Motion operation control method and system of surgical robot

Abstract

The invention relates to the technical field of surgical robots, in particular to a motion operation control method and system for a surgical robot, and the method comprises the following steps: obtaining the information of a target position where an end effector of the surgical robot needs to reach based on a monitoring point; obtaining current state information of the surgical robot, planning an optimal movement track from the current position to the target position based on the target position information and the current state information of the surgical robot, and converting the optimal movement track into control instructions of all joints of the surgical robot; acquiring motion information of the surgical robot in real time based on the monitoring point, wherein the motion information comprises a feedback position, a motion posture and a motion state; the motion information obtained in real time and the planned optimal motion track are compared and analyzed, the deviation between the actual motion and the expected motion is evaluated, the control instruction is dynamically adjusted according to the deviation, the precision and safety of the operation can be improved, and the risk in the operation process is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and particularly to a motion operation control method and system for a surgical robot. Background Art

[0002] In modern medical surgeries, surgical robots are increasingly widely used. They can perform surgical operations with high precision and low trauma, greatly improving the success rate of surgeries and the recovery speed of patients. However, traditional control methods for surgical robots often rely on preset fixed paths and fixed control instructions. In the face of complex and changeable surgical environments, it is often difficult to ensure the accuracy and safety of surgeries.

[0003] Therefore, we propose a motion operation control method and system for a surgical robot to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a motion operation control method and system for a surgical robot to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A motion operation control method and system for a surgical robot, the method includes the following steps:

[0006] Based on monitoring points, obtain the target position information required by the end effector of the surgical robot, where the target position information includes three-dimensional coordinate points, attitude angles, and motion speeds;

[0007] Obtain the current state information of the surgical robot, plan the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot, and convert the optimal motion trajectory into control instructions for each joint of the surgical robot;

[0008] Based on monitoring points, obtain the motion information of the surgical robot in real time, including feedback position, motion attitude, and motion state; compare and analyze the motion information obtained in real time with the planned optimal motion trajectory, evaluate the deviation between the actual motion and the expected motion, and dynamically adjust the control instructions according to the deviation;

[0009] Set conditional thresholds for the various motion information of the surgical robot, and alarm for the motion information that exceeds the preset conditional thresholds.

[0010] Preferably, the step of obtaining the target position information required by the end effector of the surgical robot based on the monitoring points, where the target position information includes three-dimensional coordinate points, attitude angles, and motion speeds, includes: determining the target monitoring points that the end effector of the surgical robot needs to reach according to the requirements of the surgical task; obtaining the three-dimensional coordinate points of the end effector of the surgical robot in real time; obtaining the attitude angles of the end effector of the surgical robot in real time, where the attitude angles include the rotation angles around the X-axis, Y-axis, and Z-axis; obtaining its motion speed in real time by analyzing the position change rate of the end effector; and obtaining the target position information based on the three-dimensional coordinate points, attitude angles, and motion speeds.

[0011] Preferably, the step of planning the optimal motion trajectory based on the target position information and the current state of the surgical robot and converting the optimal motion trajectory into the control commands of each joint of the surgical robot includes: obtaining the current state information of the surgical robot, where the current state information includes the positions, speeds, and accelerations of each joint; planning the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot using a path planning algorithm; and converting the planned optimal motion trajectory into the control commands of each joint of the surgical robot, where the control commands include position commands, speed commands, or torque commands.

[0012] Preferably, the step of planning the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot includes: obtaining the target position information required by the end effector of the surgical robot, where the target position information includes three-dimensional coordinate points, attitude angles, and motion speeds; constructing a working environment model of the surgical robot according to the environmental information of the surgical area, where the environmental information includes the positions of obstacles and the position of the operating bed; and marking and positioning the starting position, target position, and obstacle positions of the surgical robot; creating an open list for storing nodes to be explored; creating a closed list for storing nodes that have been explored; adding the starting position to the open list and setting its g(n) to 0, h(n) to the value estimated by the heuristic function, and f(n) to the sum of g(n) and h(n); selecting a suitable heuristic function h(n) according to the characteristics of the surgical area, with the calculation formula: h(n) = sqrt((x_goal - x_current)^2); g(n) represents the actual cost from the starting point to the current node, h(n) represents the estimated cost from the current node to the target point, and f(n) = g(n) + h(n) represents the total estimated cost from the starting point through the current node to the target point; during the execution of the algorithm, continuously update the values of g(n) and h(n) and recalculate the value of f(n) to obtain the optimal motion trajectory.

[0013] Preferably, during the execution of the algorithm, continuously update the values of g(n) and h(n), and recalculate the value of f(n) to obtain the optimal motion trajectory, which includes the following steps: a: Select the node with the smallest f(n) from the open list as the current node; b: Check whether the current node is the target node. If so, the path planning is successful and the loop is exited; c: Move the current node from the open list to the closed list; d: Perform the following operations on each adjacent node of the current node: If the adjacent node is in the closed list, skip it; If the adjacent node is in the open list and the g(n) value to reach this node through the current node is smaller, update its g(n) value and recalculate the f(n) value; If the adjacent node is not in the open list, add it to the open list, set its g(n) value as the g(n) value of the current node plus the movement cost from the current node to the adjacent node, the h(n) value as the value estimated by the heuristic function, and the f(n) value as the sum of g(n) and h(n); Repeat steps a to d until the target node is found or the open list is empty.

[0014] Preferably, the specific steps of comparing and analyzing the real-time acquired motion information with the planned optimal motion trajectory, evaluating the deviation between the actual motion and the expected motion, and dynamically adjusting the control commands for each item according to the deviation are as follows: Obtain the real-time motion information of the surgical robot and the optimal motion trajectory corresponding to the time point of the motion information; For the data at each time point, calculate the difference between the actual motion parameters and the expected motion parameters. The calculated deviation includes position deviation, speed deviation, acceleration deviation, and attitude deviation; Store the calculated deviation data in an appropriate data structure, set the standard deviation threshold for the corresponding control item, compare the calculated deviation data with the standard deviation threshold, and dynamically adjust the control commands corresponding to the deviation exceeding the standard deviation threshold.

[0015] A motion operation control system for a surgical robot, which is applied to the motion operation control method described in any one of the above, includes:

[0016] A data acquisition module, configured to obtain the target position information required by the end effector of the surgical robot based on the monitoring points, where the target position information includes three-dimensional coordinate points, attitude angles, and motion speeds;

[0017] A trajectory planning module, configured to obtain the current state information of the surgical robot, plan the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot, and convert the optimal motion trajectory into the control commands of each joint of the surgical robot;

[0018] An operation control module, configured to obtain in real time the motion information of the surgical robot based on monitoring points, including feedback position, motion posture and motion state; compare and analyze the motion information obtained in real time with the planned optimal motion trajectory, evaluate the deviation between the actual motion and the expected motion, and dynamically adjust the control instruction according to the deviation;

[0019] An alarm module, configured to preset condition thresholds for the respective motion information of the surgical robot, and alarm for the motion information that exceeds the preset condition thresholds.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. By obtaining in real time the target position information required by the end effector of the surgical robot based on monitoring points, including three-dimensional coordinate points, attitude angles and motion speeds, the present invention can more accurately reflect the actual situation during the surgical process and improve the accuracy of the target position information.

[0022] 2. According to the current state information and target position information of the surgical robot, the present invention dynamically plans the optimal motion trajectory from the current position to the target position by using a path planning algorithm, and converts the optimal motion trajectory into control instructions for each joint of the surgical robot. It can flexibly adjust the motion trajectory according to different situations, improving the adaptability and flexibility of the surgical robot.

[0023] 3. By obtaining in real time the motion information of the surgical robot, comparing and analyzing it with the planned optimal motion trajectory, evaluating the deviation between the actual motion and the expected motion, and dynamically adjusting the control instruction according to the deviation, the present invention can timely detect and correct the deviation, improving the accuracy and safety of the surgery.

[0024] 4. By presetting condition thresholds for the respective motion information of the surgical robot and alarm for the motion information that exceeds the preset condition thresholds in a timely and effective manner, the present invention can timely detect potential safety hazards and reduce the risks during the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0026] Figure 1 is a schematic flow chart of the method of the present invention;

[0027] Figure 2 is a block diagram of the system structure of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Embodiment

[0030] Please refer to Figures 1 to 2 , the present invention provides a technical solution for a motion operation control method and system of a surgical robot: a motion operation control method of a surgical robot, including the following steps:

[0031] S1: Obtain the target position information required for the end effector of the surgical robot based on the monitoring points, where the target position information includes three-dimensional coordinate points, attitude angles, and motion speeds;

[0032] The step of obtaining the target position information required for the end effector of the surgical robot based on the monitoring points, where the target position information includes three-dimensional coordinate points, attitude angles, and motion speeds, includes: determining the target monitoring points that the end effector of the surgical robot needs to reach according to the requirements of the surgical task; obtaining the three-dimensional coordinate points of the end effector of the surgical robot in real time; obtaining the attitude angles of the end effector of the surgical robot in real time, where the attitude angles include the rotation angles around the X-axis, Y-axis, and Z-axis; obtaining its motion speed in real time by analyzing the position change rate of the end effector; obtaining the target position information based on the three-dimensional coordinate points, attitude angles, and motion speeds;

[0033] Specifically, a positioning system (such as an infrared tracking system, a laser positioning system, etc.) is used to obtain the three-dimensional coordinate points of the end effector of the surgical robot in real time. The coordinate points should be relative to a fixed reference coordinate system to ensure the unity and accuracy of measurement. The obtained three-dimensional coordinate points are compared with the preset target monitoring points to determine whether the end effector needs to adjust its position. The attitude angles of the end effector of the surgical robot are obtained in real time through sensors (such as attitude sensors, gyroscopes, etc.). The attitude angles include the rotation angles around the X-axis, Y-axis, and Z-axis, which are used to describe the spatial attitude of the end effector. The obtained attitude angles are compared with the preset target attitude to determine whether the end effector needs to adjust its attitude. The motion speed of the end effector is obtained in real time by using a speed sensor or by analyzing the position change rate of the end effector. This includes linear velocity and angular velocity, which are used to describe the motion speed and direction change of the end effector. According to the requirements of the surgical task, a reasonable motion speed range is set, and it is monitored whether the actual motion speed of the end effector exceeds this range; the obtained data such as three-dimensional coordinate points, attitude angles, and motion speeds are fused to form the complete position information of the end effector, and the deviation is calculated by comparing the actually obtained position information with the preset target position information. According to the calculated deviation value, an adjustment strategy is formulated;

[0034] Specifically, multiple monitoring points are set in the surgical area. The monitoring points can be fixed or mobile and are used to capture the key points of the surgical site in real time. Technologies such as optical tracking, electromagnetic tracking, or image recognition are used to obtain the three-dimensional coordinate points, attitude angles, and expected motion speeds required by the end effector of the surgical robot from the monitoring points.

[0035] S2: Obtain the current state information of the surgical robot, plan the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot, and convert the optimal motion trajectory into the control commands of each joint of the surgical robot;

[0036] The steps of planning the optimal motion trajectory based on the target position information and the current state of the surgical robot and converting the optimal motion trajectory into the control commands of each joint of the surgical robot include: obtaining the current state information of the surgical robot, where the current state information includes the positions, speeds, and accelerations of each joint; planning the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot by using a path planning algorithm; converting the planned optimal motion trajectory into the control commands of each joint of the surgical robot, where the control commands include position commands, speed commands, or torque commands;

[0037] Specifically, obtain the current state of the surgical robot, including the positions, velocities, accelerations, etc. of each joint. According to the target position information and the current state of the surgical robot, use a path planning algorithm (such as RRT, A* etc.) or the inverse kinematics method to plan the optimal motion trajectory from the current position to the target position. The optimal trajectory should meet the requirements of safety, accuracy, stability and efficiency. Convert the planned optimal motion trajectory into control instructions for each joint of the surgical robot, and these instructions can be position instructions, velocity instructions or torque instructions, etc. Generate specific control instructions by combining the target position information with the current state of the surgical robot;

[0038] The steps for planning the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot include: obtaining the target position information required by the end effector of the surgical robot, where the target position information includes three-dimensional coordinate points, attitude angles and motion speeds; constructing a working environment model of the surgical robot according to the environmental information of the surgical area, where the environmental information includes the positions of obstacles and the position of the operating bed; and marking and positioning the starting position, target position and obstacle positions of the surgical robot; creating an open list for storing nodes to be explored; creating a closed list for storing nodes that have been explored; adding the starting position to the open list and setting its g(n) to 0, h(n) to the value estimated by the heuristic function, and f(n) to the sum of g(n) and h(n); according to the characteristics of the surgical area, select a suitable heuristic function h(n), and the calculation formula is: h(n) = sqrt((x_goal - x_current)^2); g(n) represents the actual cost from the starting point to the current node, h(n) represents the estimated cost from the current node to the target point, and f(n) = g(n) + h(n) represents the total estimated cost from the starting point through the current node to the target point; during the execution of the algorithm, continuously update the values of g(n) and h(n), and recalculate the value of f(n) to obtain the optimal motion trajectory;

[0039] During the execution of the algorithm, continuously update the values of g(n) and h(n), and recalculate the value of f(n). The steps to obtain the optimal motion trajectory include: a: Select the node with the smallest f(n) from the open list as the current node; b: Check whether the current node is the target node. If so, the path planning is successful and the loop is exited; c: Move the current node from the open list to the closed list; d: Perform the following operations on each adjacent node of the current node: If the adjacent node is in the closed list, skip it; If the adjacent node is in the open list and the g(n) value to reach this node through the current node is smaller, update its g(n) value and recalculate the f(n) value; If the adjacent node is not in the open list, add it to the open list, set its g(n) value to the g(n) value of the current node plus the movement cost from the current node to the adjacent node, the h(n) value to the value estimated by the heuristic function, and the f(n) value to the sum of g(n) and h(n); Repeat steps a to d until the target node is found or the open list is empty;

[0040] Specifically, when the open list is empty, it indicates that the path planning fails. Starting from the target node, trace back along the parent node pointer to the starting point to form a path from the starting point to the target point. Smooth the extracted path to meet the kinematic constraints and safety requirements of the surgical robot; The A* algorithm can efficiently find the optimal motion trajectory from the starting point to the target point in the working environment model of the surgical robot. At the same time, by selecting an appropriate heuristic function h(n) and smoothing the path, the quality and safety of the trajectory planning can be further improved. The A* algorithm is a commonly used heuristic search algorithm for finding the shortest path from the starting point to the target point in an environment represented by a graph. The cost function f(n) consists of two parts: the cost g(n) from the starting point along the generated path to the current node and the estimated cost h(n) from the current node to the end point. The formula is expressed as: f(n) = g(n) + h(n). In practical applications, g(n) usually represents the actual distance or time from the starting point to the current node, and h(n) is estimated using a heuristic function, such as the Manhattan distance, Euclidean distance, etc.;

[0041] S3: Based on the monitoring points, obtain the motion information of the surgical robot in real time and feedback to get the feedback information. The feedback information includes the feedback position, motion posture, and motion state; Dynamically adjust the control instruction according to the feedback information;

[0042] Based on the monitoring points, the motion information of the surgical robot is obtained in real time and feedback information is obtained. The feedback information includes the feedback position, motion posture, and motion state. The steps of dynamically adjusting the control instructions according to the feedback information include: obtaining the motion information of the surgical robot in real time based on the monitoring points, including the feedback position, motion posture, and motion state; comparing and analyzing the real-time obtained motion information with the planned optimal motion trajectory, evaluating the deviation between the actual motion and the desired motion, and dynamically adjusting the control instructions according to the deviation;

[0043] Specifically, obtain the current state of the surgical robot, including the position, speed, acceleration, etc. of each joint. Based on the target position information and the current state of the surgical robot, use path planning algorithms (such as RRT, A*) or inverse kinematics methods to plan the optimal motion trajectory from the current position to the target position. The optimal trajectory should meet requirements such as safety, accuracy, stability, and efficiency. Convert the planned optimal motion trajectory into control instructions for each joint of the surgical robot. These instructions can be position instructions, speed instructions, or torque instructions, etc. Combine the target position information with the current state of the surgical robot to generate specific control instructions. Obtain the motion information of the surgical robot in real time based on the monitoring points, including the feedback position, motion posture, and motion state (such as speed, acceleration, etc.). Compare and analyze the real-time obtained motion information with the planned optimal motion trajectory, and evaluate the deviation between the actual motion and the desired motion. According to the result of the comparison and analysis, dynamically adjust the control instructions to reduce the deviation and maintain the stable motion of the surgical robot. The adjustment can be position adjustment, speed adjustment, or posture adjustment, etc. Realize the real-time monitoring and dynamic adjustment of the motion of the surgical robot, ensuring the consistency between the actual motion and the desired motion.

[0044] The specific steps of comparing and analyzing the real-time obtained motion information with the planned optimal motion trajectory, evaluating the deviation between the actual motion and the desired motion, and dynamically adjusting the control instructions for each item according to the deviation include: obtaining the real-time motion information of the surgical robot and the optimal motion trajectory corresponding to the time point of the motion information; for the data of each time point, calculate the difference between the actual motion parameters and the desired motion parameters. The calculated deviations include position deviation, speed deviation, acceleration deviation, and posture deviation; store the calculated deviation data in an appropriate data structure, set a standard deviation threshold for the corresponding control item, compare the calculated deviation data with the standard deviation threshold, and dynamically adjust the control instructions corresponding to the deviations exceeding the standard deviation threshold;

[0045] Specifically, real-time motion information is collected, which usually includes parameters such as the position, speed, acceleration, and attitude of the robot. The optimal motion trajectory data for planning is obtained, which is usually given in the form of time series of expected position, speed, acceleration, and attitude parameters. Ensure that the real-time motion information is synchronized with the planned trajectory data in time for accurate comparison. Timestamps or other synchronization mechanisms can be used. For the data at each time point, calculate the difference between the actual motion parameters and the expected motion parameters. This can be obtained through simple subtraction operations. For example, position deviation = actual position - expected position. The calculated deviations can include position deviation, speed deviation, acceleration deviation, and attitude deviation, etc. Store the calculated deviation data in an appropriate data structure for subsequent analysis and evaluation. Deviation evaluation refers to analyzing and judging the calculated deviation data to determine whether the difference between the actual motion and the expected motion is within an acceptable range. The specific steps are as follows: Set reasonable deviation thresholds according to the task requirements and robot performance. These thresholds can be absolute values or relative values for judging whether the deviation is too large. Statistically analyze the stored deviation data, including calculating statistical quantities such as the average value, standard deviation, maximum value, and minimum value of the deviation. Analyze the distribution and change trend of the deviation data to judge whether there are abnormal or trend deviations. Compare the calculated deviation with the set threshold to judge whether the deviation is within the acceptable range. If the deviation exceeds the threshold, it is considered that the difference between the actual motion and the expected motion is too large and dynamic adjustment is required. Output the result of the deviation evaluation in an appropriate form, such as generating a report, drawing a chart, or sending an alarm, etc. This helps relevant personnel to timely understand the motion state of the robot and take necessary measures. According to the result of the deviation evaluation, dynamically adjust the control instructions of the robot to reduce the deviation and improve the motion accuracy. This can include position adjustment, speed adjustment, or attitude adjustment, etc. The adjusted control instructions need to obtain real-time motion information and calculate the deviation again to verify the effect of the adjustment and perform necessary iterative optimization.

[0046] In summary, deviation calculation and evaluation are important steps to ensure the motion control accuracy and stability of the robot. Through accurate deviation calculation and scientific deviation evaluation, the difference between the actual motion and the expected motion can be timely detected and corrected, thereby improving the motion performance of the robot and the quality of task completion.

[0047] S4: Preset condition thresholds for the various motion information of the surgical robot, and alarm for the motion information exceeding the preset condition thresholds;

[0048] Specifically, preset conditional thresholds for various motion information of the surgical robot (such as position deviation, attitude angle deviation, speed fluctuation, etc.). These thresholds should be reasonably set according to factors such as surgical requirements, robot performance, and safety standards. During real-time monitoring, if any motion information exceeds the preset conditional thresholds, the alarm mechanism is immediately triggered. The alarm can be in the form of sound, light, or text information to remind the surgical team to pay attention and take corresponding measures. After the alarm is triggered, the surgical team should take emergency treatment measures according to the specific situation, such as pausing the surgery, adjusting the surgical strategy, or re-planning the motion trajectory, etc., which provides safety guarantee for the motion of the surgical robot and ensures the safety and reliability during the surgical process. At the same time, it forms a closed-loop control with the previous steps, realizing the comprehensive monitoring and adjustment of the motion of the surgical robot.

[0049] A motion operation control system for a surgical robot, applied to the motion operation control method as described in any one of the above, includes:

[0050] A data acquisition module, configured to obtain the target position information required by the end effector of the surgical robot based on the monitoring points, where the target position information includes three-dimensional coordinate points, attitude angles, and motion speeds;

[0051] A trajectory planning module, configured to obtain the current state information of the surgical robot, and plan the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot, and convert the optimal motion trajectory into control commands for each joint of the surgical robot;

[0052] An operation control module, configured to obtain the motion information of the surgical robot in real time based on the monitoring points, including feedback position, motion attitude, and motion state; compare and analyze the real-time obtained motion information with the planned optimal motion trajectory, evaluate the deviation between the actual motion and the expected motion, and dynamically adjust the control commands according to the deviation;

[0053] An alarm module, configured to preset conditional thresholds for various motion information of the surgical robot, and alarm for the motion information that exceeds the preset conditional thresholds.

[0054] The present invention obtains in real time, based on monitoring points, the target position information required by the end effector of the surgical robot, including three-dimensional coordinate points, attitude angles, and motion speeds, so as to more accurately reflect the actual situation during the surgical process and improve the accuracy of the target position information. According to the current state information and target position information of the surgical robot, a path planning algorithm is used to dynamically plan the optimal motion trajectory from the current position to the target position, and the optimal motion trajectory is converted into control instructions for each joint of the surgical robot. It can flexibly adjust the motion trajectory according to different situations, improving the adaptability and flexibility of the surgical robot. By obtaining in real time the motion information of the surgical robot and comparing and analyzing it with the planned optimal motion trajectory, the deviation between the actual motion and the expected motion is evaluated, and the control instructions are dynamically adjusted according to the deviation. It can timely detect and correct the deviation, improving the precision and safety of the surgery. Preset condition thresholds for the various motion information of the surgical robot, and give timely and effective alarms for the motion information that exceeds the preset condition thresholds. It can timely detect potential safety hazards and reduce the risks during the surgical process.

[0055] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0056] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A motion operation control method for a surgical robot, characterized in that: The following steps are involved: Based on the monitoring points, the target position information that the end effector of the surgical robot needs to reach is obtained, wherein the target position information includes three-dimensional coordinate points, posture angles, and movement speeds; Acquire the current state information of the surgical robot, plan the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot, and convert the optimal motion trajectory into control instructions for each joint of the surgical robot; Based on the monitoring points, the motion information of the surgical robot is obtained in real time, including feedback position, motion posture and motion state; the motion information obtained in real time is compared and analyzed with the planned optimal motion trajectory, the deviation between the actual motion and the expected motion is evaluated, and the control instructions are dynamically adjusted according to the deviation; The preset condition thresholds correspond to various motion information of the surgical robot, and an alarm is issued for motion information exceeding the preset condition thresholds.

2. The motion operation control method of a surgical robot according to claim 1, characterized in that: The step of acquiring target position information that the surgical robot end effector needs to reach based on monitoring points, wherein the target position information includes three-dimensional coordinate points, posture angles and movement speeds, comprises: determining the target monitoring points that the surgical robot end effector needs to reach according to the requirements of the surgical task; acquiring the three-dimensional coordinate points of the surgical robot end effector in real time; acquiring the posture angles of the surgical robot end effector in real time, wherein the posture angles include rotation angles around the X-axis, Y-axis and Z-axis; acquiring the movement speed of the end effector in real time by analyzing its position change rate; and obtaining the target position information based on the three-dimensional coordinate points, posture angles and movement speeds.

3. The motion operation control method of a surgical robot according to claim 2, characterized in that: The steps of planning the optimal motion trajectory based on the target position information and the current state of the surgical robot, and converting the optimal motion trajectory into control instructions for each joint of the surgical robot include: obtaining the current state information of the surgical robot, wherein the current state information includes the position, speed, and acceleration of each joint; planning the optimal motion trajectory from the current position to the target position based on a path planning algorithm based on the target position information and the current state information of the surgical robot; and converting the planned optimal motion trajectory into control instructions for each joint of the surgical robot, wherein the control instructions include position instructions, speed instructions, or torque instructions.

4. The motion operation control method of a surgical robot according to claim 3, characterized in that: The steps of planning the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot include: obtaining the target position information that the end effector of the surgical robot needs to reach, wherein the target position information includes three-dimensional coordinate points, posture angles and motion speeds; constructing a working environment model of the surgical robot according to the environmental information of the surgical area, wherein the environmental information includes obstacle positions and the position of the operating table; marking and locating the starting position, target position and obstacle position of the surgical robot; creating an open list for storing nodes to be explored; creating a closed list for storing nodes that have been explored; adding the starting position to the open list; List, and set its g(n) to 0, h(n) to the value estimated by the heuristic function, and f(n) to the sum of g(n) and h(n); according to the characteristics of the surgical area, select the appropriate heuristic function h(n), the calculation formula is: h(n) = sqrt((x_goal-x_current)2); g(n) represents the actual cost from the starting point to the current node, h(n) represents the estimated cost from the current node to the target point, f(n) = g(n) + h(n) represents the total estimated cost from the starting point through the current node to the target point; during the execution of the algorithm, the values ​​of g(n) and h(n) are continuously updated, and the value of f(n) is recalculated to obtain the optimal motion trajectory.

5. The motion operation control method of a surgical robot according to claim 4, characterized in that: During the execution of the algorithm, the values ​​of g(n) and h(n) are continuously updated, and the value of f(n) is recalculated. The steps of obtaining the optimal motion trajectory include: a: selecting the node with the smallest f(n) from the open list as the current node; b: checking whether the current node is the target node. If so, the path planning is successful and the loop is exited; c: moving the current node from the open list to the closed list; d: performing the following operations on each adjacent node of the current node: if the adjacent node is in the closed list, skip it; if the adjacent node is in the open list and the g(n) value of reaching the node through the current node is smaller, update its g(n) value and recalculate the f(n) value; if the adjacent node is not in the open list, add it to the open list, and set its g(n) value to the g(n) value of the current node plus the movement cost from the current node to the adjacent node, the h(n) value is the value estimated by the heuristic function, and the f(n) value is the sum of g(n) and h(n); repeat steps a to d until the target node is found or the open list is empty.

6. The motion operation control method of a surgical robot according to claim 5, characterized in that: The specific steps of comparing and analyzing the motion information acquired in real time with the planned optimal motion trajectory, evaluating the deviation between the actual motion and the expected motion, and dynamically adjusting the control instructions of each project according to the deviation include: acquiring the real-time motion information of the surgical robot and the optimal motion trajectory corresponding to the time point of the motion information; for the data at each time point, calculating the difference between the actual motion parameters and the expected motion parameters, the calculated deviations include position deviation, velocity deviation, acceleration deviation and posture deviation; storing the calculated deviation data in an appropriate data structure, setting a standard deviation threshold for the corresponding control project, comparing the calculated deviation data with the standard deviation threshold, and dynamically adjusting the control instructions corresponding to the deviations exceeding the standard deviation threshold.

7. A motion operation control system for a surgical robot, applied to the motion operation control method according to any one of claims 1 to 6, characterized in that: include: A data acquisition module is used to obtain the target position information that the end effector of the surgical robot needs to reach based on the monitoring points, wherein the target position information includes three-dimensional coordinate points, posture angles, and movement speeds; The trajectory planning module is used to obtain the current state information of the surgical robot, plan the optimal motion trajectory from the current position to the target position based on the target position information and the current state information of the surgical robot, and convert the optimal motion trajectory into control instructions for each joint of the surgical robot; The operation control module is used to obtain the motion information of the surgical robot in real time based on the monitoring points, including feedback position, motion posture and motion state; compare and analyze the motion information obtained in real time with the planned optimal motion trajectory, evaluate the deviation between the actual motion and the expected motion, and dynamically adjust the control instructions according to the deviation; The alarm module is used to preset condition thresholds corresponding to various motion information of the surgical robot and to alarm for motion information that exceeds the preset condition thresholds.

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