Surgical robot sliding table motion control method, device, equipment, medium and product

Abstract

The embodiment of the invention discloses a surgical robot sliding table motion control method and device, equipment, a medium and a product, and the method comprises the steps: obtaining joint angle information and joint length information of each instrument tail end joint of an instrument of a surgical robot under the condition that the motion of a sliding table of the surgical robot is detected, according to the joint angle information and the joint length information, the distance between the instrument tail end point of the instrument and the instrument axis where the instrument is located is determined; according to the numerical relation between the distance and the radius of a puncture outfit of the surgical robot, motion control is conducted on the sliding table. According to the technical scheme, the problem that the sliding table possibly collides with the instrument when the sliding table is moved at present is solved, motion control can be conducted on the sliding table by calculating the numerical relation between the distance between the tail end point of the instrument and the axis where the instrument is located and the radius of the puncture outfit, it is guaranteed that the tail end of the instrument does not make contact with the puncture outfit, instrument damage is avoided, and safety is improved. And the operation safety is ensured.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of surgical robots, and in particular to a method, device, equipment, medium and product for controlling the motion of a surgical robot slide. Background Art

[0002] As a necessary accessory of the system, the surgical robot's instruments are installed on the slide motor seat of the surgical arm for use. By controlling the movement of the slide motor, the surgical instruments driven by it can be controlled to move up and down, thereby realizing the spatial operation of the up and down movement of the surgery.

[0003] When the slide is manually adjusted to move up and down, due to the uncertainty of the posture of the end of the instrument, when the slide moves upward, it is possible that the end of the instrument may contact and collide with the shell of the puncture device. This will cause damage to the instrument and endanger the safety of the patient. Therefore, it is necessary to avoid contact between the instrument and the inner shell of the puncture device when moving the slide upward. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, equipment, medium and product for controlling the motion of a surgical robot slide. The motion of the slide can be controlled by calculating the numerical relationship between the distance between the end point of the instrument and the axis of the instrument and the radius of the puncture device, thereby ensuring that the end of the instrument does not contact the puncture device, avoiding damage to the instrument and ensuring the safety of the operation.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling the motion of a surgical robot slide, the method comprising:

[0006] When the movement of the slide of the surgical robot is detected, the joint angle information and the joint length information of each instrument end joint of the instrument of the surgical robot are obtained, wherein the slide is connected to the instrument and is used to drive the instrument to move upward or downward;

[0007] Determine the distance between the end point of the instrument and the instrument axis where the instrument is located according to the joint angle information and the joint length information;

[0008] According to the numerical relationship between the distance and the radius of the trocar of the surgical robot, the motion of the slide is controlled;

[0009] Among them, the end joint of the instrument includes a pitch joint and a yaw joint.

[0010] In a second aspect, an embodiment of the present invention provides a surgical robot slide motion control device, the device comprising:

[0011] A joint information acquisition module, used to acquire joint angle information and joint length information of each instrument end joint of the surgical robot's instrument when the movement of the slide of the surgical robot is detected, wherein the slide is connected to the instrument and is used to drive the instrument to move up or down;

[0012] A distance calculation module determines the distance between the end point of the instrument and the instrument axis where the instrument is located according to the joint angle information and the joint length information;

[0013] A motion control module, used for controlling the motion of the slide table according to the numerical relationship between the distance and the radius of the trocar of the surgical robot;

[0014] Among them, the end joint of the instrument includes a pitch joint and a yaw joint.

[0015] In a third aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0016] one or more processors;

[0017] A memory for storing one or more programs;

[0018] When the above one or more programs are executed by one or more processors, the above one or more processors implement the surgical robot slide motion control method provided by any embodiment of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a surgical robot slide motion control method as provided in any embodiment of the present invention.

[0020] In a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the surgical robot slide motion control method provided in any embodiment of the present invention.

[0021] The embodiments of the above invention have the following advantages or beneficial effects:

[0022] The embodiment of the present invention obtains the joint angle information and joint length information of each instrument end joint of the surgical robot's instrument when the movement of the slide of the surgical robot is detected, wherein the slide is connected to the instrument, and the slide is used to drive the instrument to perform an upward or downward movement; according to the joint angle information and the joint length information, the distance between the instrument end point of the instrument and the instrument axis where the instrument is located is determined; according to the numerical relationship between the distance and the radius of the surgical robot's puncture, the motion of the slide is controlled; wherein the instrument end joint includes a pitch joint and a yaw joint. The technical solution of the embodiment of the present invention solves the problem that the slide may collide with the instrument when moving the slide at present, and the motion of the slide can be controlled by calculating the numerical relationship between the distance between the instrument end point and the axis where the instrument is located and the radius of the puncture, to ensure that the instrument end does not contact the puncture, to avoid instrument damage, and to ensure the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a method for controlling the motion of a surgical robot slide provided by an embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of a surgical robot provided by an embodiment of the present invention;

[0025] Figure 3 is a flow chart of a method for controlling the motion of a surgical robot slide provided by an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the relative positions of an instrument end and a trocar provided by an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of distance calculation provided by an embodiment of the present invention;

[0028] Figure 6 It is a structural schematic diagram of a surgical robot slide motion control device provided by an embodiment of the present invention;

[0029] Figure 7 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0031] Figure 1This is a flowchart of a method for controlling the motion of a surgical robot slide provided by an embodiment of the present invention. This embodiment is applicable to the scenario of controlling the motion of a surgical robot slide. The method can be executed by a surgical robot slide motion control device, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0032] like Figure 1 As shown, the surgical robot slide motion control method of this embodiment includes the following steps:

[0033] S110. When the movement of the slide of the surgical robot is detected, obtain the joint angle information and joint length information of each instrument end joint of the surgical robot.

[0034] The surgical robot may be a surgical robot comprising a slide, a main hand, a mechanical arm, a puncture device, and an instrument, etc. The slide is connected to the instrument, and the slide is used to drive the instrument to move upward or downward.

[0035] like Figure 2 As shown, during the operation, a puncture is required to penetrate the patient's skin, and then the instrument is installed through the puncture. After the installation is completed, the slide is moved down so that the end of the instrument is out of the puncture, and then the master-slave operation is allowed. Master-slave operation is not allowed when the instrument is in the puncture, because the end cannot contact the patient's tissue at this time, and if the range of movement in the puncture is too large, it will cause damage to the instrument.

[0036] When the operation is over and the master-slave connection is disconnected, when the slide is manually adjusted up and down, the posture of the instrument end remains at the last moment of the operation. Therefore, the posture of the instrument end is uncertain. When the slide moves upward, the instrument end may contact and collide with the puncture shell, which will cause damage to the instrument and endanger patient safety.

[0037] Therefore, in this embodiment, the safety of the movement is judged by detecting the movement of the slide of the surgical robot, so as to control the movement of the slide and avoid unsafe movement of the slide that may cause collision with the instrument and damage the instrument.

[0038] The movement of the slide of the surgical robot can be detected by sensors, such as encoders.

[0039] The end of the instrument can be the clamp head of the instrument, which is usually composed of at least one joint, which is the end joint of the instrument. In this embodiment, the end joint of the instrument includes a pitch joint and a yaw joint, specifically a pitch joint and a yaw joint.

[0040] Joint angle information can also be obtained through sensors, such as encoders, potentiometers, and gyroscopes. Encoders can accurately provide joint angle information when the master-slave connection is disconnected.

[0041] The joint length information is a structural parameter of the device itself and can be obtained from the preset device parameter storage location.

[0042] S120. Determine the distance between the end point of the instrument and the axis of the instrument according to the joint angle information and the joint length information.

[0043] The end point of the instrument is also the end point of the joint at the end of the instrument. With the end point of the instrument as the starting point of the line segment, a perpendicular line segment is drawn from the end point of the instrument to the instrument axis. The perpendicular line segment is the distance between the end point of the instrument and the instrument axis. According to the joint angle information and joint length information, the distance between the end point of the instrument and the instrument axis is calculated based on the trigonometric relationship between the joint and the instrument axis.

[0044] S130 , controlling the motion of the slide according to the numerical relationship between the distance and the radius of the puncture device of the surgical robot.

[0045] It is understandable that if the distance is greater than or equal to the radius of the surgical robot's puncture, the upward movement of the slide drives the instrument into the puncture, which will cause the end of the instrument to collide with the inside of the puncture. Therefore, it is necessary to control the range of movement of the slide so that the slide does not move to drive the end of the instrument into the inside of the puncture, that is, the starting position of the end of the instrument does not exceed the lower boundary of the puncture. For example, by determining the maximum position limit value of the slide movement, the slide is restricted from moving beyond the maximum position limit value of the slide movement. When the slide moves to the maximum position limit value, the starting point of the end of the instrument driven by the slide movement is lower than the height of the puncture boundary.

[0046] The technical solution of this embodiment, when detecting the movement of the slide of the surgical robot, obtains the joint angle information and joint length information of each instrument end joint of the surgical robot's instrument, wherein the slide is connected to the instrument, and the slide is used to drive the instrument to perform an upward or downward movement; according to the joint angle information and the joint length information, the distance between the instrument end point of the instrument and the instrument axis where the instrument is located is determined; according to the numerical relationship between the distance and the radius of the surgical robot's puncture, the motion of the slide is controlled; wherein the instrument end joint includes a pitch joint and a yaw joint. The technical solution of the embodiment of the present invention solves the problem that the slide may collide with the instrument when moving the slide at present, and the motion of the slide can be controlled by calculating the numerical relationship between the distance between the instrument end point and the axis where the instrument is located and the radius of the puncture, to ensure that the instrument end does not contact the puncture, to avoid instrument damage, and to ensure the safety of the operation.

[0047] Figure 3 This is a flowchart of a method for controlling the motion of a surgical robot slide provided in an embodiment of the present invention. This embodiment and the method for controlling the motion of a surgical robot slide in the above embodiment belong to the same inventive concept, and further describes the process of distance calculation and motion control. The method can be executed by a surgical robot slide motion control device, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0048] like Figure 3 As shown, the surgical robot slide motion control method of this embodiment includes the following steps:

[0049] S210. When the movement of the slide of the surgical robot is detected, obtain the angle between the pitch joint of the instrument of the surgical robot and the instrument axis where the instrument is located as the pitch angle.

[0050] like Figure 4 As shown, the yaw joint is connected to the pitch joint below the pitch joint to form the end of the instrument. The surgical instrument is at the center of the inner circle of the puncture device. d1 and d2 represent the lengths of the pitch joint and the yaw joint respectively, and the radius of the puncture device is Rc.

[0051] The angle between the pitch joint of the surgical robot's instrument and the instrument axis on which the instrument is located is the pitch angle, denoted as α.

[0052] S220, obtaining an angle between a pitch joint axis where a pitch joint of an instrument of the surgical robot is located and a yaw joint axis where a yaw joint is located, as a yaw angle.

[0053] The angle between the pitch joint axis of the pitch joint of the surgical robot instrument, that is, the extension line of the pitch joint line segment, and the yaw joint axis of the yaw joint is the yaw angle, denoted as β.

[0054] S230: Use the pitch angle value of the pitch angle and the yaw angle value of the yaw angle as angle information of the instrument end joint of the instrument of the surgical robot.

[0055] The pitch angle value of the pitch angle α and the yaw angle value of the yaw angle β are used as the angle information of the instrument end joint of the surgical robot instrument to calculate the distance between the instrument end point of the instrument and the instrument axis where the instrument is located.

[0056] S240: Acquire joint length information of each instrument end joint of the surgical robot.

[0057] The length information includes a pitch joint length value of the pitch joint and a yaw joint length value of the yaw joint.

[0058] like Figure 4As shown, the pitch joint length value is d1, and the yaw joint length value is d2, which are the structural parameters of the instrument itself and can be obtained from the preset instrument parameter storage location.

[0059] S250, calculating an angle difference between the pitch angle value and the yaw angle value, and calculating a sine function value of the angle difference according to the angle difference.

[0060] When the master-slave operation is performed, the pitch angle α and the yaw angle β of the end of the instrument change all the time. Therefore, after the master-slave connection is disconnected, the spatial position of the instrument is fixed. At this time, if the slide table needs to be manually slid upward, the instrument will be driven to move upward, and the end of the instrument may scrape the puncture device and damage the instrument. Therefore, this embodiment judges the spatial position of the end of the instrument according to the size data of the instrument and the puncture device. If the calculated position of the end of the instrument exceeds or is equal to the size of the puncture device, there is a risk of scratching, and the instrument is only allowed to slide to a certain height, that is, the upward movement of the slide table is restricted to ensure that the end of the instrument does not enter the puncture device; if the calculated position of the end of the instrument is smaller than the size of the puncture device, there is no risk of scratching, and the upward movement of the slide table is not restricted. The slide table is allowed to rise to the top and the end of the instrument enters the puncture device.

[0061] like Figure 5 As shown, draw a perpendicular line from the end point of the instrument to the axis of the instrument. The length of this perpendicular line is the distance from the end point of the instrument to the axis of the instrument, denoted as r.

[0062] By drawing a perpendicular line from the connection point of the pitch joint and the yaw joint to the line segment r, the foot of this perpendicular line divides r into two parts. Calculate these two parts separately and then add them together to get the length of r.

[0063] When calculating the first part, when β is less than α, the angle difference between the pitch angle value and the yaw angle value can be expressed as (α-β), and when β is greater than α, the angle difference is the absolute value of (α-β). The sine function value of the angle difference is sin(α-β).

[0064] S260, calculating the product of the sine function value of the angle difference and the yaw joint length value as the first value.

[0065] The first value of the distance calculation is the length of the first part. According to the sine function and geometric knowledge, the first value is d2*sin(α-β).

[0066] S270, calculating the product of the sine function value of the pitch angle value and the pitch joint length value as a second distance calculation value.

[0067] The second value of the distance calculation is the length value of the second part.

[0068] like Figure 5As shown, make a perpendicular line from the connection point of the pitch joint and the yaw joint to the axis where the instrument is located, that is, the axis where the instrument rod is located. The length of this perpendicular line is the same as the length value of the second part, which is the second numerical value for distance calculation. The value is the product of the sine function value of the pitch angle and the length value of the pitch joint, that is, d1*sinα.

[0069] S280. Add the first numerical value and the second numerical value to obtain the distance between the instrument end point of the instrument and the instrument axis where the instrument is located.

[0070] The distance between the instrument end point of the instrument and the instrument axis where the instrument is located can be expressed as:

[0071] r = d2*sin(α - β) + d1*sinα.

[0072] S290. Compare the numerical value of the distance with the radius of the puncture device of the surgical robot. According to the result of the numerical comparison, determine the movement range of the sliding table.

[0073] Compare the distance r with the radius Rc of the puncture device of the surgical robot. According to the result of the numerical comparison, determine the movement range of the sliding table corresponding to different results of the numerical comparison.

[0074] Different results of the numerical comparison include the case where the distance is less than the radius of the puncture device of the surgical robot, and the case where the distance is greater than or equal to the radius of the puncture device of the surgical robot, that is, two cases of r < Rc and r ≥ Rc.

[0075] In an optional implementation manner, comparing the numerical value of the distance with the radius of the puncture device of the surgical robot, and determining the movement range of the sliding table according to the result of the numerical comparison can be that, in the case where the distance is less than the radius of the puncture device of the surgical robot, determine the movement range of the sliding table between the preset highest movement position and the preset lowest movement position; wherein, when the sliding table moves to the preset highest movement position, the instrument moves into the interior of the puncture device driven by the movement of the sliding table.

[0076] In the case where the distance is less than the radius of the puncture device of the surgical robot, the movement of the sliding table will not cause the instrument end to collide with the puncture device, and the movement of the sliding table can be unrestricted. The preset highest movement position and the preset lowest movement position can be the normal movement range of the sliding table, which can be determined by the length of the guide rail and the length of the slider associated with the surgical robot sliding table, or can be set according to actual needs.

[0077] In the case of the preset highest movement position, the instrument can be completely moved into the interior of the puncture device driven by the movement of the sliding table, that is, the instrument end point crosses the lower boundary of the puncture device.

[0078] In an optional embodiment, a numerical comparison is made between the distance and the radius of the puncture device of the surgical robot, and the movement range of the slide is determined based on the numerical comparison result. The method may be as follows: when the distance is greater than or equal to the radius of the puncture device of the surgical robot, the position information of the end point of the instrument during the movement of the slide is obtained; based on the position information of the end point of the instrument and the boundary position information of the boundary of the puncture device, the height difference between the end point of the instrument and the boundary of the puncture device is determined; when the height difference is equal to a preset height difference threshold, the movement position of the slide is taken as the target movement highest position; and the movement range of the slide is determined to be between the target movement highest position and the preset movement lowest position, wherein the preset height difference threshold is greater than or equal to the sum of the joint length values ​​of all the end joints of the instrument.

[0079] When the distance is greater than or equal to the radius of the surgical robot's puncture, the slide moves up to drive the instrument upward. After the initial point of the instrument end crosses the boundary of the puncture, the instrument end and the puncture may collide. Therefore, it is necessary to determine the range of motion in this case. Within this range of motion, the instrument end will not enter the interior of the puncture.

[0080] The position information of the end point of the instrument during the movement of the slide is obtained through the encoder. The position information of the end point of the instrument includes the height information of the end point of the instrument. The boundary position information of the boundary of the puncture device includes the height information of the boundary of the puncture device. According to the height information of the end point of the instrument and the boundary of the puncture device, the height difference between the end point of the instrument and the boundary of the puncture device is determined. When the height difference is equal to the preset height difference threshold, continuing to move upward may cause the initial point of the end of the instrument to cross the boundary of the puncture device. Therefore, it is necessary to set the target highest position of the movement range of the slide to the position of the slide movement at the height of the preset height difference threshold.

[0081] The preset height difference threshold is greater than or equal to the sum of the joint length values ​​of all the end joints of the instrument, which can ensure that when the movement position of the slide is the target highest movement position, the starting point of the end of the instrument, that is, the starting point of the pitch joint is lower than the boundary of the puncture device.

[0082] S2100, control the slide to move within the range of motion.

[0083] The motor associated with the slide is controlled through software program settings to make the slide move within the range of motion.

[0084] The technical solution of this embodiment is to obtain the angle between the pitch joint of the instrument of the surgical robot and the instrument axis where the instrument is located as the pitch angle when the movement of the slide of the surgical robot is detected; obtain the angle between the pitch joint axis where the pitch joint of the instrument of the surgical robot is located and the yaw joint axis where the yaw joint is located as the yaw angle; use the pitch angle value of the pitch angle and the yaw angle value of the yaw angle as the angle information of the instrument end joint of the instrument of the surgical robot; obtain the joint length information of each instrument end joint of the instrument of the surgical robot; calculate the angle difference between the pitch angle value and the yaw angle value, and calculate the sine function value of the angle difference according to the angle difference; calculate the product of the sine function value of the angle difference and the yaw joint length value as the first numerical value; calculate the product of the sine function value of the pitch angle value and the pitch joint length value as the distance to calculate the second numerical value; add the first numerical value and the second numerical value to obtain the distance between the instrument end point of the instrument and the instrument axis where the instrument is located; compare the distance with the radius of the puncture device of the surgical robot, and determine the motion range of the slide according to the numerical comparison result; control the slide to move within the motion range. The technical solution of the embodiment of the present invention solves the problem that the slide may collide with the instrument when the slide is currently moved. The slide can be controlled in motion by using the length and angle information of the end joint of the instrument and the numerical relationship between the distance between the end point of the instrument and the axis of the instrument and the radius of the puncture device based on geometric calculation, thereby ensuring that the end of the instrument does not contact the puncture device, avoiding damage to the instrument and ensuring the safety of the operation.

[0085] Figure 6 The present invention provides a schematic diagram of a structure of a surgical robot slide motion control device, which can be applied to the scenario of surgical robot slide motion control. The surgical robot slide motion control device can be implemented by software and / or hardware, and integrated into a computer terminal device with application development function.

[0086] like Figure 6 As shown, the surgical robot slide motion control device includes: a joint information acquisition module 310 , a distance calculation module 320 and a motion control module 330 .

[0087] Among them, the joint information acquisition module 310 is used to obtain the joint angle information and joint length information of each instrument end joint of the surgical robot's instrument when the movement of the slide of the surgical robot is detected, wherein the slide is connected to the instrument, and the slide is used to drive the instrument to move up or down; the distance calculation module 320 determines the distance between the instrument end point of the instrument and the instrument axis where the instrument is located according to the joint angle information and the joint length information; the motion control module 330 is used to control the motion of the slide according to the numerical relationship between the distance and the radius of the surgical robot's puncture device; wherein the instrument end joint includes a pitch joint and a yaw joint.

[0088] The technical solution of this embodiment, when detecting the movement of the slide of the surgical robot, obtains the joint angle information and joint length information of each instrument end joint of the surgical robot's instrument, wherein the slide is connected to the instrument, and the slide is used to drive the instrument to perform an upward or downward movement; according to the joint angle information and the joint length information, the distance between the instrument end point of the instrument and the instrument axis where the instrument is located is determined; according to the numerical relationship between the distance and the radius of the surgical robot's puncture, the motion of the slide is controlled; wherein the instrument end joint includes a pitch joint and a yaw joint. The technical solution of the embodiment of the present invention solves the problem that the slide may collide with the instrument when moving the slide at present, and the motion of the slide can be controlled by calculating the numerical relationship between the distance between the instrument end point and the axis where the instrument is located and the radius of the puncture, to ensure that the instrument end does not contact the puncture, to avoid instrument damage, and to ensure the safety of the operation.

[0089] In an optional implementation, the yaw joint is connected to the pitch joint below the pitch joint, and the joint information acquisition module 310 is specifically used for:

[0090] The angle between the pitch joint of the surgical robot's instrument and the instrument axis where the instrument is located is obtained as the pitch angle; and the angle between the pitch joint axis where the pitch joint of the surgical robot's instrument is located and the yaw joint axis where the yaw joint is located is obtained as the yaw angle; the pitch angle value of the pitch angle and the yaw angle value of the yaw angle are used as the angle information of the instrument end joint of the surgical robot's instrument.

[0091] In an optional implementation, the length information includes a pitch joint length value of the pitch joint and a yaw joint length value of the yaw joint, and the distance calculation module 320 is specifically used to:

[0092] Calculate the angle difference between the pitch angle value and the yaw angle value, and calculate the sine function value of the angle difference based on the angle difference; calculate the product of the sine function value of the angle difference and the yaw joint length value as the first value; calculate the product of the sine function value of the pitch angle value and the pitch joint length value as the distance to calculate the second value; add the first value to the second value to obtain the distance between the instrument end point of the instrument and the instrument axis where the instrument is located.

[0093] In an optional implementation, the motion control module 330 is specifically used for:

[0094] A numerical comparison is performed between the distance and the radius of the puncture device of the surgical robot, and the motion range of the slide is determined according to the numerical comparison result; and the slide is controlled to move within the motion range.

[0095] In an optional implementation, the motion control module 330 is further configured to:

[0096] When the distance is smaller than the radius of the puncture device of the surgical robot, the movement range of the slide is determined to be between a preset highest movement position and a preset lowest movement position; wherein, when the slide moves to the preset highest movement position, the instrument moves to the inside of the puncture device driven by the movement of the slide.

[0097] In an optional implementation, the motion control module 330 is further configured to:

[0098] When the distance is greater than or equal to the radius of the surgical robot's puncture, the position information of the instrument end point during the movement of the slide is obtained; the height difference between the instrument end point and the puncture boundary is determined based on the position information of the instrument end point and the boundary position information of the puncture boundary; when the height difference is equal to a preset height difference threshold, the movement position of the slide is used as the target movement highest position; the movement range of the slide is determined to be between the target movement highest position and the preset movement lowest position, wherein the preset height difference threshold is greater than or equal to the sum of the joint length values ​​of all instrument end joints.

[0099] The surgical robot slide motion control device provided in the embodiment of the present invention can execute the surgical robot slide motion control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0100] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 7 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 7 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 capabilities, such as an intelligent controller and server, a mobile phone and other terminal devices.

[0101] like Figure 7 As 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).

[0102] Bus 18 represents 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. By way of 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.

[0103] 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.

[0104] 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 memory 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 7 not shown, usually called a "hard drive"). Although Figure 7 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.

[0105] 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.

[0106] 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 via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be understood that although Figure 7 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, RFID systems, tape drives, and data backup storage systems.

[0107] 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 slide motion control method provided in the embodiment of the present invention, the method comprising:

[0108] When the movement of the slide of the surgical robot is detected, the joint angle information and the joint length information of each instrument end joint of the instrument of the surgical robot are obtained, wherein the slide is connected to the instrument and is used to drive the instrument to move upward or downward;

[0109] Determine the distance between the end point of the instrument and the instrument axis where the instrument is located according to the joint angle information and the joint length information;

[0110] According to the numerical relationship between the distance and the radius of the trocar of the surgical robot, the motion of the slide is controlled;

[0111] Among them, the end joint of the instrument includes a pitch joint and a yaw joint.

[0112] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a method for controlling the motion of a surgical robot slide provided in any embodiment of the present invention is implemented. The method includes:

[0113] When the movement of the slide of the surgical robot is detected, the joint angle information and the joint length information of each instrument end joint of the instrument of the surgical robot are obtained, wherein the slide is connected to the instrument and is used to drive the instrument to move upward or downward;

[0114] Determine the distance between the end point of the instrument and the instrument axis where the instrument is located according to the joint angle information and the joint length information;

[0115] According to the numerical relationship between the distance and the radius of the trocar of the surgical robot, the motion of the slide is controlled;

[0116] Among them, the end joint of the instrument includes a pitch joint and a yaw joint.

[0117] 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, device 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, device or device or used in combination with it.

[0118] 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, apparatus, or device.

[0119] 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.

[0120] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, Python, 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 the case of 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).

[0121] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the surgical robot slide motion control method provided in any embodiment of the present application.

[0122] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, Python, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can 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 the case of a remote computer, the remote computer can 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 can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0123] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, 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.

[0124] 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 described 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 method for controlling the motion of a surgical robot slide, characterized in that: include: When the movement of the slide of the surgical robot is detected, the joint angle information and the joint length information of each instrument end joint of the instrument of the surgical robot are obtained, wherein the slide is connected to the instrument and is used to drive the instrument to move upward or downward; Determine the distance between the end point of the instrument and the instrument axis where the instrument is located according to the joint angle information and the joint length information; Controlling the motion of the slide according to the numerical relationship between the distance and the radius of the trocar of the surgical robot; Wherein, the end joint of the instrument includes a pitch joint and a yaw joint.

2. The method according to claim 1, characterized in that The yaw joint is connected to the pitch joint below the pitch joint, and the obtaining of joint angle information of each instrument end joint of the surgical robot includes: Acquire the angle between the pitch joint of the instrument of the surgical robot and the instrument axis where the instrument is located as the pitch angle; and, Acquire the angle between the pitch joint axis of the pitch joint of the surgical robot instrument and the yaw joint axis of the yaw joint as the yaw angle; The pitch angle value of the pitch angle and the yaw angle value of the yaw angle are used as angle information of an instrument end joint of an instrument of the surgical robot.

3. The method according to claim 2, characterized in that The length information includes a pitch joint length value of the pitch joint and a yaw joint length value of the yaw joint, and determining the distance between an instrument end point of the instrument and an instrument axis where the instrument is located according to the joint angle information and the joint length information includes: Calculating an angle difference between the pitch angle value and the yaw angle value, and calculating a sine function value of the angle difference according to the angle difference; Calculate the product of the sine function value of the angle difference and the yaw joint length value as the first value; Calculate the product of the sine function value of the pitch angle value and the pitch joint length value as a second distance calculation value; The first value is added to the second value to obtain the distance between the instrument end point of the instrument and the instrument axis where the instrument is located.

4. The method according to claim 1, characterized in that: The step of controlling the motion of the slide table according to the numerical relationship between the distance and the radius of the puncture device of the surgical robot comprises: Performing a numerical comparison between the distance and the radius of the trocar of the surgical robot, and determining the motion range of the slide according to the numerical comparison result; The slide table is controlled to move within the movement range.

5. The method according to claim 4, characterized in that The step of comparing the distance with the radius of the trocar of the surgical robot and determining the motion range of the slide according to the comparison result includes: In the case where the distance is smaller than the radius of the puncture device of the surgical robot, determining the motion range of the slide table to be between a preset highest motion position and a preset lowest motion position; Wherein, when the slide moves to the preset highest movement position, the instrument moves to the inside of the puncture device driven by the movement of the slide.

6. The method according to claim 5, characterized in that The step of comparing the distance with the radius of the puncture device of the surgical robot and determining the motion range of the slide table according to the comparison result may further include: When the distance is greater than or equal to the radius of the puncture device of the surgical robot, obtaining the position information of the end point of the instrument during the movement of the slide; Determining a height difference between the end point of the instrument and the boundary of the trocar according to the position information of the end point of the instrument and the boundary position information of the boundary of the trocar; When the height difference is equal to a preset height difference threshold, the movement position of the slide is taken as the highest target movement position; Determine the motion range of the slide as between the target motion highest position and the preset motion lowest position, Wherein, the preset height difference threshold is greater than or equal to the sum of the joint length values ​​of all the end joints of the instrument.

7. A surgical robot slide motion control device, characterized in that: include: A joint information acquisition module, used for acquiring joint angle information and joint length information of each instrument end joint of an instrument of the surgical robot when detecting the movement of a slide table of the surgical robot, wherein the slide table is connected to the instrument and is used to drive the instrument to move upward or downward; A distance calculation module, which determines the distance between the end point of the instrument and the instrument axis where the instrument is located according to the joint angle information and the joint length information; A motion control module, used for controlling the motion of the slide according to the numerical relationship between the distance and the radius of the trocar of the surgical robot; Wherein, the end joint of the instrument includes a pitch joint and a yaw joint.

8. 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 slide motion control method as described in any one of claims 1-6.

9. 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 slide motion control method as described in any one of claims 1-6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the surgical robot slide motion control method as described in any one of claims 1 to 6.

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