information M, and at the same time, obtaining angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand at a second preset position; based on the angle information α, converting the force input information F A Converted into the force F in the display device base coordinate system 0, and the force F 0 The output speed mapped to the corresponding drive controls its motion.

[0009] Furthermore, the step of obtaining the operator's hand input at the first preset position and determining whether to trigger the sensor circuit according to the hand input includes:

[0010] The first preset position is pre-configured with two sensing areas that can be sensed by two fingers of the same person's hand;

[0011] If the two sensing areas are triggered at the same time, the sensing circuit is triggered.

[0012] Furthermore, the step of obtaining the operator's hand input at the first preset position and determining whether to trigger the sensor circuit according to the hand input includes:

[0013] The first preset position is pre-configured with two sensing areas arranged circumferentially and spaced apart;

[0014] Using the sensing area where the touch signal is detected for the first time as the first sensing area, and using the touch signal as the first touch signal;

[0015] When a touch signal is received in another sensing area, the sensing area is used as a second sensing area, and the touch signal is used as a second touch signal;

[0016] It is determined whether the generation time of the first touch signal and the second touch signal is within a preset time range, and if so, the sensor circuit is triggered.

[0017] Furthermore, the step of obtaining the operator's hand input at the first preset position and determining whether to trigger the sensor circuit according to the hand input includes:

[0018] The first preset position is pre-configured with a plurality of sensing areas;

[0019] The touch dwell time of the hand input in the plurality of the sensing areas is obtained, and if the touch dwell time is within a preset time range, the sensing circuit is triggered.

[0020] Furthermore, the step of obtaining the operator's hand input at the first preset position and determining whether to trigger the sensor circuit according to the hand input includes:

[0021] The first preset position is pre-configured with two capacitive sensing areas arranged opposite to each other;

[0022] If the two capacitive sensing areas are triggered at the same time, the sensing circuit is triggered.

[0023] Furthermore, the force input information F inputted by the operator's hand is obtained at the first preset position. A The steps include:

[0024] The first sensor obtains the vertical force F input by the operator's hand at the first preset position. y ;

[0025] The second sensor obtains the horizontal force F input by the operator's hand at the first preset position. x ;

[0026] Based on the angle information α, the force F y and F x Converted into the force F in the base coordinate system of the display device y0 and F x0 , and the force F y0 and F x0 Mapped to the output speed V of the corresponding driver y and V x Control its movement.

[0027] Furthermore, the force input information F inputted by the operator's hand is obtained at the first preset position. A The steps include:

[0028] The vertical force F input by the operator's hand is obtained at the first preset position by the same sensor. y and the horizontal force F x ;

[0029] Based on the angle information α, the force F y and F x Converted into the force F in the base coordinate system of the display device y0 and F x0 , and the force F y0 and F x0 Mapped to the output speed V of the corresponding driver y and V x Control its movement.

[0030] Furthermore, the force F y0 and F x0 When the output speed of the corresponding drive is mapped to control its motion, the force F directly obtained by calculation y0 and F x0 Add optimization parameters;

[0031] The optimized force F 优y0 and F 优x0Mapped to the output speed V of the corresponding driver 优y and V 优x Control its movement.

[0032] In a second aspect, an embodiment of the present application further provides a surgical robot control method, the method being applied to a control system, the control system being communicatively connected to a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprising:

[0033] The first preset positions corresponding to the left and right hands of the operator respectively obtain the hand input of the operator to determine whether to trigger the left and right sensing circuits;

[0034] If the left and / or right sensing circuits are triggered, the following actions are performed:

[0035] The force input information F input by the operator's left hand is obtained at the first preset position corresponding to the operator's left hand. A1 and torque input information M 1 ,

[0036] The force input information F inputted by the operator's right hand is obtained at the first preset position corresponding to the operator's right hand. A2 and torque input information M 2 ,

[0037] Calculate and obtain F A1 and F A2 The average value F 均A , and M 1 and M 2 The average value M 均 ;

[0038] At the same time, torque input information M in response to the operator's hand input is obtained at the second preset position. 均 The angle information α of the display device rotating around the pivot axis;

[0039] Based on the angle information α, the force input information F 均A Converted into the force F in the display device base coordinate system 均0 , and the force F 均0 The output speed mapped to the corresponding drive controls its motion.

[0040] Furthermore, the step of obtaining the operator's hand input at the first preset position and determining whether to trigger the sensor circuit according to the hand input includes:

[0041] The first preset positions corresponding to the left and right hands of the operator are pre-configured with a plurality of capacitive sensing areas;

[0042] When any two of the plurality of capacitive sensing areas receive a touch signal, the sensing circuit is triggered.

[0043] In a third aspect, an embodiment of the present application further provides a surgical robot control method, the method being applied to a control system, the control system being communicatively connected to a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprising:

[0044] Acquire a hand input of an operator at a first preset position, and determine whether to trigger a sensing circuit according to the hand input;

[0045] If the sensing circuit is triggered, it does the following:

[0046] The three-dimensional force sensor configured on the display device obtains the vertical and horizontal force input information F of the operator's hand input A ;

[0047] The torque input information M input by the operator's hand is obtained through a torque sensor configured on the display device;

[0048] Obtaining angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand through a potentiometer configured on the pivot axis;

[0049] Based on the angle information α, the force input information F A Converted into the force F in the display device base coordinate system 0 ;

[0050] The force F 0 The output speed mapped to the corresponding drive controls its motion;

[0051] Based on the output speed of the driver and the torque input information M, a control instruction for the driver is obtained, and the corresponding driver is commanded to move the display device according to the control instruction.

[0052] In a fourth aspect, an embodiment of the present application further provides a surgical robot control device, which is applied to a control system; the control system is respectively connected to a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the device comprises:

[0053] A trigger judgment module, used to obtain the operator's hand input at a first preset position, and judge whether to trigger the sensor circuit according to the hand input;

[0054] A force acquisition module is used to acquire the force input information F input by the operator's hand at the first preset position. A

[0055] A torque acquisition module, used for acquiring torque input information M input by the operator's hand at the first preset position;

[0056] An angle acquisition module, used for acquiring, at a second preset position, angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand;

[0057] A conversion module, based on the processed hand input signal and the pivot angle signal, is used to convert the force input information F A Converted into the force F in the display device base coordinate system 0 ;

[0058] output module, the effect of the F 0 Mapped to the output speed of the drive and control its motion.

[0059] In the fifth aspect, an embodiment of the present application also provides a surgical robot system, which includes a display device, a support structure, a detection unit and a control system; the display device is configured to provide a viewable image to an operator and is supported by the support structure; the detection unit is arranged on the display device; the control system is respectively communicated with the detection unit and a driver capable of driving the display device to move; the control system is used to execute the methods described in the first, second and third aspects.

[0060] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the methods described in the first, second and third aspects above.

[0061] The surgical robot control method, device and system provided in the embodiments of the present application have at least the following beneficial effects:

[0062] The operator's hand input is obtained at the first preset position, and the sensor circuit is determined to be triggered according to the hand input. If the sensor circuit is triggered, the force input information F of the operator's hand input can be obtained. A and torque input information M, and at the same time, obtaining angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand at the second preset position; based on the angle information α, the force input information F A Converted into the force F in the display device base coordinate system 0 , and the force F0 The output speed mapped to the corresponding driver controls its movement. Through the above-mentioned settings, the driver movement can be controlled by detecting the operator's hand input, thereby adjusting the display device to adjust the display device to match the operator's sitting position.

[0063] Before adjusting the display device, a step is added to determine whether the hand input triggers the sensor circuit. This setting can reduce the incorrect adjustment of the display device due to accidental touch and improve the safety of device use.

[0064] In addition, in the embodiment of the present application, the angle information α of the display device rotating around the pivot axis is obtained at the second preset position, and the force input information F is calculated based on the angle information α. A The converted force is mapped to the output speed of the corresponding driver to control its movement, so that the position that the display device can reach can be accurately matched with the operator's hand input, thereby improving the adjustment accuracy of the display device. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0066] Figure 1 A flowchart of a surgical robot control method provided in Example 1 of the present application;

[0067] Figure 2 This is one of the flowcharts for determining whether to trigger the sensor circuit in the first embodiment;

[0068] Figure 3 The second flowchart for determining whether to trigger the sensing circuit;

[0069] Figure 4 The third flowchart for determining whether to trigger the sensor circuit;

[0070] Figure 5 The fourth flowchart for determining whether to trigger the sensor circuit;

[0071] Figure 6 To obtain the force input information F of the operator's hand input A One of the flow charts;

[0072] Figure 7 To obtain the force input information F of the operator's hand input AThe second flow chart of

[0073] Figure 8 A flowchart of a surgical robot control method provided in Embodiment 2 of the present application;

[0074] Fig. 9 This is a flowchart of determining whether to trigger the sensor circuit in Embodiment 2;

[0075] Fig.10 A flowchart of a surgical robot control method provided in Embodiment 3 of the present application;

[0076] Fig.11 This is a structural block diagram of the surgical robot control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0078] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0079] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0080] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0081] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0082] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0084] In some embodiments, the surgical robot may be a laparoscopic surgical robot or a remote surgical robot. A surgical robot refers to a medical device designed to perform various minimally invasive surgeries. In some embodiments, the surgical robot includes a doctor's console and a surgical platform, the doctor's console is communicatively connected with the surgical platform, the doctor's console serves as a master end for realizing master-slave teleoperation, and the surgical platform serves as a slave end for realizing master-slave teleoperation.

[0085] In some embodiments, the doctor console includes one or more hand input control devices used by the operator. An observation chamber is also included in the doctor console, and the observation chamber can display images for the operator to view. The observation chamber can move in multiple degrees of freedom, and the posture of the observation chamber can be adjusted to adapt to the operator's viewing angle, thereby improving the operator experience.

[0086] When using the doctor's console, the operator can sit on a chair or other support in front of the doctor's console, positioning the operator's eyes in front of the display device. In some embodiments, the operator can stand at the doctor's console or take other postures, and the display device can be adjusted to accommodate the operator in height or viewing angles.

[0087] To facilitate understanding of this embodiment, a surgical robot system disclosed in an embodiment of the present application is first introduced in detail.

[0088] In this embodiment, the surgical robot system also includes a supporting structure, a detection unit and a control system, wherein the display device is configured to provide a viewable image to the operator and is supported by the supporting structure; the detection unit is arranged on the display device; the control system is respectively communicated with the detection unit and a driver capable of driving the display device to move; the control system is used to execute the method described in this embodiment.

[0089] The supporting structure includes a vertical supporting structure and a lateral supporting structure, wherein the vertical supporting structure includes a vertical fixed part and a vertical translation part, the vertical fixed part can be directly or indirectly coupled to the ground, and the vertical translation part can be slidably connected to the vertical fixed part to vertically translate in a linear degree of freedom relative to the vertical fixed part.

[0090] The lateral support structure includes a lateral fixed part and a lateral translation part. The lateral fixed part can be directly or indirectly coupled to the vertical translation part. As the vertical translation part vertically translates in a linear degree of freedom, the lateral translation part can be slidably connected to the lateral fixed part to translate laterally or move horizontally in a linear degree of freedom relative to the lateral fixed part.

[0091] In one embodiment, the vertical fixed part can be fixed to the ground or to the bottom base; the transverse fixed part can be directly or indirectly fixedly connected to the vertical translation part, so that the transverse supporting structure can be vertically translated as a whole under the drive of the vertical translation part.

[0092] It is understandable that there are many options for structures to achieve vertical and lateral translation, such as a screw drive mechanism, a slide rail mechanism, etc. As long as the mechanism can achieve relative movement between the fixed part and the translation part, it is within the protection scope of this application.

[0093] The display device comprises an observation chamber, in front of which two observation viewports for operators to observe are arranged, and inside of the observation chamber there is a display device, such as one or more display screens, projectors or other display devices.

[0094] In this embodiment, the observation bin is rotatably connected to the lateral translation part of the lateral support structure through a pivot assembly, wherein the observation bin can vertically translate in a linear degree of freedom relative to the vertical fixed part, and can also translate or move horizontally in a linear degree of freedom relative to the lateral fixed part, and can also make rotational motion relative to the lateral support structure through the pivot assembly.

[0095] In one embodiment, the pivot assembly includes a pivot shaft, and the observation chamber is rotatably connected to the lateral translation part of the lateral support structure through the pivot shaft, wherein the axis of the pivot shaft is arranged perpendicular to the moving direction of the lateral translation part.

[0096] Each of the various degrees of freedom discussed in this application can be passive and require manual manipulation to move, or can be moved by one or more drives (e.g., by one or more motors, lead screws). For example, the rotational movement of the viewing chamber about the pivot axis can be driven by one or more drives (e.g., by a motor coupled to the pivot axis at or near the pivot axis).

[0097] The sensing unit includes one or more sensing components, which may include one or more input devices, which allow an operator to provide input to manipulate the position of the viewing vessel in space.

[0098] Exemplarily, the detection component is arranged on the left and right sides of the observation chamber, and the detection component can be in the form of a knob, or any appropriate shape and / or type, such as opening a concave hole at the position where the detection component is arranged in the observation chamber, and arranging the detection component at the position of the concave hole so that the operating component is not easily touched by mistake. In one embodiment, the concave hole can be opened on the bottom oblique side of the observation chamber.

[0099] Specifically, the detection component includes a sensor for detecting whether the operator's hand input contacts and triggers the sensing circuit, and the sensor may be a capacitive sensor. The detection component also includes a force sensor for acquiring force input information of the operator's hand input and a torque sensor for acquiring torque input information. Exemplarily, the force sensor may be a three-dimensional force sensor.

[0100] Embodiment 1

[0101] Reference Figure 1 The flowchart of the surgical robot control method shown in the figure, the embodiment of the present application provides a surgical robot control method, the method is applied to a control system, the control system is communicatively connected with a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprises:

[0102] S11, obtaining a hand input of an operator at a first preset position, and determining whether to trigger a sensing circuit according to the hand input;

[0103] S12: If the sensing circuit is triggered, the force input information F of the operator's hand is obtained at the first preset position. A and torque input information M, and at the same time, obtaining angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand at the second preset position; based on the angle information α, the force input information F A Converted into the force F in the display device base coordinate system 0 , and the force F 0 The output speed mapped to the corresponding drive controls its motion.

[0104] Through the above arrangement, the movement of the driver can be controlled by obtaining the operator's hand input and based on the hand input, thereby controlling the movement of the display device, that is, adjusting the posture of the display device, so that the display device is adjusted to a position that matches the operator's sitting position. At the same time, since the angle information α of the display device rotating around the pivot axis needs to be obtained at the second preset position in this embodiment, the force input information F A The converted force is mapped to the output speed of the corresponding driver to control its movement, so that the position that the display device can reach can be accurately matched with the operator's hand input, thereby improving the adjustment accuracy of the display device.

[0105] In step S11, the step of obtaining the operator's hand input at the first preset position and determining whether to trigger the sensor circuit according to the hand input includes the following implementation methods:

[0106] (1) The first implementation method (see Figure 2 ):

[0107] S101, a first preset position is pre-configured with two sensing areas that can be sensed by two fingers of the same hand;

[0108] S102: If two sensing areas are triggered at the same time, the sensing circuit is triggered.

[0109] Specifically, the two sensing areas can be spaced apart to ensure that they can be sensed by two different fingers of the same hand. If the two sensing areas are triggered at the same time, it means that the operator's hand is placed at that position, which can effectively reduce the possibility of accidental touch.

[0110] (2) Second Implementation Method (see Figure 3 ):

[0111] S103, the first preset position is pre-configured with two sensing areas that are circumferentially arranged and spaced apart;

[0112] S104, taking the sensing area where the touch signal is detected for the first time as the first sensing area, and taking the touch signal as the first touch signal;

[0113] S105, when a touch signal is received in another sensing area, the sensing area is used as a second sensing area, and the touch signal is used as a second touch signal;

[0114] S106, determining whether the generation time of the first touch signal and the second touch signal are within a preset time range, and if so, triggering the sensing circuit.

[0115] Specifically, the preset time range mentioned above can be set as needed, such as the preset time range can be 0 to 10 seconds. When the generation time of both the first touch signal and the second touch signal is 0 seconds, it means that the two sensing areas are triggered at the same time, and it can be judged that the sensing circuit is triggered normally; if the generation time of both the first touch signal and the second touch signal is greater than 10 seconds, it can be judged that the operator failed to trigger the second sensing area in time, which is identified as a false touch operation, thereby improving the safety of the operation.

[0116] (3) The third implementation method (see Figure 4 ):

[0117] S107, the first preset position is pre-configured with a plurality of sensing areas;

[0118] S108, obtaining the touch dwell time of the hand input in the plurality of sensing areas, and triggering the sensing circuit if the touch dwell time is within a preset time range.

[0119] Specifically, the preset time range mentioned above can be set as needed, such as the preset time range can be greater than 1s. When the touch stay time is greater than 1s or even longer, it means that the operator's hand is located at the triggering position, and it can be determined that the sensor circuit is normally triggered.

[0120] (4) The fourth implementation method (see Figure 5 ):

[0121] S109, the first preset position is pre-configured with two capacitive sensing areas arranged opposite to each other;

[0122] S110: If two capacitive sensing areas are triggered at the same time, the sensing circuit is triggered.

[0123] Since the two capacitive sensing areas are arranged opposite to each other, the possibility of being accidentally touched by two fingers of the operator is low. Therefore, when the two capacitive sensing areas arranged opposite to each other are triggered at the same time, it can be determined that the sensor circuit is triggered normally. At this time, the human hand is also in the best operating posture, which can also improve the user experience.

[0124] In step S12, the force input information F input by the operator's hand is obtained at the first preset position. A The steps include the following two implementation modes:

[0125] (1) The first implementation method (see Figure 6 ):

[0126] S121, obtaining a vertical force F input by the operator's hand at a first preset position through a first sensor y ;

[0127] S122, obtaining a horizontal force F input by the operator's hand at a first preset position through a second sensor x ;

[0128] S123, based on the angle information α, the force F y and F x Converted into the force F in the base coordinate system of the display device y0 and F x0 , and the force F y0 and F x0 Mapped to the output speed V of the corresponding driver y and V x Control its movement.

[0129] (2) Second Implementation Method (see Figure 7 ):

[0130] S124, obtaining a vertical force F input by the operator's hand at the first preset position through the same sensor y and the horizontal force F x ;

[0131] S125, based on the angle information α, the force F y and F x Converted into the force F in the base coordinate system of the display device y0 and F x0 , and the force F y0 and F x0 Mapped to the output speed V of the corresponding driver y and V x Control its movement.

[0132] For example, assuming that the horizontal direction corresponds to the X-axis and the vertical direction corresponds to the Y-axis, when the sensing circuit is triggered, the vertical force F input by the operator's hand at the first preset position is obtained. y , the horizontal force is F x, , the angle information detected at the second preset position is α, then based on the angle information α, the converted force F y0 =F y cosα-F x sinα, F x0 =F y sinα+F x cosα.

[0133] It should be noted that, in practical applications, the potentiometer disposed on the pivot shaft can be used to detect at the second preset position; specifically, when the angle of the display device is 0, the angle detected by the potentiometer at the second preset position is α0 When the angle of the display device changes, that is, when it is greater than 0, the actual angle detected by the potentiometer at the second preset position is subtracted from α 0 The difference is the angle information α mentioned above.

[0134] Based on the above two embodiments, the force F y0 and F x0 When the output speed of the corresponding drive is mapped to control its motion, the force F directly obtained by calculation y0 and F x0 Increase the optimization parameters; the optimized force F 优y0 and F 优x0 Mapped to the output speed V of the corresponding driver 优y and V 优x Control its movement.

[0135] It should be noted that the force F directly obtained by calculation y0 and F x0 Add optimization parameters, which can be determined based on operator preferences or multiple attempts, to ensure the response effect of the drive.

[0136] Embodiment 2

[0137] Reference Figure 8 The flowchart of the surgical robot control method shown in the figure, this embodiment provides a surgical robot control method, the method is applied to a control system, the control system is communicatively connected with a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprises:

[0138] S21, obtaining the operator's hand input from the first preset positions corresponding to the operator's left and right hands respectively, and determining whether to trigger the left and right sensing circuits; if the left and / or right sensing circuits are triggered, performing the following operations:

[0139] S22, obtaining force input information F input by the operator's left hand at a first preset position corresponding to the operator's left hand A1 and torque input information M 1 ,

[0140] S23, obtaining force input information F input by the operator's right hand at a first preset position corresponding to the operator's right hand A2 and torque input information M 2 ,

[0141] S24, calculate and obtain F A1 and F A2 The average value F 均A , and M1 and M 2 The average value M 均 ;

[0142] S25, at the same time, obtaining torque input information M in response to the operator's hand input at the second preset position 均 The angle information α of the display device rotating around the pivot axis;

[0143] S26, based on the angle information α, the force input information F 均A Converted into the force F in the display device base coordinate system 均0 , and the force F 均0 The output speed mapped to the corresponding drive controls its motion.

[0144] Specifically, when both left and right hands can obtain the operator's hand input at the first preset position, the average value of the two can be calculated and used as the force input to avoid control deviation due to inconsistent hand inputs obtained by the left and right hands, thereby improving control adjustment accuracy.

[0145] In step S21, refer to Fig. 9 As shown, the step of obtaining the operator's hand input at the first preset position and determining whether to trigger the sensor circuit according to the hand input includes:

[0146] S201, a plurality of capacitive sensing areas are pre-configured at first preset positions corresponding to the left and right hands of the operator;

[0147] S202: When any two capacitive sensing areas among the plurality of capacitive sensing areas receive a touch signal, a sensing circuit is triggered.

[0148] Specifically, when any two capacitive sensing areas corresponding to the left hand, any two capacitive sensing areas corresponding to the right hand, or one capacitive sensing area corresponding to each of the left and right hands receive a touch signal, the sensing circuit may be triggered.

[0149] Embodiment 3

[0150] Reference Fig.10 The present embodiment further provides a method for controlling a surgical robot, the method being applied to a control system, the control system being communicatively connected to a driver capable of driving a display device to move, wherein the display device is configured to provide an image viewable to an operator and is supported by a support structure; the method comprising:

[0151] S31, obtaining the operator's hand input at the first preset position, and determining whether to trigger the sensor circuit according to the hand input; if the sensor circuit is triggered, performing the following operations:

[0152] S32, obtaining the vertical and horizontal force input information F of the operator's hand input through the three-dimensional force sensor configured on the display device A ;

[0153] S33, obtaining torque input information M input by the operator's hand through a torque sensor configured on the display device;

[0154] S34, obtaining angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand through a potentiometer disposed on the pivot axis;

[0155] S35, based on the angle information α, the force input information F A Converted into the force F in the display device base coordinate system 0 ;

[0156] S36, the force F 0 The output speed mapped to the corresponding drive controls its motion;

[0157] S37, based on the output speed of the driver and the torque input information M, a control instruction for the driver is obtained, and the corresponding driver is commanded to move the display device according to the control instruction.

[0158] Based on the above method embodiments 1 to 3, refer to Fig.11 The present application also provides a surgical robot control device, which is applied to a control system; the control system is respectively connected to a driver capable of driving a display device to move, wherein the display device is configured to provide an image that can be viewed by an operator and is supported by a support structure; the device includes:

[0159] The trigger judgment module 10 is used to obtain the operator's hand input at a first preset position and determine whether to trigger the sensing circuit according to the hand input; the force acquisition module 20 is used to obtain the force input information F of the operator's hand input at the first preset position. A ; a torque acquisition module 30, used to acquire torque input information M input by the operator's hand at a first preset position; an angle acquisition module 40, used to acquire angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand at a second preset position; a conversion module 50, used to convert the force input information F into the torque input information M input by the operator's hand based on the processed hand input signal and the pivot angle signal; A Converted into the force F in the display device base coordinate system 0 ; Output module 60, will act on the F 0 Maps to the output speed of the drive and controls its motion.

[0160] The surgical robot control device provided in the embodiment of the present application obtains the operator's hand input at the first preset position through the trigger judgment module 10, and determines whether to trigger the sensor circuit according to the hand input. If the sensor circuit is triggered, the force input information F of the operator's hand input can be obtained through the force acquisition module 20. A , and the torque input information M input by the operator's hand is obtained by the torque acquisition module 30, and at the same time, the angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand is obtained by the angle acquisition module 40 at the second preset position; based on the angle information α, the force input information F is converted by the conversion module 50 A Converted into the force F in the display device base coordinate system 0 , and the force F is transmitted through the output module 60 0 The output speed mapped to the corresponding driver controls its movement. Through the above-mentioned settings, the driver movement can be controlled by detecting the operator's hand input, thereby adjusting the display device to adjust the display device to match the operator's sitting position.

[0161] Before adjusting the display device, a step of determining whether the hand input triggers the sensor circuit is added through the trigger determination module 10. This arrangement can reduce the erroneous adjustment of the display device due to false touches and improve the safety of the device.

[0162] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above method. The specific implementation can be found in the aforementioned method embodiment, which will not be repeated here.

[0163] The computer program products of the methods, devices, and electronic devices provided in the embodiments of the present application include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments, which will not be repeated here.

[0164] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0165] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0166] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A surgical robot control method, characterized in that: The method is applied to a control system, the control system being in communication with a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprises: Acquire a hand input of an operator at a first preset position, and determine whether to trigger a sensing circuit according to the hand input; If the sensing circuit is triggered, the force input information F of the operator's hand input is obtained at the first preset position. A and torque input information M, and at the same time, obtaining angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand at a second preset position; based on the angle information α, converting the force input information F A The force F0 is converted into a force F0 in the base coordinate system of the display device, and the force F0 is mapped to the output speed of the corresponding driver to control its movement.

2. The method according to claim 1, characterized in that The step of obtaining a hand input of an operator at a first preset position and determining whether to trigger a sensing circuit according to the hand input comprises: The first preset position is pre-configured with two sensing areas that can be sensed by two fingers of the same person's hand; If the two sensing areas are triggered at the same time, the sensing circuit is triggered.

3. The method according to claim 1, characterized in that The step of obtaining a hand input of an operator at a first preset position and determining whether to trigger a sensing circuit according to the hand input comprises: The first preset position is pre-configured with two sensing areas arranged circumferentially and spaced apart; Using the sensing area where the touch signal is detected for the first time as the first sensing area, and using the touch signal as the first touch signal; When a touch signal is received in another sensing area, the sensing area is used as a second sensing area, and the touch signal is used as a second touch signal; It is determined whether the generation time of the first touch signal and the second touch signal is within a preset time range, and if so, the sensor circuit is triggered.

4. The method according to claim 1, characterized in that: The step of obtaining a hand input of an operator at a first preset position and determining whether to trigger a sensing circuit according to the hand input comprises: The first preset position is pre-configured with a plurality of sensing areas; The touch dwell time of the hand input in the plurality of the sensing areas is obtained, and if the touch dwell time is within a preset time range, the sensing circuit is triggered.

5. The method according to claim 1, characterized in that The step of obtaining a hand input of an operator at a first preset position and determining whether to trigger a sensing circuit according to the hand input comprises: The first preset position is pre-configured with two capacitive sensing areas arranged opposite to each other; If the two capacitive sensing areas are triggered at the same time, the sensing circuit is triggered.

6. The method according to claim 1, characterized in that The force input information F input by the operator's hand is obtained at the first preset position A The steps include: The first sensor obtains the vertical force F input by the operator's hand at the first preset position. y ; The second sensor obtains the horizontal force F input by the operator's hand at the first preset position. x ; Based on the angle information α, the force F y and F x Converted into the force F in the base coordinate system of the display device y0 and F x0 , and the force F y0 and F x0 Mapped to the output speed V of the corresponding driver y and V x Control its movement.

7. The method according to claim 1, characterized in that The force input information F input by the operator's hand is obtained at the first preset position A The steps include: The vertical force F input by the operator's hand is obtained at the first preset position by the same sensor. y and the horizontal force F x ; Based on the angle information α, the force F y and F x Converted into the force F in the base coordinate system of the display device y0 and F x0 , and the force F y0 and F x0 Mapped to the output speed V of the corresponding driver respectively y and V x Control its movement.

8. The method according to claim 6 or 7, characterized in that: The force F y0 and F x0 When the output speed of the corresponding drive is mapped to control its motion, the force F directly obtained by calculation y0 and F x0 Add optimization parameters; The optimized force F 优y0 and F 优x0 Mapped to the output speed V of the corresponding driver 优y and V 优x Control its movement.

9. A surgical robot control method, characterized in that: The method is applied to a control system, the control system being in communication with a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprises: The first preset positions corresponding to the left and right hands of the operator respectively obtain the hand input of the operator to determine whether to trigger the left and right sensing circuits; If the left and / or right sensing circuits are triggered, the following actions are performed: The force input information F input by the operator's left hand is obtained at the first preset position corresponding to the operator's left hand. A1 and torque input information M1, The force input information F inputted by the operator's right hand is obtained at the first preset position corresponding to the operator's right hand. A2 and torque input information M2, Calculate and obtain F A1 and F A2 The average value F 均A , and the average value M of M1 and M2 均 ; At the same time, torque input information M in response to the operator's hand input is obtained at the second preset position. 均 The angle information α of the display device rotating around the pivot axis; Based on the angle information α, the force input information F 均A Converted into the force F in the display device base coordinate system 均0 , and the force F 均0 The output speed mapped to the corresponding drive controls its motion.

10. The method according to claim 9, characterized in that The step of obtaining a hand input of an operator at a first preset position and determining whether to trigger a sensing circuit according to the hand input comprises: The first preset positions corresponding to the left and right hands of the operator are pre-configured with a plurality of capacitive sensing areas; When any two of the plurality of capacitive sensing areas receive a touch signal, the sensing circuit is triggered.

11. A surgical robot control method, characterized in that: The method is applied to a control system, the control system being in communication with a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the method comprises: Acquire a hand input of an operator at a first preset position, and determine whether to trigger a sensing circuit according to the hand input; If the sensing circuit is triggered, it does the following: The three-dimensional force sensor configured on the display device obtains the vertical and horizontal force input information F of the operator's hand input A ; The torque input information M input by the operator's hand is obtained through a torque sensor configured on the display device; Obtaining angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand through a potentiometer configured on the pivot axis; Based on the angle information α, the force input information F A Converted into the force F0 in the base coordinate system of the display device; Mapping the force F0 to the output speed of the corresponding driver to control its movement; Based on the output speed of the driver and the torque input information M, a control instruction for the driver is obtained, and the corresponding driver is commanded to move the display device according to the control instruction.

12. A surgical robot control device, characterized in that: The device is applied to a control system; the control system is respectively connected to a driver capable of driving a display device to move, wherein the display device is configured to provide a viewable image to an operator and is supported by a support structure; the device comprises: A trigger judgment module, used to obtain the operator's hand input at a first preset position, and judge whether to trigger the sensor circuit according to the hand input; A force acquisition module is used to acquire the force input information F input by the operator's hand at the first preset position. A A torque acquisition module, used for acquiring torque input information M input by the operator's hand at the first preset position; An angle acquisition module, used for acquiring, at a second preset position, angle information α of the display device rotating around the pivot axis in response to the torque input information M input by the operator's hand; A conversion module, based on the processed hand input signal and the pivot angle signal, is used to convert the force input information F A Converted into the force F0 in the base coordinate system of the display device; The output module maps the action F0 to the output speed of the driver and controls its movement.

13. A surgical robot system, characterized in that: The system includes a display device, a support structure, a detection unit and a control system; the display device is configured to provide a viewable image to an operator and is supported by the support structure; The detection unit is arranged on the display device; The control system is respectively connected to the detection unit and a driver capable of driving the display device to move; the control system is used to execute the method described in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 11.

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